This is the first of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. Introduction The topic of Lie groups is fundamental to much of modern physics, and therefore has a deep and rich history going back several decades.

This is the second of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\textcolor{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$

This is the third of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\color{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$

This is the fourth of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\color{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$

This is the fifth of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\color{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$

This is the sixth of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\color{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$

This is the sixth of a 8-part series of posts designed as a quick-start guide for students new to the field of robotics and estimation, specifically on the use of Lie groups to describe rotations and rigid body transformations. This is a web port of the full pdf document, which is hosted here. $$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\color{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$