Related papers: Equivariant Observer for Bearing Estimation with L…
Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve…
Exponentially stable extended adaptive observer is proposed for a class of linear time-invariant systems with unknown parameters and overparameterization. It allows one to reconstruct unmeasured states and bounded external disturbance…
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great interest to the robotics community. This paper develops a novel…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
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…
Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…
Inferring universal laws of the environment is an important ability of human intelligence as well as a symbol of general AI. In this paper, we take a step toward this goal such that we introduce a new challenging problem of inferring…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
This article addresses the problem of state observer design for continuous-time linear positive networked systems. Considering the bandwidth constraint in the communication network, an event-measurement-based positive observer design is…
We consider a class of uncertain linear time-invariant overparametrized systems affected by bounded disturbances, which are described by a known exosystem with unknown initial conditions. For such systems an exponentially stable extended…
The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…
In this paper we consider the joint problems of state estimation and model identification for a class of continuous-time nonlinear systems in output-feedback canonical form. An adaptive observer is proposed that combines an extended…
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order linear time-invariant systems with uncertain system matrices. The developed technique yields an exponentially convergent state estimator…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…