5 papers
Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
Alessandro Melis, Tarek Bouazza, Soulaimane Berkane +1
This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with…
Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
Alessandro Melis, Soulaimane Berkane, Tarek Hamel +1
This paper proposes a complementary filter on SO(3) for attitude estimation from scalar measurements corresponding to projections of known inertial vectors onto body-frame sensing…
Scalar-Measurement Attitude Estimation on with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal +3
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can…
Necessary and Sufficient Conditions for the Nonincrease of Scalar Functions Along Solutions to Constrained Differential Inclusions
Mohamed Maghenem, Alessandro Melis, Ricardo G. Sanfelice
In this paper, we propose necessary and sufficient conditions for a scalar function to be nonincreasing along solutions to general differential inclusions with state constraints. T…
A Hybrid Control Algorithm for Gradient-Free Optimization using Conjugate Directions
Alessandro Melis, Ricardo G. Sanfelice, Lorenzo Marconi
The problem of steering a particular class of -dimensional continuous-time dynamical systems towards the minima of a function without gradient information is considered. We prop…