Zobrazeno 1 - 10
of 81
pro vyhledávání: '"Agostino Martinelli"'
Autor:
Agostino Martinelli
Publikováno v:
IEEE Transactions on Automatic Control
IEEE Transactions on Automatic Control, 2022, 67 (9), pp.5002-5008. ⟨10.1109/TAC.2022.3180771⟩
IEEE Transactions on Automatic Control, 2022, 67 (9), pp.5002-5008. ⟨10.1109/TAC.2022.3180771⟩
International audience; This article provides an extension of the observability rank condition to time-varying nonlinear systems. Previous conditionsto check the state observability only hold for nonlinear systems that do not explicitly depend on tim
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9162c7e2b522d20a3970e77afd99be28
https://inria.hal.science/hal-03920644/document
https://inria.hal.science/hal-03920644/document
Autor:
Agostino Martinelli
Publikováno v:
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.668-675. ⟨10.1109/LRA.2020.2965063⟩
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.668-675. ⟨10.1109/LRA.2020.2965063⟩
IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.668-675. ⟨10.1109/LRA.2020.2965063⟩
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.668-675. ⟨10.1109/LRA.2020.2965063⟩
International audience; This letter provides an exhaustive analysis of all the singularities and minimal cases in cooperative visual-inertial odometry. Specifically, the case of two agents is analysed. As in the case of a single agent and in the case
Autor:
Agostino Martinelli
Publikováno v:
Information Fusion
Information Fusion, 2022, 85, pp.23-51. ⟨10.1016/j.inffus.2022.03.004⟩
Information Fusion, 2022, 85, pp.23-51. ⟨10.1016/j.inffus.2022.03.004⟩
Observability is a fundamental structural property of any dynamic system and describes the possibility of reconstructing the state that characterizes the system from observing its inputs and outputs. Despite the huge effort made to study this propert
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::81918dc1ebcd88f99fd73518936a1a45
http://arxiv.org/abs/2201.07610
http://arxiv.org/abs/2201.07610
Publikováno v:
Autonomous Robots
Autonomous Robots, 2020, 44, pp.339-357. ⟨10.1007/s10514-019-09841-8⟩
Autonomous Robots, Springer Verlag, In press, pp.1-19. ⟨10.1007/s10514-019-09841-8⟩
Autonomous Robots, 2020, 44, pp.339-357. ⟨10.1007/s10514-019-09841-8⟩
Autonomous Robots, Springer Verlag, In press, pp.1-19. ⟨10.1007/s10514-019-09841-8⟩
International audience; This paper investigates the visual and inertial sensor fusion problem in the cooperative case and provides new theoretical and basic results.Specifically, the case of two agents is investigated. Each agent is equipped with ine
Publikováno v:
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2019, 4 (2), pp.453-460. ⟨10.1109/LRA.2019.2891025⟩
IEEE Robotics and Automation Letters, 2019, 4 (2), pp.453-460. ⟨10.1109/LRA.2019.2891025⟩
IEEE Robotics and Automation Letters, IEEE 2019, 4 (2), pp.453-460. ⟨10.1109/LRA.2019.2891025⟩
IEEE Robotics and Automation Letters, 2019, 4 (2), pp.453-460. ⟨10.1109/LRA.2019.2891025⟩
International audience; This letter analyzes the visual–inertial sensor fusion problem in the cooperative case of two agents, and proves that this sensor fusion problem is equivalent to a simple polynomial equations system that consists of several
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4ec3b0df4506c5d19d3238a1ab4bb650
https://hal.archives-ouvertes.fr/hal-01966542/document
https://hal.archives-ouvertes.fr/hal-01966542/document
Publikováno v:
MRS 2017-The 1st International Symposium on Multi-Robot and Multi-Agent Systems
MRS 2017-The 1st International Symposium on Multi-Robot and Multi-Agent Systems, Dec 2017, Los Angeles, United States. pp.1-8
MRS
HAL
MRS 2017-The 1st International Symposium on Multi-Robot and Multi-Agent Systems, Dec 2017, Los Angeles, United States. pp.1-8
MRS
HAL
International audience; This paper provides a new theoretical and basic result in the framework of cooperative visual-inertial sensor fusion. Specifically, the case of two aerial vehicles is investigated. Each vehicle is equipped with inertial sensor
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2729d1bd13b7e9a1593f17205d02d104
https://hal.inria.fr/hal-01668972/file/a2.pdf
https://hal.inria.fr/hal-01668972/file/a2.pdf
Publikováno v:
Robotics and Autonomous Systems
Robotics and Autonomous Systems, Elsevier, 2015, 69, pp.80-97
Robotics and Autonomous Systems, 2015, 69, pp.80-97
Robotics and Autonomous Systems, Elsevier, 2015, 69, pp.80-97
Robotics and Autonomous Systems, 2015, 69, pp.80-97
This paper presents low computational-complexity methods for micro-aerial-vehicle localization in GPS-denied environments. All the presented algorithms rely only on the data provided by a single onboard camera and an Inertial Measurement Unit (IMU).
Autor:
Agostino Martinelli
Publikováno v:
IROS
IROS 2017-IEEE/RSJ International Conference on Intelligent Robots and Systems
IROS 2017-IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.1-8
IROS 2017-IEEE/RSJ International Conference on Intelligent Robots and Systems
IROS 2017-IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.1-8
International audience; — This paper presents the analytic solution of a fundamental open problem in the framework of state esti-mation/nonlinear observability, which is the Unknown Input Observability problem (UIO problem). The problem consists in
Autor:
Agostino Martinelli
Publikováno v:
CT 2017-SIAM Conference on Control and its application
CT 2017-SIAM Conference on Control and its application, Jul 2017, Pittsburgh, United States. pp.1-8, ⟨10.1137/1.9781611975024.9⟩
CT 2017-SIAM Conference on Control and its application, Jul 2017, Pittsburgh, United States. pp.1-8, ⟨10.1137/1.9781611975024.9⟩
International audience; This paper investigates the observability properties of a mobile robot that moves on a planar surface by satisfying the unicycle dynamics and that is equipped with exteroceptive sensors (visual or range sensors). In accordance
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b1d05f0fce949a7d31c832fdbb0ebc5f
https://inria.hal.science/hal-01669038/document
https://inria.hal.science/hal-01669038/document
Autor:
Petri Tanskanen, Friedrich Fraundorfer, Laurent Kneip, Lorenz Meier, Alessandro Renzaglia, Roland Siegwart, Markus W. Achtelik, Gim Hee Lee, Lionel Heng, Elias B. Kosmatopoulos, Margarita Chli, Chiara Troiani, Jan Stumpf, Savvas A. Chatzichristofis, Agostino Martinelli, Marc Pollefeys, Davide Scaramuzza, Lefteris Doitsidis, Daniel Gurdan, Michael Achtelik, Stephan Weiss, Simon Lynen
Publikováno v:
IEEE Robotics & Automation Magazine. 21:26-40
Autonomous microhelicopters will soon play a major role in tasks like search and rescue, environment monitoring, security surveillance, and inspection. If they are further realized in small scale, they can also be used in narrow outdoor and indoor en