28 citations · 28 across the 2 of their papers we have counts for
3 papers · 1 filter
COP: Control & Observability-aware Planning
Christoph Böhm, Pascal Brault, Quentin Delamare +2
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite…
Why and How to Avoid the Flipped Quaternion Multiplication
Hannes Sommer, Igor Gilitschenski, Michael Bloesch +3
Over the last decades quaternions have become a crucial and very successful tool for attitude representation in robotics and aerospace. However, there is a major problem that is co…
Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs
Karol Hausman, James Preiss, Gaurav Sukhatme +1
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use th…