Related papers: A Robust Observer with Gyroscopic Bias Correction …
It is well understood that dynamic instability is among the primary drivers of forecast uncertainty in chaotic, physical systems. Data assimilation techniques have been designed to exploit this phenomena, reducing the effective dimension of…
We obviate the use of observers for the purpose of output feedback tracking control of Lagrangian systems and solve some long-standing yet well-documented open problems. As often implemented in control practice, we replace unavailable…
In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
We construct and analyze an estimator of association between random variables based on their similarity in both direction and magnitude. Under special conditions, the proposed measure becomes a robust and consistent estimator of the linear…
This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…
This paper investigates robust synchronization for multi-agent systems (MASs) governed by parabolic partial differential equations in the presence of both observable and unobservable disturbances. Using only boundary output measurements, a…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…
In this paper, we revisit the rotation averaging problem applied in global Structure-from-Motion pipelines. We argue that the main problem of current methods is the minimized cost function that is only weakly connected with the input data…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
In this work, we present a mixed sensorless strategy for Permanent Magnets Synchronous Machines, combining a torque/current controller and an observer for position, speed, flux and stator resistance. The proposed co-design is motivated by…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
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…
In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic…
We consider the problem of performing inverse reinforcement learning when the trajectory of the expert is not perfectly observed by the learner. Instead, a noisy continuous-time observation of the trajectory is provided to the learner. This…
In a recent paper we described a novel approach to the detection and parameter estimation of a non-Gaussian stochastic background of gravitational waves. In this work we propose an improved version of the detection procedure, preserving…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
We revisit the nonlinear complimentary filter on $SO(3)$, previously proposed in the literature, and provide the (time-explicit) solution to the matrix ODE governing the attitude estimation error in the absence of measurement errors. The…