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Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie group $SE(3)$. The group-affine property of the kinematic equations makes the linearised error dynamics autonomous, so the R
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