相关论文: A global observer for attitude and gyro biases fro…

This work considers a system coupling a viscous Burgers equation (aimed to describe a simplified model of $1D$ fluid flow) with the ODE describing the motion of a point mass moving inside the fluid. The point mass is possibly under the…

From general relativity we have learned the principles of general covariance and local Lorentz invariance, which follow from the fact that we consider observables as tensors on a spacetime manifold whose geometry is modeled by a Lorentzian…

This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…

We propose a moving horizon estimation scheme for joint state and parameter estimation for nonlinear uncertain discrete-time systems. We establish robust exponential convergence of the combined estimation error subject to process…

We show that the acceleration-difference of neighboring free-falling particles (= geodesic deviation) measured in the local reference frame of a GR-noninertial observer is not given by the Riemann tensor. With the gravito-electric field of…

In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case…

We show that the existence of a non-coercive Lyapunov function is sufficient for uniform global asymptotic stability (UGAS) of infinite-dimensional systems with external disturbances provided the speed of decay is measured in terms of the…

This work is devoted to the construction of feedback laws which guarantee the robust global exponential stability of the uncongested equilibrium point for general discrete-time freeway models. The feedback construction is based on a control…

Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…

The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…

The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…

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…

This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…

In recent years, progress in improving the bias stability of NMR gyroscopes has been hindered. Taking inspiration from the core idea of rotation modulation in the strapdown inertial navigation system, we propose a general approach to…

We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…

This paper is concerned with stability analysis of nonlinear time-varying systems by using Lyapunov function based approach. The classical Lyapunov stability theorems are generalized in the sense that the time-derivative of the Lyapunov…

Imitation learning is a paradigm to address complex motion planning problems by learning a policy to imitate an expert's behavior. However, relying solely on the expert's data might lead to unsafe actions when the robot deviates from the…

In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are…

In general relativity, only relative acceleration has an observer-independend meaning: curvature and non-gravitational forces determine the rate at which world lines of test bodies diverge or converge. We derive the equations governing both…