{"id":"https://openalex.org/W2138518358","doi":"https://doi.org/10.1109/cdc.2008.4739058","title":"Global symplectic uncertainty propagation on SO(3)","display_name":"Global symplectic uncertainty propagation on SO(3)","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2138518358","doi":"https://doi.org/10.1109/cdc.2008.4739058","mag":"2138518358"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2008.4739058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020132536","display_name":"Taeyoung Lee","orcid":"https://orcid.org/0000-0003-4982-4150"},"institutions":[{"id":"https://openalex.org/I106959904","display_name":"Florida Institute of Technology","ror":"https://ror.org/04atsbb87","country_code":"US","type":"education","lineage":["https://openalex.org/I106959904"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taeyoung Lee","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL, USA","Dept. of Mech. & Aerosp. Eng., Florida Inst. of Technol., Melbourne, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Florida Inst. of Technol., Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047012686","display_name":"Melvin Leok","orcid":"https://orcid.org/0000-0002-8326-0830"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melvin Leok","raw_affiliation_strings":["Mathematics, Purdue University, West Lafayette, IN, USA","Dept. of Math., Purdue Univ., Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mathematics, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Dept. of Math., Purdue Univ., Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018682629","display_name":"N. Harris McClamroch","orcid":"https://orcid.org/0000-0002-7536-5659"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Harris McClamroch","raw_affiliation_strings":["Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","[Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA]","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"97","issue":null,"first_page":"61","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9782999753952026,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13080","display_name":"Advanced Differential Geometry Research","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/symplectic-geometry","display_name":"Symplectic geometry","score":0.6392842531204224},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.6026532053947449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5861557722091675},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.5738423466682434},{"id":"https://openalex.org/keywords/symplectic-integrator","display_name":"Symplectic integrator","score":0.5377879738807678},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4684978127479553},{"id":"https://openalex.org/keywords/variational-integrator","display_name":"Variational integrator","score":0.4450494647026062},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.4394250214099884},{"id":"https://openalex.org/keywords/noncommutative-geometry","display_name":"Noncommutative geometry","score":0.4321417808532715},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.36396872997283936},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.2468445599079132},{"id":"https://openalex.org/keywords/symplectic-manifold","display_name":"Symplectic manifold","score":0.21662554144859314},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18452802300453186},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.18026840686798096},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1791403591632843},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15984755754470825},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.10834571719169617}],"concepts":[{"id":"https://openalex.org/C168619227","wikidata":"https://www.wikidata.org/wiki/Q2190991","display_name":"Symplectic geometry","level":2,"score":0.6392842531204224},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.6026532053947449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5861557722091675},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.5738423466682434},{"id":"https://openalex.org/C207646825","wikidata":"https://www.wikidata.org/wiki/Q7661847","display_name":"Symplectic integrator","level":4,"score":0.5377879738807678},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4684978127479553},{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.4450494647026062},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.4394250214099884},{"id":"https://openalex.org/C68797384","wikidata":"https://www.wikidata.org/wiki/Q2746792","display_name":"Noncommutative geometry","level":2,"score":0.4321417808532715},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.36396872997283936},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.2468445599079132},{"id":"https://openalex.org/C130190758","wikidata":"https://www.wikidata.org/wiki/Q1064500","display_name":"Symplectic manifold","level":3,"score":0.21662554144859314},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18452802300453186},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.18026840686798096},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1791403591632843},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15984755754470825},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.10834571719169617},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2008.4739058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.170.4212","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.170.4212","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://math.ucsd.edu/%7Emleok/pdf/LeLeMc2008_gup.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.175.5054","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.5054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://my.fit.edu/%7Etaeyoung/paper/CDC08.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.314.428","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.314.428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/0803.1515v1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W108098025","https://openalex.org/W1524590822","https://openalex.org/W1538183267","https://openalex.org/W1561367079","https://openalex.org/W1596709027","https://openalex.org/W1967632959","https://openalex.org/W1969649931","https://openalex.org/W1992415540","https://openalex.org/W1998338226","https://openalex.org/W2013192764","https://openalex.org/W2027025011","https://openalex.org/W2042624351","https://openalex.org/W2044640615","https://openalex.org/W2051812098","https://openalex.org/W2094212166","https://openalex.org/W2105805106","https://openalex.org/W2115930333","https://openalex.org/W2118992685","https://openalex.org/W2119968067","https://openalex.org/W2126184344","https://openalex.org/W2132240870","https://openalex.org/W2143591652","https://openalex.org/W2149145472","https://openalex.org/W2168278516","https://openalex.org/W2168285681","https://openalex.org/W2612264875","https://openalex.org/W2947056241","https://openalex.org/W2969232873","https://openalex.org/W3122956633","https://openalex.org/W3169491100","https://openalex.org/W4285719527","https://openalex.org/W6632380756","https://openalex.org/W6681987259","https://openalex.org/W6684582047","https://openalex.org/W6737642498","https://openalex.org/W6796839331"],"related_works":["https://openalex.org/W4229537407","https://openalex.org/W2751011030","https://openalex.org/W3112415435","https://openalex.org/W2159999423","https://openalex.org/W4297748143","https://openalex.org/W2180505324","https://openalex.org/W2972442022","https://openalex.org/W1490396119","https://openalex.org/W2950213635","https://openalex.org/W1559872767"],"abstract_inverted_index":{"This":[0,31],"paper":[1],"introduces":[2],"a":[3,13,17,55,64,80],"global":[4,65,138,149],"uncertainty":[5,22,116,139],"propagation":[6,117,140],"scheme":[7,141],"for":[8],"the":[9,60,69,97,101,107,112,126,137,146],"attitude":[10,71,150],"dynamics":[11,78],"of":[12,19,74,86,115,125,148],"rigid":[14],"body,":[15],"through":[16,68],"combination":[18],"numerical":[20,29,103],"parametric":[21],"techniques,":[23],"noncommutative":[24],"harmonic":[25],"analysis,":[26],"and":[27,49,94],"geometric":[28,113],"integration.":[30],"method":[32],"is":[33],"distinguished":[34],"from":[35,130],"prior":[36],"approaches,":[37],"as":[38,100,123],"it":[39],"allows":[40],"one":[41],"to":[42,145],"consider":[43],"probability":[44,66,109],"densities":[45,110],"that":[46,91,106],"are":[47,50,92],"global,":[48],"not":[51],"supported":[52],"on":[53,59,96],"only":[54],"single":[56],"coordinate":[57],"chart":[58],"manifold.":[61],"It":[62],"propagates":[63],"density":[67],"full":[70],"dynamics,":[72],"instead":[73],"replacing":[75],"angular":[76],"velocity":[77],"with":[79],"gyro":[81],"bias":[82],"model.":[83],"The":[84],"use":[85],"Lie":[87,98],"group":[88],"variational":[89],"integrators,":[90],"symplectic":[93,131],"remain":[95],"group,":[99],"underlying":[102],"propagator":[104],"ensures":[105],"advected":[108],"respect":[111],"properties":[114],"in":[118],"Hamiltonian":[119],"systems,":[120],"which":[121],"arise":[122],"consequence":[124],"Gromov":[127],"nonsqueezing":[128],"theorem":[129],"geometry.":[132],"We":[133],"also":[134],"describe":[135],"how":[136],"can":[142],"be":[143],"applied":[144],"problem":[147],"estimation.":[151]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
