4 papers · 1 filter
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
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured alon…
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…
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…