Related papers: State Estimation Using Single Body-Frame Bearing M…
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…
The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…
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…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the…
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector…
State estimation of oncoming vehicles: Earlier research has been based on determining states like position, velocity, orientation , angular velocity, etc of ego-vehicle. Our approach focuses on estimating the states of non-ego vehicles…
In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and force/torque sensors). Based on a Multiplicative Extended…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…