Revision History
13 May 2017 Version best matching published first edition
12 Aug 2017 Equation (4.47a): Σ
x
changed to Σ
xx
12 Aug 2017 Page 111, bullet 4: Σ
y
changed to Σ
yy
12 Aug 2017 Page 117, bullet (ii): changed 4(a) to 3
12 Aug 2017 Equation (4.87):
ˆ
P
−
changed to
ˇ
P
k
12 Aug 2017 Equation (4.89):
ˆ
P
k
changed to
ˇ
P
k
12 Aug 2017 Equation (4.102d): x
op,k,0
changed to x
op,k,i
12 Aug 2017 Equation (7.102): removed negative sign
22 Nov 2017 Fixed typo in Jacobi identity (page 218)
10 Dec 2017 Equation (2.52): Σ
−1
yy
Σ
yx
changed to Σ
xy
Σ
−1
yy
10 Dec 2017 Inline above (8.2): r
vi
i
changed to r
v
k
i
i
10 Dec 2017 Equation (6.26): 0 changed to 0
T
10 Dec 2017 Inline below (4.132): e(x
op
) = Lu(x
op
) changed to
e(x
op
) = L
−1
u(x
op
)
10 Dec 2017 Angular acceleration: ω
◦
−→
21
changed to ω
◦
−→
21
10 Dec 2017 Equation (4.31): corrected a double comma
10 Dec 2017 Equation (4.92a): n
k,j
changed to
ˇ
y
k,j
5 Jan 2018 Page 227, definition of Ad(SE(3)): removed extra
comma before final bracket
5 Jan 2018 Equation (9.55): changed ζ
?
j
to ζ
?
j
5 Jan 2018 Equation (8.47): added missing V
T
in an intermediate
step
5 Jan 2018 Equation (4.207): changed ? to ∗
5 Jan 2018 Equation (4.165a): changed subscript ` to j
5 Jan 2018 Equation (4.166): changed G
k`
to G
jk
16 Feb 2018 Pages 267-8: corrected J
−1
`
and J
−1
r
to J
`
and J
r
25 Mar 2018 Page 108: corrected ‘mean of output is’ to be ‘mean
of input is’
25 Mar 2018 Equation (6.129): corrected r
ba
b
to be r
ab
b
13 Apr 2018 Equation (8.105): corrected j − 1 to j = 1
22 Apr 2018 Equation (2.20): added missing −1 in definition of η
iii
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