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We present a simultaneous localization and mapping (SLAM) algorithm that uses Bézier curves as static landmark primitives rather than sparse feature points. Our approach allows us to estimate the full 6-DOF pose of a robot while providing a structured map which can be used to assist a robot in motion planning and control. We demonstrate how to reconstruct the 3-D location of curve landmarks from a...
This paper presents a new design approach to nonlinear observers for Itô stochastic nonlinear systems with guaranteed stability. A stochastic contraction lemma is presented which is used to analyze incremental stability of the observer. A bound on the mean-squared distance between the trajectories of original dynamics and the observer dynamics is obtained as a function of the contraction rate and...
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