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.
Multibody System Dynamics 43, 37–70
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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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.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.