Related papers: Perturbed Initial Orbit Determination
These notes were written during the 9th and 10th sessions of the subject Dynamical Systems II coursed at DTU (Denmark) during the Winter Semester 2015-2016, and later extended in February 2017. They aim to provide students with a…
We consider non-differentiable dynamic optimization problems such as those arising in robotics and subspace tracking. Given the computational constraints and the time-varying nature of the problem, a low-complexity algorithm is desirable,…
Reasoning about 3D scenes from their 2D image projections is one of the core problems in computer vision. Solutions to this inverse and ill-posed problem typically involve a search for models that best explain observed image data. Notably,…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance damping estimation accuracy in…
The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
The quasi-neutral hybrid model with kinetic ions and fluid electrons is a promising approach for bridging the inherent multi-scale nature of many problems in space and laboratory plasmas. Here, a novel, implicit, particle-in-cell based…
In [1], we have presented the theoretical background for finding the Elementary Invariants for a 3D system of first order rational differential equations (1ODEs). We have also provided an algorithm to find such Invariants. Here we introduce…
A novel approach for measuring fast oscillations of an absolute value of interferometer optical path difference (OPD) has been developed. The principles of frequency-scanning interferometry are utilized for registration of the…
Physics-based simulations of earthquake ground motion are useful to complement recorded ground motions. However, the computational expense of performing numerical simulations hinders their applicability to tasks that require real-time…
We provide a robust and general algorithm for computing distribution functions associated to induced orthogonal polynomial measures. We leverage several tools for orthogonal polynomials to provide a spectrally-accurate method for a broad…
We present a new method for generating robust guesses for unstable periodic orbits (UPOs) by post-processing turbulent data using dynamic mode decomposition (DMD). The approach relies on the identification of near-neutral, repeated…
In this work, the authors address the Optimal Transport (OT) problem on graphs using a proximal stabilized Interior Point Method (IPM). In particular, strongly leveraging on the induced primal-dual regularization, the authors propose to…
Given the critical roles that satellites play in national defense, public safety, and worldwide communications, finding ways to determine satellite trajectories is a crucially important task for improved space situational awareness.…
We introduce a novel eigenvalue algorithm for near-diagonal matrices inspired by Rayleigh-Schr\"odinger perturbation theory and termed Iterative Perturbative Theory (IPT). Contrary to standard eigenvalue algorithms, which are either…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
We consider nonlinear inverse problems arising in the context of parameter identification for parabolic partial differential equations (PDEs). For stable reconstructions, regularization methods such as the iteratively regularized…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial odometry methods rely on handcrafted…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…