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Data-Driven Koopman Operator-Based Error-State Kalman Filter for Enhanced State Estimation of Quadrotors in Agile Flight

Peng Huang, Ketong Zheng, Gerhard P. Fettweis. Data-Driven Koopman Operator-Based Error-State Kalman Filter for Enhanced State Estimation of Quadrotors in Agile Flight. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024. pages 10983-10989, IEEE, 2024. [doi]

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