15 papers
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane +2
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and…
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
Equivariant Observer Design on SL(3) for Image Intensity-Based Homography Estimation
Tarek Bouazza, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of homography estimation using a nonlinear observer designed on the Lie group that exploits the full image information through dir…
Equivariant Filter (EqF)
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equippe…
Equivariant Tracking Control for Fully Actuated Mechanical Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of su…