Factor Graph-Based Continuum Robot State Estimation with Magnus Expansion Priors

arXiv:2604.15619 · cs.RO · Submitted 2026-04-17 · Read on arXiv

cs.RO

Submitted: 2026-04-17

Updated: 2026-10-23

Terminology

• Magnus Expansion — 2× in this paper · explained in 5 episodes
• Computational Efficiency — 1× in this paper · explained in 2 episodes
• Geometric Variable Strain — 1× in this paper
• Modularity — 1× in this paper · explained in 9 episodes
• Parameterization — 1× in this paper · explained in 2 episodes
• Uncertainty Quantification — 1× in this paper · explained in 9 episodes

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