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Seminar on Control Theory and Nonlinear Filtering
Equivariant filter: a general filter design for systems on homogeneous spaces
Equivariant filter: a general filter design for systems on homogeneous spaces
Organizer
Speaker
Time
Tuesday, September 27, 2022 3:30 PM - 4:00 PM
Venue
Online
Online
Tencent 735 7908 4302
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Abstract
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces: Their state lies in a smooth manifold equipped with a transitive Lie-group symmetry. In this talk, we introduce that the equivariant structure of the system is exploited to propose a novel new filter, the Equivariant Filter (EqF), based on linearisation of global error dynamics derived from the symmetry action.
Speaker Intro
Xiaopei Jiao received his bachelor's degree from the Zhiyuan College of Shanghai Jiao Tong University and his Ph.D. from the Department of Mathematical Sciences at Tsinghua University. He subsequently worked as a postdoctoral researcher at the Beijing Institute of Mathematical Sciences and Applications (BIMSA) and at the University of Twente in the Netherlands. His current research interests include finite-dimensional filtering theory, Yau-Yau filtering methods, physics-informed neural networks, and bioinformatics. His research focuses primarily on: (1) using geometric tools such as Lie algebras for solving partial differential equations and classifying nonlinear systems; (2) designing novel numerical algorithms based on physics-informed neural networks.