Review 1 presentation preperation

[EternalGoldenBraid]

See some thoughts from here: https://github.com/SasaKuruppuarachchi/adaptive_estimation/issues/34

[EternalGoldenBraid]

Please prepare a 10min presentation, with focus on:

• the goals
• results so far (e.g., show simulation results),
• and changes in the plan (updated schedule).

[SasaKuruppuarachchi]

Nick

• Review LQR
• Make slides

Changes in the plan:

• Dotted line from estimation to control
• Limit the scope of the research project:
  • Performance difference in estimation between eKF and tPC
  • Focus on qualitative and quantitative differences in tPC and different controllers (PID vs. LQR vs eLQR)
  • Target a publication in 6 months.

TODOs

• Validate eKF implementation
• Understand role model dt in tPC state update step sizes and model update step sizes.

Goals (both sim and on device)

1. Pure state estimation no control
2. tPC + PID control
3. tPC + LQR with linearised dynamics
4. tPC + eLQR

Results so far

• Setting up Isaac Sim (video)
• Setting up Gymnasium (video)