Related papers: Constructive Equivariant Observer Design for Inert…
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…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…
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 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…
Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…
This paper presents an indoor pose estimation system for micro aerial vehicles (MAVs) with a single WiFi access point. Conventional approaches based on computer vision are limited by illumination conditions and environmental texture. Our…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
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…
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…