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math.OC2025
A Dual Quaternion Control Law for Formation Control of Multiple 3-D Rigid Bodies
Chunfeng Cui, Liqun Qi, Hao Chen +1
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2…
cs.CV2025
A Plug-and-Play Learning-based IMU Bias Factor for Robust Visual-Inertial Odometry
Yang Yi, Kunqing Wang, Jinpu Zhang +4
Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly w…
eess.SY2025
Distributed Framework Construction for Affine Formation Control
Huiming Li, Hao Chen, Xiangke Wang +2
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well a…