10 papers
Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments
Mohamed Khalifa, Hashim A. Hashim
Reliable navigation in GPS-denied environments remains a fundamental challenge in robotics, aerospace, and autonomous vehicle applications. This paper presents a Dual Quaternion-Ba…
Quaternion-based Unscented Kalman Filter for Robust Wrench Estimation of Human-UAV Physical Interaction
Hussein Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payloa…
Adaptive Gain Nonlinear Observer for External Wrench Estimation in Human-UAV Physical Interaction
Hussein N. Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive p…
Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements
Khashayar Ghanizadegan, Hashim A. Hashim
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degree…
Human Physical Interaction based on UAV Cooperative Payload Transportation System using Adaptive Backstepping and FNTSMC
Hussein N. Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system…
DeepUKF-VIN: Adaptively-tuned Deep Unscented Kalman Filter for 3D Visual-Inertial Navigation based on IMU-Vision-Net
Khashayar Ghanizadegan, Hashim A. Hashim
This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF).…