Related papers: Attitude Observation for Second Order Attitude Kin…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
A main problem in autonomous vehicles in general, and in \acp{UAV} in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
This paper presents a novel method for attitude estimation of an object in 3D space by incremental learning of the Long-Short Term Memory (LSTM) network. Gyroscope, accelerometer, and magnetometer are few widely used sensors in attitude…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
In this paper, we introduce a new sliding mode observer for Lur'e set-valued dynamical systems, particularly addressing challenges posed by uncertainties not within the standard range of observation. Traditionally, most of Luenberger-like…
In sports, such as alpine skiing, coaches would like to know the speed and various biomechanical variables of their athletes and competitors. Existing methods use either body-worn sensors, which are cumbersome to setup, or manual image…
Rendezvous and docking between a chaser spacecraft and an uncooperative target, such as an inoperative satellite, require synchronization between the chaser spacecraft and the target. In these scenarios, the chaser must estimate the…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…
Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present…
Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
This work proposes a novel method for estimating the influence that unknown static objects might have over mobile agents. Since the motion of agents can be affected by the presence of fixed objects, it is possible use the information about…
3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…
The Earth, a temporal complex system, is witnessing a shift in research on its coordinate system, moving away from conventional static positioning toward embracing dynamic modeling. Early positioning concentrates on static natural…
A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…