A Koopman-Based Reduced-Order State Observer for Visual Localization of Robots
A reduced-order observer using Koopman lifting linearization is developed for localization of a robot guided by a vision system. The Koopman operator is a powerful method for representing nonlinear robot dynamics as a linear model in a lifted space. Koopman faces two main challenges with robot local...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/151814 |