Related papers: Aircraft navigation based on differentiation-integ…
Previous studies have demonstrated the utility and applicability of machine learning techniques to jet physics. In this paper, we construct new observables for the discrimination of jets from different originating particles exclusively from…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
This paper presents a novel statistical information fusion method to integrate multiple-view sensor data in multi-object tracking applications. The proposed method overcomes the drawbacks of the commonly used Generalized Covariance…
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear disturbance observer (NDI+NDO) for fully actuated aerial…
In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…
We propose a novel performance metric for articulated robots with distributed directional sensors called the sensor observability analysis (SOA). These robot-mounted distributed directional sensors (e.g., joint torque sensors) change their…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking…
The growing need for accurate and reliable tracking systems has driven significant progress in sensor fusion and object tracking techniques. In this paper, we design two variational Bayesian trackers that effectively track multiple targets…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
In this note, we propose a novel approach for a class of autonomous dynamical systems that allows, given some observations of the solutions, to identify its parameters and reconstruct the state vector. This approach relies on proving the…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is an alternative to recent works using a similar model together with an Extended…
We develop a technique for the multivariate data analysis of perturbed self-sustained oscillators. The approach is based on the reconstruction of the phase dynamics model from observations and on a subsequent exploration of this model. For…
In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…