In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formatio...

This paper presents an invariant Rauch-Tung-Striebel Smoother (IRTS) applicable to systems with states that are an element of a matrix Lie group. In particul...

The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single ...