相关论文: Propagation of Uncertainty in Rigid Body Attitude …
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty…
The dynamics along the particle trajectories for the 3D axisymmetric Euler equations in an infinite cylinder are considered. It is shown that if the inflow-outflow is rapidly increasing in time, the corresponding laminar profile of the…
The goal of this presentation is to highlight various computational techniques used to study dynamics of quantum many-body systems. We examine the projection and variable phase methods being applied to multi-channel problems of scattering…
Fronts that start from a local perturbation and propagate into a linearly unstable state come in two classes: pulled and pushed. ``Pulled'' fronts are ``pulled along'' by the spreading of linear perturbations about the unstable state, so…
An accurate characterization of pose uncertainty is essential for safe autonomous navigation. Early pose uncertainty characterization methods proposed by Smith, Self, and Cheeseman (SCC), used coordinate-based first-order methods to…
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…
We study the evolution of fronts in a bistable reaction-diffusion system when the nonlinear reaction term is spatially non-homogeneous. This equation has been used to model wave propagation in various biological systems. Extending previous…
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…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
Extracting information on fluid motion directly from images is challenging. Fluid flow represents a complex dynamic system governed by the Navier-Stokes equations. General optical flow methods are typically designed for rigid body motion,…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
We propose three iterative methods for solving the Moser-Veselov equation, which arises in the discretization of the Euler-Arnold differential equations governing the motion of a generalized rigid body. We start by formulating the problem…
The accuracy of Euler-Lagrange point-particle models employed in particle-laden fluid flow simulations depends on accurate estimation of the particle force through closure models. Typical force closure models require computation of the slip…
This work is devoted to the development of a distributionally robust active fault diagnosis approach for a class of nonlinear systems, which takes into account any ambiguity in distribution information of the uncertain model parameters.…
Macroscopically heterogeneous materials, characterised mostly by comparable heterogeneity lengthscale and structural sizes, can no longer be modelled by deterministic approach instead. It is convenient to introduce stochastic approach with…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
A theoretical and experimental study of the spin-over mode induced by the elliptical instability of a flow contained in a slightly deformed rotating spherical shell is presented. This geometrical configuration mimics the liquid rotating…
We study the long-time behavior of an elliptic rigid body which is allowed to vertically translate and rotate in a 2D unbounded channel under the action of a Poiseuille flow at large distances. The motion of the fluid is modelled by the…
This article studies point-vortex models for the Euler and surface quasi-geostrophic equations. In the case of an inviscid fluid with planar motion, the point-vortex model gives account of dynamics where the vorticity profile is sharply…