Continuous-time State & Dynamics Estimation using a Pseudo-Spectral Parameterization
Varun Agrawal Frank Dellaert Varun Agrawal Frank Dellaert
We present a novel continuous time trajectory representation based on a Chebyshev polynomial basis, which when governed by known dynamics models, allows for full trajectory and robot dynamics estimation, particularly useful for high-performance robotics applications such as unmanned aerial vehicles. We show that we can gracefully incorporate model dynamics to our trajectory representation, within ...