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In \cite{martinelli_2004_open_challenges_in}, a version of Relative Map Filter (\RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the \RMF, the map states contain only quantities invariant under shift and rotat ...
We study continuity properties of law-invariant (quasi-)convex functions f : L1(Ω,F, P) to ( ∞,∞] over a non-atomic probability space (Ω,F, P) .This is a supplementary note to [12] ...
This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previou ...
State-feedback model predictive control (MPC) of discrete-time linear periodic systems with possibly time-dependent state and control input dimension is considered. States and inputs are subject to hard, mixed, polytopic constraints. It is described how di ...
We formulate Euler-Poincare and Lagrange-Poincare equations for systems with broken symmetry. We specialize the general theory to present explicit equations of motion for nematic systems, ranging from single nematic molecules to biaxial liquid crystals. Th ...
This paper presents an alternative way for controlling the current of single-phase voltage source dc-ac inverters in a dq synchronous reference frame. In a dq reference frame, ac (time varying) quantities appear as dc (time invariant) quantities allowing t ...
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The observation of the hyperonic B+ → λλ̄K+ decay was presented. It was found that the rate of a charmless B decay was comparable to that of other charmless three-body baryonic modes. It was also found that the invariant mass of the λλ̄ system had a promin ...
This paper presents an approach to solve the SLAM problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...