Related papers: Angular velocity nonlinear observer from vector me…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
We consider non-linear plane gravitational waves as propagating space-time defects, and construct the Burgers vector of the waves. In the context of classical continuum systems, the Burgers vector is a measure of the deformation of the…
Insects use visual information to estimate angular velocity of retinal image motion, which determines a variety of flight behaviours including speed regulation, tunnel centring and visual navigation. For angular velocity estimation,…
This paper introduces a framework based on linear splines for 2-dimensional extended object tracking and classification. Unlike state of the art models, linear splines allow to represent extended objects whose contour is an arbitrarily…
A new nonparametric estimator of a convex regression function in any dimension is proposed and its convergence properties are studied. We start by using any estimator of the regression function and we \emph{convexify} it by taking the…
Circular variables that represent directions or periodic observations arise in many fields, such as biology and environmental sciences. An important issue when dealing with circular data is how to estimate their dispersion robustly,…
This paper introduces an axiomatic basis for measuring the energy characteristic of vibrating dynamical systems. The basic approach is to compare non-modulated vs. modulated waveforms in measuring energy during the vibratory motion $m(t)$…
On the basis of Galilean invariance and the Doppler formula, combined with an observational condition, it is shown that the constancy of the velocity of light {\it in vacuo} can be derived, together with time-dilatation and Lorentz…
We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that…
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data association. FMCW lidar is a recently emerging technology that…
This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…
We design a nonlinear estimator for channel flows at $Re_{\tau}=180$ and $590$. The nonlinear estimator uses a linear estimator structure based on the linearised Navier-Stokes equations and explicitly calculates the nonlinear forcing from…
Visual reconstruction of fast non-rigid object deformations over time is a challenge for conventional frame-based cameras. In this paper, we propose a novel approach for reconstructing such deformations using measurements from event-based…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
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…
A novel non-reactive thrust principle based on controlling the angular momentum of a material body is proposed. Theoretically, it is shown that asymmetric emission/absorption of low-energy particle fluxes with spin in a direction…
A novel method to estimate unsteady aerodynamic force coefficients from pointwise velocity measurements is presented. The methodology is based on a resolvent-based reduced-order model which requires the mean flow to obtain physical flow…
We show how to estimate the enclosed mass from the observed motions of an ensemble of test particles. Traditionally, this problem has been attacked through virial or projected mass estimators. Here, we examine and extend these…
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The…
Estimating 3D human pose and shape from 2D images is a crucial yet challenging task. While prior methods with model-based representations can perform reasonably well on whole-body images, they often fail when parts of the body are occluded…