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• W1605857988 abstract "This paper proposes a simple full state observer design for invariant state space systems where the state is evolving on a semidirect product of connected, finite-dimensional Lie groups. The design is based on a pair of cost functions defined on the Lie groups and consists of a copy of the observed system and a gradient-like innovation term. Under mild conditions the observer displays almost global exponential convergence. We illustrate the construction by an application in pose estimation." @default.
• W1605857988 created "2016-06-24" @default.
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• W1605857988 date "2009-08-01" @default.
• W1605857988 modified "2023-09-26" @default.
• W1605857988 title "Gradient-Like Observers on Semidirect Products" @default.
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• W1605857988 doi "https://doi.org/10.23919/ecc.2009.7075021" @default.
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