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Found 18 papers, 1 papers with code
Exploiting polar symmetry in designing equivariant observers for vision-based motion estimation
Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics.
State Estimation for Linear Systems with Quadratic Outputs
This letter deals with the problem of state estimation for a class of systems involving linear dynamics with multiple quadratic output measurements.
Control of convertible UAV with vectorized thrust
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust.
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as GNSS position, GNSS velocity, and magnetometer, to estimate the attitude, velocity, and position of a vehicle.
Constructive barrier feedback for collision avoidance in leader-follower formation control
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents.
Constructive Equivariant Observer Design for Inertial Navigation
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or extended pose, of a vehicle.
Nonlinear constructive observer design for direct homography estimation
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by the image.
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude
Inertial Velocity-Aided Attitude (VAA) is an important problem in the control of Remotely Piloted Aerial Systems (RPAS), and involves estimating the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e. g. GPS velocity) measurements.
Formation control of a leader-follower structure in three dimensional space using bearing measurements
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation.
Quadrotor going through a window and landing: An image-based visual servo control approach
For the first stage, a control law is proposed that guarantees that the vehicle will not collide with the wall containing the window and will go through the window with non-zero velocity along the direction orthogonal to the window, keeping at all times a safety distance with respect to the window edges.
Observer Design for Nonlinear Systems with Equivariance
The equivariant filter exploits the symmetry and respects the geometry of an equivariant system model and yields high performance robust filters for a wide range of mechatronic and navigation systems.
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces: That is, their state lies in a smooth manifold equipped with a transitive Lie-group symmetry.
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups
The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of the group with the inputs lying in the tangent of the tangent bundle known as the double tangent bundle.
Attitude Observation for Second Order Attitude Kinematics
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model.
Relaxed bearing rigidity and bearing formation control under persistence of excitation
This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference.
Equivariant Filter (EqF)
Simulation experiments of an example application show that the EqF significantly outperforms the extended Kalman filter and that the reduced linearisation error leads to a clear improvement in performance.
Constructive Observer Design for Visual Simultaneous Localisation and Mapping
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications.
Feature-based Recursive Observer Design for Homography Estimation
This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors.
