Related papers: Angular velocity nonlinear observer from single ve…
Angular momentum has recently been defined as a surface integral involving an axial vector and a twist 1-form, which measures the twisting around of space-time due to a rotating mass. The axial vector is chosen to be a transverse,…
The traditional way of estimating the gravitational field from observed motions of test objects is based on the virial relation between their kinetic and potential energy. We find a more efficient method. It is based on the natural…
In this work, a method for directly measuring target velocity in three dimensions using a dual axis correlation interferometric radar is presented. Recent advances have shown that the measurement of a target's angular velocity is possible…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…
In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation…
This paper documents the winning entry at the CVPR2017 vehicle velocity estimation challenge. Velocity estimation is an emerging task in autonomous driving which has not yet been thoroughly explored. The goal is to estimate the relative…
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…
Without the use of cameras to record 2D motion and an appropriate analysis tool, creating a laboratory activity for students to experience the vector nature of momentum can be challenging. Even with appropriate measurement tools, it is…
Just as the ordinary Doppler effect serves as a tool to measure radial velocities of celestial objects, so can the relativistic Doppler effect be implemented to measure a combination of radial and transverse velocities by using recent…
We investigate in real-life conditions and with very high accuracy the dynamics of body rotation, or yawing, of walking pedestrians - an highly complex task due to the wide variety in shapes, postures and walking gestures. We propose a…
A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…
In recent years, a new method for experimental nonlinear modal analysis has been developed, which is based on the extended periodic motion concept. The method is well suited to experimentally obtain amplitude-dependent modal properties…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…