Abstract
We propose globally exponentially convergent observers for the rigid body translation and rotation system evolving on SE(3) with bounded angular velocity whose bound is not known a priori. We design the observers in the ambient Euclidean space and show exponential rate of convergence of the observers to the state of the system. We perform simulations to compare the proposed observers with observers available in the literature. We also show simulations of our observers with data collected using an Intel Realsense T265 sensor.
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