Related papers: Tutorial on Aided Inertial Navigation Systems: A M…
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…
Invariance and equivariance to geometrical transformations have proven to be very useful inductive biases when training (convolutional) neural network models, especially in the low-data regime. Much work has focused on the case where the…
Modern inertial measurements units (IMUs) are small, cheap, energy efficient, and widely employed in smart devices and mobile robots. Exploiting inertial data for accurate and reliable pedestrian navigation supports is a key component for…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose…
This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…
The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the $SE_2(3)$ Lie group, and the nonlinearity can be bounded, or removed with the application of a dynamic inversion control law. A numerical…
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Lie logarithm of the navigation state estimation error…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…