Related papers: Tutorial on Aided Inertial Navigation Systems: A M…
Enhancement of multiple-scale elongated structures in noisy image data is relevant for many biomedical applications but commonly used PDE-based enhancement techniques often fail at crossings in an image. To get an overview of how an image…
Bundle Adjustment (BA) has been proven to improve the accuracy of the LiDAR mapping. However, the BA method has not yet been properly employed in a dead-reckoning navigation system. In this paper, we present a frame-to-frame (F2F) BA for…
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formulated as a cascade architecture that separates translational…
Lie-symmetry methods are used to determine the symmetry group of reduced magnetohydrodynamics. This group allows for arbitrary, continuous transformations of the fields themselves, along with space-time transformations. The derivation…
This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
Vision-and-Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between visual observations and linguistic guidance. Despite recent…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…
74J30The maximal group of Lie point symmetries of a system of nonlinear equations used in geophysical fluid dynamics is presented. The Lie algebra of this group is infinite-dimensional and involves three arbitrary functions of time. The…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
We approach the well-studied problem of supervised group invariant and equivariant machine learning from the point of view of geometric topology. We propose a novel approach using a pre-processing step, which involves projecting the input…
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that,…
Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries.…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…