Related papers: Constructive Equivariant Observer Design for Inert…
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application to the synthesis of observers, which generate asymptotically converging state estimates. Equating detectability to asymptotic…
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
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…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists in augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the…
Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO performance by including a dynamics model in the estimation…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…