@article{asymptoticallystableoptimalmultirate,
  title = {Asymptotically Stable Optimal Multi-rate Rigid Body Attitude Estimation based on Lagrange-d'Alembert Principle},
  author = {Maulik Bhatt and Amit K. Sanyal and Srikant Sukumar},
  year = {2020},
  eprint = {2008.04104},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2008.04104v2},
}