Related papers: Rigid Body Geometric Attitude Estimator using Mult…
In this article we develop a tractable procedure for testing strict stationarity in a double autoregressive model and formulate the problem as testing if the top Lyapunov exponent is negative. Without strict stationarity assumption, we…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
A Markov decision process-based state switching is devised, implemented, and analyzed for proximity operations of various autonomous vehicles. The framework contains a pose estimator along with a multi-state guidance algorithm. The unified…
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Estimating the state of an environment from high-dimensional, multimodal, and noisy observations is a fundamental challenge in reinforcement learning (RL). Traditional approaches rely on probabilistic models to account for the uncertainty,…
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…
Chaos indicators, like the Lyapunov exponent lambda, are widely used in celestial mechanics to characterize the dynamical behavior of bodies. The stability of their orbit can be determined by the calculation of the local exponential…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and rotation angles, as well as their corresponding translational…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
For a dynamical system, it is known that the existence of a Lyapunov-type density function, called Lyapunov density or Rantzer's density function, implies convergence of Lebesgue almost all solutions to an equilibrium. Using the duality…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…