Related papers: Algorithm for Sensor Network Attitude Problem
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
In this paper, we address the problem of adaptive learning for autoregressive moving average (ARMA) model in the quaternion domain. By transforming the original learning problem into a full information optimization task without explicit…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
This paper investigates optimal fiducial marker placement on the surface of a satellite performing relative proximity operations with an observer satellite. The absolute and relative translation and attitude equations of motion for the…
This paper introduces several new algorithms for consensus over the special orthogonal group. By relying on a convex relaxation of the space of rotation matrices, consensus over rotation elements is reduced to solving a convex problem with…
In this note, we have revisited the previously published paper "Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation". In the revisit, we point out that the quaternion particle filtering based on the…
In this paper, we present a simple but powerful method to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a novel convolutional neural network to regress the unit quaternion, which…
Aspect Based Sentiment Analysis (ABSA) is the task of identifying sentiment polarity of a text given another text segment or aspect. In ABSA, a text can have multiple sentiments depending upon each aspect. Aspect Term Sentiment Analysis…
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…
Aspect level sentiment classification is a fine-grained sentiment analysis task. To detect the sentiment towards a particular aspect in a sentence, previous studies have developed various attention-based methods for generating…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent…
This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…