相关论文: Global Optimal Attitude Estimation using Uncertain…

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…

We study computing geometric problems on uncertain points. An uncertain point is a point that does not have a fixed location, but rather is described by a probability distribution. When these probability distributions are restricted to a…

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 machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…

We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…

This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algorithms were supplanted by the Gaussian attitude estimation…

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…

Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…

This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…

Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…

Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion and sensing uncertainty with the robot and static obstacle…

This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed.…

This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…

The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rigid body are to be estimated simultaneously with the help of…

We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple "geometry-free" nonlinear observer with guaranteed uniform global asymptotic…

We present a procedure for determination of positions and orbital elements, and associated uncertainties, of outer Solar System planets. The orbit-fitting procedure is greatly streamlined compared to traditional methods because acceleration…

Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…

A small variation of the circular shape of the hodograph theorem states that for every elliptical solution of the two-body problem, it is possible to find an appropriate inertial frame such that the speed of the bodies is constant. We use…

This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…

It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…