Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…
Results are obtained on extending flat vector bundles or equivalently general representations from the fundamental group of S, a connected subsurface of the connected boundary of a compact, connected, oriented 3-dimensional manifold, to the…
The three-body problem is a fundamental long-standing open problem, with applications in all branches of physics, including astrophysics, nuclear physics and particle physics. In general, conserved quantities allow to reduce the formulation…
We propose a notion of a ternary skew-symmetric covariant tensor of 3rd order, consider it as a 3-dimensional matrix and study a ten-dimensional complex space of these tensors. We split this space into a direct sum of two five-dimensional…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
It is shown that the groups of Euclidian rotations, rigid motions, proper, orthochronous Lorentz transformations, and the complex rigid motions can be represented by the groups of unit-norm elements in the algebras of real, dual, complex,…
Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…
We consider an SO(4) Euler rigid body with two 'inertia momenta' coinciding. We study it from the point of view of bihamiltonian geometry. We show how to algebraically integrate it by means of the method of separation of variables.
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
Quaternions provide a unified algebraic and geometric framework for representing three-dimensional rotations without the singularities that afflict Euler-angle parametrisations. This article develops a pedagogical and conceptual analysis of…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
In this work we study the formulation of convection/diffusion equations on the 3D motion group SE(3) in terms of the irreducible representations of SO(3). Therefore, the left-invariant vector-fields on SE(3) are expressed as linear…
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…
We characterize a convex subset of entanglement witnesses for two qutrits. Equivalently, we provide a characterization of the set of positive maps in the matrix algebra of 3 x 3 complex matrices. It turns out that boundary of this set…
By following the ideas underpinning the well-established ``homogeneous model'' of an $n$-dimensional Euclidean space, we investigate whether the motion group or the weak motion group of an $n$-dimensional affine metric space on a vector…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
A parameterization is described for quantifying translational motion of a point in three-dimensional Euclidean space. The parameterization is similar to well-known parameterizations such as spherical coordinates in that both position and…