arXiv:1105.2254 Abstract | arXiv Analytics

arXiv:1105.2254 [math.OC]Abstract References Reviews Resources

Symmetries in observer design: review of some recent results and applications to EKF-based SLAM

Published 2011-05-11Version 1

In this paper, we first review the theory of symmetry-preserving observers and we mention some recent results. Then, we apply the theory to Extended Kalman Filter-based Simultaneous Localization and Mapping (EKF SLAM). It allows to derive a new (symmetry-preserving) Extended Kalman Filter for the non-linear SLAM problem that possesses convergence properties. We also prove a special choice of the gains ensures global exponential convergence.

Comments: This paper accompanies a presentation to be given at Eighth International Workshop on Robot Motion and Control (RoMoCo'11)

Categories: math.OC, cs.RO, cs.SY

Keywords: observer design, ekf-based slam, kalman filter-based simultaneous localization, gains ensures global exponential convergence, symmetries

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