相关论文: Landing the uniformly accelerating observers
We begin with a scenario that involves point-like observers starting at t=0 from the origin O of an inertial reference frame. They move with all possible proper accelerations in the positive direction of the OX axis. Equipped with light…
The uniformly accelerated reference frame described by Hamilton, Desloge and Philpott involves the observers who perform the hyperbolic motion with constant proper acceleration gi. They start to move from different distances measured from…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
Relying on the equivalence principle, a first approach of the general theory of relativity is presented using the spacetime metric of an observer with a constant proper acceleration. Within this non inertial frame, the equation of motion of…
We derive the metric of an accelerating observer moving with non-constant proper acceleration in flat spacetime. With the exception of a limiting case representing a Rindler observer, there are no horizons. In our solution, observers can…
The general construction of extended refrence frames for noninertial observers in flat space is studied. It is shown that, if the observer moves inertially before and after an arbitrary acceleration and rotation, the region where reference…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…
We introduce in the explicit form the tetrads of arbitrary observers in spacetimes with spherical and axial symmetries. The observers confined to the equatorial plane are parametrized by the pair of functions. We apply this description in…
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data…
We investigate how a uniformly rotating frame is defined as the rest frame of an observer rotating with constant angular velocity $\Omega$ around the $z$ axis of an inertial frame. Assuming that this frame is a Lorentz one, we second…
We investigate the effects of the aberration of light for a uniformly accelerating observer. The observer we consider is initially at rest with respect to a luminous spherical object--a star, say--and then starts to move away with constant…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
Consider a team with two types of agents: targets and observers. Observers are aerial UAVs that observe targets moving on land with their movements restricted to the paths that form a planar graph on the surface. Observers have limited…
We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…
An uniformly accelerated observer can build his proper system of coordinates in a delimited sector of the flat Minkowski spacetime. The properties of the position and time coordinate lines for such an observer are studied and compared with…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
A new kind of uniformly accelerated reference frames with a line-element different from the M{\o}ller and Rindler ones is presented, in which every observer at $x, y, z=$consts. has the same constant acceleration. The laws of mechanics are…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…