{37} revision 0 modified: 0-0-2007 0:0
http://choosh.ece.ogi.edu/spkf/
excellent resource.
Technical Overview
ppt presentation, nize.
Demos
- the Dual parameter estimation is very impressive.
SDRE = state-dependent Ricatti Equation Control.
SDRE thesis
Experimental real-time SDRE control of an underactuated Robot
-- e.g.
the pendubot
http://choosh.ece.ogi.edu/spkf/spkf_files/WAML2003.pdf
good stuff = page 40.
use sigma-point kalman filter to pass a particles' mean and covariance information through the state transition nonlinearity
draw the new particle from this estimated gaussian distribution!
thus avoiding particle impovershment!!
http://cslu.cse.ogi.edu/nsel/research/ukf.html
author: r. van der Merwe