相关论文: Landing the uniformly accelerating observers

Entanglement between two free bosonic modes can be determined via detection of each mode by different observers and then observing the correlations between their measurements. We show that such entanglement is degraded as a function of time…

Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error,…

When introducing special relativity, an elegant connection to familiar rules governing Galilean constant acceleration can be made, by describing first the discovery at high speeds that the clocks (as well as odometers) of different…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…

The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…

We give a closed expression for the Minkowski (1+1)-dimensional metric in the radar coordinates of an arbitrary non-inertial observer O in terms of O's proper acceleration. Knowledge of the metric allows the non-inertial observer to perform…

Entanglement of Dirac fields has been studied and it is known to decrease with increasing acceleration when a quantum state is shared between users in non-inertial frames. A new form of an entangled vacuum state observed by the accelerated…

We study how an arbitrary Gaussian state of two localized wave packets, prepared in an inertial frame of reference, is described by a pair of uniformly accelerated observers. We explicitly compute the resulting state for arbitrarily chosen…

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…

Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…

Two observers determine the entanglement between two free bosonic modes by each detecting one of the modes and observing the correlations between their measurements. We show that a state which is maximally entangled in an inertial frame…

A challenge in teaching about special relativity is that a number of the theory's effects are at odds with the intuition of classical physics, as well as student's everyday experience. The relativity of simultaneity, time dilation and…

Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an…

Fermi co-ordinates are proper co-ordinates of a local observer determined by his trajectory in space-time. Two observers at different positions belong to different Fermi frames even if there is no relative motion between them. Use of Fermi…

As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…

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…