Related papers: Globally convergent visual-feature range estimatio…
We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple "geometry-free" nonlinear observer with guaranteed uniform global asymptotic…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single monocular camera and an…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be…
Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking…
Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…
In this paper we propose a novel observer to solve the problem of visual simultaneous localization and mapping (SLAM), only using the information from a single monocular camera and an inertial measurement unit (IMU). The system state…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
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 propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that…
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…