Related papers: On Robust Observer Design for System Motion on SE(…
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of autonomous vehicles now shifts the focus more towards…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Visual Object Tracking (VOT) has synchronous needs for both robustness and accuracy. While most existing works fail to operate simultaneously on both, we investigate in this work the problem of conflicting performance between accuracy and…
3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…
This paper frames a general prediction system as an observer traveling around a continuous space, measuring values at some locations, and predicting them at others. The observer is completely agnostic about any particular task being solved;…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
This paper considers the design of robust state observers for a class of slope-restricted nonlinear descriptor systems with unknown time-varying parameters belonging to a known set. The proposed design accounts for process disturbances and…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
Accurate full-body motion prediction is essential for the safe, autonomous navigation of legged robots, enabling critical capabilities like limb-level collision checking in cluttered environments. Simplified kinematic models often fail to…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
In this paper, we propose a Koopman operator based approach to describe the nonlinear dynamics of a quadrotor on SE(3) in terms of an infinite-dimensional linear system which evolves in the space of observable functions (lifted space) and…
This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…
This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…
Motivated by the increasing need to monitor safety-critical systems subject to uncertainties, a novel set-membership approach is proposed to estimate the state of a dynamical system with unknown-but-bounded exogenous inputs. The proposed…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…