2020
The Invariant Rauch-Tung-Striebel Smoother
RA-L 2020
This letter presents an invariant Rauch-Tung-Striebel (IRTS) smoother applicable to systems with states that are an element of a matrix Lie group. In particular, the extended Rauch-Tung-Striebel (RTS) smoother is adapted to work within a matrix Lie group framework. The main advantage of the invarian