Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
The group SU(3) is parameterized in terms of generalized ``Euler angles''. The differential operators of SU(3) corresponding to the Lie Algebra elements are obtained, the invariant forms are found, the group invariant volume element is…
The independent eigenstates of the total orbital angular momentum operators for a three-body system in an arbitrary D-dimensional space are presented by the method of group theory. The Schr\"{o}dinger equation is reduced to the generalized…
Reasoning about 3D objects based on 2D images is challenging due to variations in appearance caused by viewing the object from different orientations. Tasks such as object classification are invariant to 3D rotations and other such as pose…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
We consider a robust and self-reliant (or "egoistic") variation of the rigid body localization (RBL) problem, in which a primary rigid body seeks to estimate the pose (i.e., location and orientation) of another rigid body (or "target"),…
More than 150 years after their invention by Hamilton, quaternions are now widely used in the aerospace and computer animation industries to track the paths of moving objects undergoing three-axis rotations. It is shown here that they…
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
This monograph describes a Riemannian geometric reduction approach to the three-body problem. The fundamental theorems are presented in the introductory part, whereas their proofs are provided in later chapters where specific topics are…
We propose gauge parameterization of the three-dimensional $n$-field using orthogonal SO(3)-matrix which, in turn, is defined by a field taking values in the Lie algebra so(3) (rotational-angle field). The rotational-angle field has an…
This paper revisits the little-known Gibbs-Rodrigues representation of rotations in a three-dimensional space and demonstrates a set of algorithms for handling it. In this representation the rotation is itself represented as a…
We consider a system of self-propelled agents interacting through body attitude coordination in arbitrary dimension $n \geq 3$. We derive the formal kinetic and hydrodynamic limits for this model. Previous literature was restricted to…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and…
In the subdivision approach to robot path planning, we need to subdivide the configuration space of a robot into nice cells to perform various computations. For a rigid spatial robot, this configuration space is $SE(3)=\mathbb{R}^3\times…
The purpose of this paper is to show that the mathematical treatment of three dimensional rotations can be simplified, and its geometrical understanding improved, by using the Rodrigues' vector representation. We present a novel geometrical…
Arnold pointed out that the Euler equation of incompressible ideal hydrodynamics describes geodesics on the group of volume-preserving diffeomorphisms. A simple analogue is the Euler equation for a rigid body, which is the geodesic equation…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…