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Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
This paper is focused on probabilistic estimation for the attitude dynamics of a rigid body on the special orthogonal group. We select the matrix Fisher distribution to represent the uncertainties of attitude estimates and measurements in a…
The general misconception regarding velocity measurements of a test particle as it approaches black hole is addressed by introducing generalized observer set. For a general static spherically symmetric metric applicable to both Einstein and…
We propose a general framework for the estimation of observables with generative neural samplers focusing on modern deep generative neural networks that provide an exact sampling probability. In this framework, we present asymptotically…
A simple general relativity theory for objects moving in gravitational fields is developed based on studying the behavior of an atom in a gravitational field. The theory is applied to calculate the satellite time dilation, light deflection…
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…
This paper extends the application of a recently proposed nonlinear observer (cubic observer) for state estimation of linear systems with unknown inputs and delays. The generalized structure proposed here, makes it possible to establish a…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
We propose quantifying the quantum gravitational back-reaction on inflation with an invariant measure of the local acceleration rather than the expansion rate. Our observable is suitable for models in which there is no scalar inflaton to…
The time dilation of non-inertial travelers in circular and polygonal closed paths are well known. In both cases observers completing a round trip will age less than an observer at rest with respect to the circle / polygon. This rapid aging…
In this work we present an approximate solution of the Einstein equations describing a global model for the gravitational field generated by a bounded, self-gravitating stationary and axisymmetric body rotating rigidly with constant angular…
In this paper we introduce an observer design framework for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with a certain…
We develop a generic spacetime model in General Relativity which can be used to build any gravitational model within General Relativity. The generic model uses two types of assumptions: (a) Geometric assumptions additional to the inherent…
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring,…
Inferring universal laws of the environment is an important ability of human intelligence as well as a symbol of general AI. In this paper, we take a step toward this goal such that we introduce a new challenging problem of inferring…
The estimation of the full state of a nonautonomous semilinear parabolic equation is achieved by a Luenberger type dynamical observer. The estimation is derived from an output given by a finite number of average measurements of the state on…
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
An inversion transformation applied to an inertial observer is used to generate a nonstatic conformally flat geometry in spherical coordinates. A static observer in the new geometry is uniformly accelerating with respect to the inertial one…