Distributed Invariant Extended Kalman Filter Using Lie Groups: Algorithm and Experiments

Contact-aided invariant extended Kalman filtering for robot state estimation

(2020) Ross Hartley et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Consistent distributed state estimation with global observability over sensor network

(2018) Xingkang He et al.   AUTOMATICA

On the Convergence Conditions of Distributed Dynamic State Estimation Using Sensor Networks: A Unified Framework

(2018) Shaocheng Wang et al.   IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

The Invariant Extended Kalman Filter as a Stable Observer

(2017) Axel Barrau et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Consensus-Based Linear and Nonlinear Filtering

(2015) G. Battistelli et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Kullback–Leibler average, consensus on probability densities, and distributed state estimation with guaranteed stability

(2014) Giorgio Battistelli et al.   AUTOMATICA

Non-Linear Symmetry-Preserving Observers on Lie Groups

(2009) S. Bonnabel et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL