Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
We investigate the group contraction method for various space-time groups, including SO(3)->E_2, SO(3,1)->G_3, SO(5-h,h)->P(3,1) (h=1 or 2), and its consequences for representations of these groups. Following strictly quantum mechanical…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
We study 4D systems in which parameters of the theory have position dependence in one spatial direction. In the limit where these parameters jump, this can lead to 3D interfaces supporting localized degrees of freedom. A priori, this sort…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear…
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on…
We study the cohomological equation associated with screw motions on the Euclidean motion group SE(3). Working on the smooth manifold M = T^3 x SO(3), we combine Fourier analysis in the translational variables with Peter-Weyl theory on…
Representation learning has become increasingly important, especially as powerful models have shifted towards learning latent representations before fine-tuning for downstream tasks. This approach is particularly valuable in leveraging the…
A geometric interpretation of the equinoctial elements is given with a connection to orthogonal rotations and attitude dynamics in Euclidean 3-space. An identification is made between the equinoctial elements and classic Rodrigues…
Panoramic semantic segmentation models are typically trained under a strict gravity-aligned assumption. However, real-world captures often deviate from this canonical orientation due to unconstrained camera motions, such as the rotational…
The generalized Euler case (rigid body rotation over the fixed point) is discussed here: - the center of masses of non-symmetric rigid body is assumed to be located at the equatorial plane on axis Oy which is perpendicular to the main…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
Quaternions are important for a wide variety of rotation-related problems in computer graphics, machine vision, and robotics. We study the nontrivial geometry of the relationship between quaternions and rotation matrices by exploiting the…
Differential equations are derived which show how generalized Euler vector representations of the Euler rotation axis and angle for a rigid body evolve in time; the Euler vector is also known as a rotation vector or axis-angle vector. The…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
We present a novel topology-preserving 3D medial axis computation framework based on volumetric restricted power diagram (RPD), while preserving the medial features and geometric convergence simultaneously, for both 3D CAD and organic…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
Three parameterizations are developed for modeling translational motion of a point mass in atmosphere flight over a central rotating body. Unlike well-known parameterizations such as spherical coordinate parameterizations, where position…