Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866917065769615360 |
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| author | Saha, Arkadeep van Goor, Pieter Franchi, Antonio Banavar, Ravi |
| author_facet | Saha, Arkadeep van Goor, Pieter Franchi, Antonio Banavar, Ravi |
| contents | Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and measurements from Inertial Measurement Unit (IMU). This paper proposes a nonlinear observer for LI-SLAM posed in continuous time and analyses the observer in a base space that encodes all the observable states of LI-SLAM. The local exponential stability and almost-global asymptotic stability of the error dynamics in base space is established in the proof section and validated using simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_04531 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence Saha, Arkadeep van Goor, Pieter Franchi, Antonio Banavar, Ravi Systems and Control Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and measurements from Inertial Measurement Unit (IMU). This paper proposes a nonlinear observer for LI-SLAM posed in continuous time and analyses the observer in a base space that encodes all the observable states of LI-SLAM. The local exponential stability and almost-global asymptotic stability of the error dynamics in base space is established in the proof section and validated using simulations. |
| title | Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.04531 |