Related papers: Equivariant Filter Cascade for Relative Attitude, …
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
Two novel nonlinear pose (i.e, attitude and position) filters developed directly on the Special Euclidean Group SE(3)able to guarantee prescribed characteristics of transient and steady-state performance are proposed. The position error and…
Cross-view matching refers to the problem of finding the closest match for a given query ground view image to one from a database of aerial images. If the aerial images are geotagged, then the closest matching aerial image can be used to…
Face detection is essential to facial analysis tasks such as facial reenactment and face recognition. Both cascade face detectors and anchor-based face detectors have translated shining demos into practice and received intensive attention…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…
Recent research in inverse cognition with cognitive radar has led to the development of inverse stochastic filters that are employed by the target to infer the information the cognitive radar may have learned. Prior works addressed this…
We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations. One of the main…
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dimensional relative pose estimation using range measurements…
Rapid advances in designing cognitive and counter-adversarial systems have motivated the development of inverse Bayesian filters. In this setting, a cognitive 'adversary' tracks its target of interest via a stochastic framework such as a…
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturbances, as large linearization errors can…
Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty. Standard estimation frameworks…
In cognitive systems, recent emphasis has been placed on studying the cognitive processes of the subject whose behavior was the primary focus of the system's cognitive response. This approach, known as inverse cognition, arises in…
Due to the state trajectory-independent features of invariant Kalman filtering (InEKF), it has attracted widespread attention in the research community for its significantly improved state estimation accuracy and convergence under…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
It is often convenient to separate a state estimation task into smaller "local" tasks, where each local estimator estimates a subset of the overall system state. However, neglecting cross-covariance terms between state estimates can result…
Correlation filter-based tracking has been widely applied in unmanned aerial vehicle (UAV) with high efficiency. However, it has two imperfections, i.e., boundary effect and filter corruption. Several methods enlarging the search area can…
The extended and unscented Kalman filter, and the particle filter provide a robust framework for fault-tolerant attitude estimation on spacecraft. This paper explores how each filter performs for a large satellite in a low earth orbit.…
The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…
Correlation filters are special classifiers designed for shift-invariant object recognition, which are robust to pattern distortions. The recent literature shows that combining a set of sub-filters trained based on a single or a small group…