Related papers: Further results on "Velocity-position integration …
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Despite the recent progress in the field of causal inference, to date there is no agreed upon methodology to glean treatment effect estimation from observational data. The consequence on clinical practice is that, when lacking results from…
The first integrals of the Kepler problem are used to compute preliminary orbits starting from two short observed arcs of a celestial body, which may be obtained either by optical or radar observations. We write polynomial equations for…
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
In this paper, we establish some new integral inequalities for for m- and (alpha,m)-logarithmically convex functions.
In this work, we study the gravitational lensing by a Lorentz-violating (LV) black hole inspired by the recent contribution [1]. Explicitly, we concentrate on a specific application: we perform the computation of gravitational lensing…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
In relativistic heavy-ion collisions, studying jet correlations and their dependence on the angle of emission with respect to the reaction plane can be used to shed light on the path length dependence of the energy lost by the jet. In this…
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…
Many tasks performed by autonomous vehicles such as road marking detection, object tracking, and path planning are simpler in bird's-eye view. Hence, Inverse Perspective Mapping (IPM) is often applied to remove the perspective effect from a…
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is interactive feedback, which has been shown to speed up RL…
We present a novel complex number formulation along with tight convex relaxations for the aircraft conflict resolution problem. Our approach combines both speed and heading control and provides global optimality guarantees despite…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
We review the effect of the commonly-used Limber and flat-sky approximations on the calculation of shear power spectra and correlation functions for galaxy weak lensing. These approximations are accurate at small scales, but it has been…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
Obesity is associated with higher fatality risk and altered distribution of occupant injuries in motor vehicle crashes partially because of the increased depth of abdominal soft tissue, which results in limited and delayed engagement of the…
We apply our method of indirect integration, described in Part I, at fourth order, to the radial fall affected by the self-force. The Mode-Sum regularisation is performed in the Regge-Wheeler gauge using the equivalence with the harmonic…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…