Related papers: A global exponential observer for velocity-aided a…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
By proper co-ordinates of non-inertial observers (shortly - proper non-inertial co-ordinates) we understand the proper co-ordinates of an arbitrarily moving local observer. After a brief review of the theory of proper non-inertial…
We show that the acceleration-difference of neighboring free-falling particles (= geodesic deviation) measured in the local reference frame of a GR-noninertial observer is not given by the Riemann tensor. With the gravito-electric field of…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
From general relativity we have learned the principles of general covariance and local Lorentz invariance, which follow from the fact that we consider observables as tensors on a spacetime manifold whose geometry is modeled by a Lorentzian…
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…
We investigate the possible structures of numbers (as physical quantities) over which accelerated observers can be modeled in special relativity. We present a general axiomatic theory of accelerated observers which has a model over every…
This paper proposes local exponential observers for systems on linear Lie groups. We study two different classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In…
Although the performance of 3D human pose and shape estimation methods has improved significantly in recent years, existing approaches typically generate 3D poses defined in camera or human-centered coordinate system. This makes it…
We explore, in the general relativistic context, the properties of the recently introduced GPS coordinates, as well as those of the associated frames and coframes. We show that they are covariant, and completely independent of any observer.…
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…
In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is differentially detectable (i.e., the Lie derivative of the…
Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenarios differ in characteristics of the performed motion,…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…
We discuss theoretical formalisms concerning with experimental verification of General Relativity (GR). Non-metric generalizations of GR are considered and a system of postulates is formulated for metric-affine and Finsler gravitational…
This paper proposes a simple interval observer which can generate tighter interval estimates of variables in transient states than the standard interval observer. The simple nonlinear dynamics shrinks the estimated intervals to true state…
This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…