相关论文: Global Attitude Estimation using Uncertainty Ellip…

Past research on pedestrian trajectory forecasting mainly focused on deterministic predictions which provide only point estimates of future states. These future estimates can help an autonomous vehicle plan its trajectory and avoid…

Most uncertainty-aware robotic systems collapse prediction uncertainty into a single scalar score and use it to trigger uniform corrective responses. This aggregation obscures whether uncertainty arises from corrupted observations or from…

Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…

This paper focuses on a stochastic formulation of Bayesian attitude estimation on the special orthogonal group. In particular, an exponential probability density model for random matrices, referred to as the matrix Fisher distribution is…

This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

Reliable uncertainty quantification in deep neural networks is very crucial in safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of uncertainty estimates is…

This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…

This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates…

Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…

Decision-making under uncertainty is hugely important for any decisions sensitive to perturbations in observed data. One method of incorporating uncertainty into making optimal decisions is through robust optimization, which minimizes the…

Personal robots are expected to interact with the user by recognizing the user's face. However, in most of the service robot applications, the user needs to move himself/herself to allow the robot to see him/her face to face. To overcome…

Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising…

The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…

This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an undirected network, we consider a setup where each node…

A pointing accuracy better than 1"(3sigma) star tracker plays a significant role for the advanced scientific missions. This thesis makes a series of studies on the typical error sources associated with the positioning and calibration…

This work suggests the estimation method developed in relation to the position of the robotic system (RS) operator, showing his degree of risk proneness. The base models are: Hurwitz pessimism/optimism criterion and decision trees. The…

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…