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Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. The nonlinear attitude flow is determined by Euler-Poincaré equations that describe the rotational dynamics of the rigid body acting under the influence of an attitude dependent potential and by a reconstruction equation that describes the kinematics expressed in terms of an orthogonal matrix representing thedoi:10.1109/cdc.2007.4434145 dblp:conf/cdc/LeeCSLM07 fatcat:ra5f3y2uabfapmiotc75qpnfea