Related papers: An intrinsic aggregation model on the special orth…
We investigate a model for collective behaviour with intrinsic interactions on Riemannian manifolds. We establish the well-posedness of measure solutions (defined via mass transport) on sphere, as well as investigate the mean-field particle…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
We investigate the long-time behaviour of solutions to a nonlocal partial differential equation on smooth Riemannian manifolds of bounded sectional curvature. The equation models self-collective behaviour with intrinsic interactions that…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…
We consider an aggregation model that consists of an active transport equation for the macroscopic population density, where the velocity has a nonlocal functional dependence on the density, modelled via an interaction potential. We set up…
We extend a well-studied ODE model for collective behaviour by considering anisotropic interactions among individuals. Anisotropy is modelled by limited sensorial perception of individuals, that depends on their current direction of motion.…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
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…
We present existence, uniqueness and continuous dependence results for some kinetic equations motivated by models for the collective behavior of large groups of individuals. Models of this kind have been recently proposed to study the…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude estimation error dynamics. One smooth and two non-smooth…
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…
Collective motion of locally interacting agents is found ubiquitously throughout nature. The inability to probe individuals has driven longstanding interest in the development of methods for inferring the underlying interactions. In the…
This paper focuses on a stochastic formulation of Bayesian attitude estimation on the special orthogonal group. In particular, an exponential probability density model for random matrices, referred to as the matrix Fisher distribution is…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
Elucidating long-range interaction guided organization of matter is a fundamental question in physical systems covering multiple length scales. Here, based on the hexagonal disk model, we analyze the characteristic inhomogeneity created by…
We present a comprehensive study of Vicsek-style self-propelled particle models in two and three space dimensions. The onset of collective motion in such stochastic models with only local alignment interactions is studied in detail and…
In this paper, we review recent developments on the derivation and properties of macroscopic models of collective motion and self-organization. The starting point is a model of self-propelled particles interacting with its neighbors through…