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

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

2011-05-11

arxiv.org/abs/1105.2254v1

Mathematics

Optimization and Control

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

Scientific paper

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.

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