Related papers: On Robust Observer Design for System Motion on SE(…
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…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
In this paper, robust control with sea state observer and dynamic thrust allocation is proposed for the Dynamic Positioning (DP) of an accommodation vessel in the presence of unknown hydrodynamic force variation and the input time delay. In…
Monocular vision-based target motion estimation is a fundamental challenge in numerous applications. This work introduces a novel bearing-box approach that fully leverages modern 3D detection measurements that are widely available nowadays…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…
Studies suggest that involuntary eye movements exhibit greater stability during active motion compared to passive motion, and this effect may also apply to the operation of ride-on machinery. Moreover, a study suggested that experimentally…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
Observer design is considered for a class of non-linear systems whose non-linear part is energy preserving. A strategy to construct convergent observers for this class of non-linear system is presented. The approach has the advantage that…
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…
This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…