1 research outputs found
A bundle framework for observer design on smooth manifolds with symmetry
The article presents a bundle framework for nonlinear observer design on a
manifold with a Lie group action. The group action on the manifold decomposes
the manifold to a quotient structure and an orbit space, and the problem of
observer design for the entire system gets decomposed to a design over the
orbit (the group space) and a design over the quotient space. The emphasis
throughout the article is on presenting an overarching geometric structure; the
special case when the group action is free is given special emphasis. Gradient
based observer design on a Lie group is given explicit attention. The concepts
developed are illustrated by applying them on well known examples, which
include the action of on and
the simultaneous localisation and mapping (SLAM) problem