Related papers: Further results on "Velocity-position integration …
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
This paper addresses the challenging issue of symmetry in mixed-integer convex optimization problems, which frequently arise in real-world applications such as the unit commitment problem. Although variable aggregation techniques have been…
In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…
The influence of kinematic constraints and event selection on the emergence of the alignment phenomenon observed in cosmic-ray experiments is studied within the HYDJET++ model. It is demonstrated that the high degree of alignment,…
Time-delayed optical feedback is known to trigger a wide variety of complex dynamical behavior in semiconductor lasers. Adding a second optical feedback loop is naturally expected to further increase the complexity of the system and its…
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…
Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
A summary of the latest alpha_s results at LEP1 and LEP2 from event-shape predictions at Order(alpha2_s) + NLLA is presented. Later these are compared to measurements obtained using the Experimentally Optimized Scale method. Finally the…
In this paper, we investigate how Joint Communication And Sensing (JCAS) can be used to improve the Inertial Measurement Unit (IMU)- based tracking accuracy of eXtended Reality (XR) Head-Mounted Displays (HMDs). Such tracking is used when…
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
The joint NASA-ESA mission LISA relies crucially on the stability of the three spacecraft constellation. All three spacecraft are on heliocentric and weakly eccentric orbits forming a stable triangle. It has been shown that for certain…
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…
Wing flexibility governs the flying performance of flapping wing flyers. Here, we use a self-propelled flapping-wing model mounted on a ``merry go round'' to investigate the effect of wing compliance on the propulsive efficiency of the…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…