{
  "id": "1105.2254",
  "version": "v1",
  "published": "2011-05-11T17:13:08.000Z",
  "updated": "2011-05-11T17:13:08.000Z",
  "title": "Symmetries in observer design: review of some recent results and applications to EKF-based SLAM",
  "authors": [
    "Silvere Bonnabel"
  ],
  "comment": "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"
  ],
  "abstract": "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.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2011-05-11T17:13:08.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "observer design",
      "ekf-based slam",
      "kalman filter-based simultaneous localization",
      "gains ensures global exponential convergence",
      "symmetries"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable",
      "adsabs": "2011arXiv1105.2254B"
    }
  }
}