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• W2139231143 abstract "This paper proposes a novel filter for sensor-based bearing-only simultaneous localization and mapping in three dimensions with globally exponentially stable (GES) error dynamics. A nonlinear system is designed, its output transformed, and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GES error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations." @default.
• W2139231143 created "2016-06-24" @default.
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• W2139231143 date "2015-07-01" @default.
• W2139231143 modified "2023-09-26" @default.
• W2139231143 title "A globally exponentially stable filter for bearing-only simultaneous localization and mapping in 3-D" @default.
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• W2139231143 doi "https://doi.org/10.1109/ecc.2015.7330964" @default.
• W2139231143 hasPublicationYear "2015" @default.
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