相关论文: Global Attitude Estimation using Single Direction …
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
The heterogeneity of the small body population complicates the prediction of small body properties before the spacecraft's arrival. In the context of autonomous small body exploration, it is crucial to develop algorithms that estimate the…
In this report we deal with the problem of global output feedback stabilization of a class of $n$-dimensional nonlinear positive systems possessing a one-dimensional unknown, though measured, part. We first propose our main result, an…
This paper is devoted to a practical model for relativistic reduction of positional observations with an accuracy of 1 \muas which is expected to be attained in the future space astrometry missions. All relativistic effects which are caused…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
We present an analytical description of the motion in the singular logarithmic potential. This potential plays an important role in the modeling of triaxial systems (like elliptical galaxies) or bars in the centers of galaxy disks. In order…
This paper introduces a model for opinion dynamics, where at each time step, randomly selected agents see their opinions - modeled as scalars in [0,1] - evolve depending on a local interaction function. In the classical Bounded Confidence…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
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…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
Uncertainty plays a key role in future prediction. The future is uncertain. That means there might be many possible futures. A future prediction method should cover the whole possibilities to be robust. In autonomous driving, covering…
We introduce a model of multi-agent dynamics for self-organised motion; individuals travel at a constant speed while trying to adopt the averaged body attitude of their neighbours. The body attitudes are represented through unitary…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
Orbit-attitude hovering of a spacecraft at the natural relative equilibria in the body-fixed frame of a uniformly rotating asteroid is discussed in the framework of the full spacecraft dynamics, in which the spacecraft is modeled as a rigid…
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…
Accurately knowing uncertainties in appearance-based gaze tracking is critical for ensuring reliable downstream applications. Due to the lack of individual uncertainty labels, current uncertainty-aware approaches adopt probabilistic models…
We consider the problem of parameter estimation in dynamic systems described by ordinary differential equations. A review of the existing literature emphasizes the need for deterministic global optimization methods due to the nonconvex…