@inproceedings{55371fd653ac45bbacc78969ce7aa358,
title = "Observer design on the Special Euclidean group SE(3)",
abstract = "This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Special Euclidean group SE(3). We use a gradient-based observer design approach and ensure that the derived observer innovation can be implemented from position measurements. We prove local exponential stability of the error and instability of the non-zero critical points. Simulations indicate that the observer is indeed almost globally stable as would be expected.",
author = "Hua, {Minh Duc} and Mohammad Zamani and Jochen Trumpf and Robert Mahony and Tarek Hamel",
year = "2011",
doi = "10.1109/CDC.2011.6160453",
language = "English",
isbn = "9781612848006",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "8169--8175",
booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",
address = "United States",
note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",
}