Related papers: Attitude Observation for Second Order Attitude Kin…
Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…
In this paper, we study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct a field test. Recently, sensor technologies have been progressed. Solutions of safety management to analyze…
Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
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,…
Physicists have been interested in accelerated observers for quite some time. Since the advent of special relativity, many authors have tried to understand these observers in the framework of Minkowski spacetime. One of the most important…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…
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…