相关论文: A global observer for attitude and gyro biases fro…
We introduce a functional covariant differential as a tool for studying field space geometry in a manifestly covariant way. We then touch upon its role in gauge theories and general relativity over bounded regions, and in BRST symmetry. Due…
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an…
In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under…
The method of Lyapunov functions is one of the most effective ones for the investigation of stability of dynamical systems, in particular, of stochastic differential systems. The main purpose of the paper is the analysis of the stability of…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
We begin with a scenario that involves point-like observers starting at t=0 from the origin O of an inertial reference frame. They move with all possible proper accelerations in the positive direction of the OX axis. Equipped with light…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
Relying on the equivalence principle, a first approach of the general theory of relativity is presented using the spacetime metric of an observer with a constant proper acceleration. Within this non inertial frame, the equation of motion of…