hyrbid-tools

Salted Kalman Filter

If you use this code for your academic research, please cite

@article{paper:kong-skf-2021,
  author       = {Nathan J. Kong and J. Joe Payne and George Council and Aaron M. Johnson},
  title        = {The {Salted} {Kalman} {Filter}:  {Kalman} Filtering on Hybrid Dynamical Systems},
  journal      = {Automatica},
  year         = {2021},
  volume       = {131},
  pages        = {109752},
  keywords     = {Hybrid Systems, State Estimation, Uncertainty, Contact},
  url_Publisher     = {https://www.sciencedirect.com/science/article/pii/S0005109821002727},
  url_DOI      = {https://doi.org/10.1016/j.automatica.2021.109752},
  url_arxiv    = {https://arxiv.org/abs/2007.12233},
  url_PDF      = {https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&pid=1-s2.0-S0005109821002727-main.pdf}
}

or

@article{paper:kong-saltation-2023,
  title         = {Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems},
  author        = {Kong, Nathan J. and Payne, J. Joe and Zhu, James and Johnson, Aaron M.},
  journal       = {arXiv:2306.06862 [cs.RO]},
  year          = {2023},
  note          = {Under review},
  keywords      = {Hybrid Systems, Control, Contact, Modeling, State Estimation},
  url_Info      = {https://arxiv.org/abs/2306.06862},
  url_PDF       = {https://arxiv.org/pdf/2306.06862}
}