相关论文: Global Attitude Estimation using Single Direction …

In attitude theory, formal theoretical predictions come largely from the simulation of computational models. We argue that to push attitude theory further, we should employ mathematical analysis/analytic methods alongside of computational…

A simple procedure is developed to determine orbital elements of an object orbiting in a central force field which contribute more than three independent celestial positions. By manipulation of formal three point Gauss method of orbit…

This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…

Formal models of opinion formation commonly represent an individual's opinion by a value on a fixed opinion interval. We propose an alternative modeling method wherein interpretation is only provided to the relative positions of opinions…

We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…

The high accuracy of modern space astrometry requires the use of General Relativity to model the propagation of stellar light through the gravitational field encountered from a source to a given observer inside the Solar System. In this…

This paper is related to our previous works [1][2] on the error estimate of the averaging technique, for systems with one fast angular variable. In the cited references, a general method (of mixed analytical and numerical type) has been…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Attitude sensors determine the spacecraft attitude through the sensing of an astronomical object, field or other phenomena. The Sun and fixed stars are the two primary astronomical sensing objects. Attitude sensors are critical components…

We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…

This note presents a novel Bayesian attitude estimator with the matrix Fisher distribution on the special orthogonal group, which can smoothly accommodate both unit and non-unit vector measurements. The posterior attitude distribution is…

Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…

When a person makes a decision, it is automatically accompanied by a subjective probability judgment of the decision being correct, in other words, a confidence judgment. A better understanding of the mechanisms responsible for these…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

We investigated the possibility that a single measurement run with a definite outcome is a joint unitary evolution of all the participating systems, and measurement runs with different definite outcomes correspond to different unitary maps.…

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…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to…

Effective assisted living environments must be able to perform inferences on how their occupants interact with one another as well as with surrounding objects. To accomplish this goal using a vision-based automated approach, multiple tasks…

Position uncertainty (delocalization) measures for a particle on the sphere are proposed and illustrated on several examples of states. The new measures are constructed using suitably the standard multiplication angle operator variances.…