@inproceedings{ea0d7d3bb27e48fdab3706e6f16b8cbc,
title = "Joint weakly regularly persistent nonlinear observability for landmark-based SLAM with nonlinear relative measurements",
abstract = "In this paper, we give sufficient conditions on the input for weak regular observability in the general case of landmark-based Simultaneous Localisation and Mapping (SLAM) both with a world-centric and a sensor-centric point of view. We show notably that in the sensor-centric point of view, the dynamics of the robot is not important for this notion of observability and only its state and input trajectories matter. Besides, we prove that tracking circular trajectories imply weak regular observability jointly for 2D systems with several types of commonly used measurements in SLAM.",
author = "Emilien Flayac and Iman Shames",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 63rd IEEE Conference on Decision and Control, CDC 2024 ; Conference date: 16-12-2024 Through 19-12-2024",
year = "2024",
doi = "10.1109/CDC56724.2024.10886619",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2898--2903",
booktitle = "2024 IEEE 63rd Conference on Decision and Control, CDC 2024",
address = "United States",
}