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Moving Horizon Estimation for Quadrotors: An $\mathcal{L}_1$ Adaptive Optimizer Approach
Moving Horizon Estimation (MHE) is a state estimation method based on finite-horizon optimization that can offer higher accuracy at the cost of increased computation compared to Kalman filter-based approaches. We present a linear smoothing MHE formulation as a dense Quadratic Program (QP), and a sol
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