Related papers: Tutorial on Aided Inertial Navigation Systems: A M…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…
Since they were introduced in the 1990s, Lie group integrators have become a method of choice in many application areas. These include multibody dynamics, shape analysis, data science, image registration and biophysical simulations. Two…
Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…
To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Many navigation problems can be formulated as observer design on linear observed systems with a two-frame group structure, on which an invariant filter can be implemented with guaranteed consistency and stability. It's still unclear how…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…
In this paper, we propose a new strategy for learning inertial robotic navigation models. The proposed strategy enhances the generalisability of end-to-end inertial modelling, and is aimed at wheeled robotic deployments. Concretely, the…
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of…
Floating offshore structures often exhibit low-frequency oscillatory motions in the horizontal plane, with amplitudes in the same order as their characteristic dimensions and larger than the corresponding wave-frequency responses, making…
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on…