An SE(3)-based invariant EKF is formulated for multi-link manipulator state estimation with autonomous error dynamics, modular per-link structure, state-dependent noise, and exponential mean-square boundedness.
Title resolution pending
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
An SE(3)-based invariant EKF is formulated for multi-link manipulator state estimation with autonomous error dynamics, modular per-link structure, state-dependent noise, and exponential mean-square boundedness.