Zobrazeno 1 - 10
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pro vyhledávání: '"Van Goor A"'
Autor:
van Goor, Pieter, Mahony, Robert
Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) global asymptotic stability (such as provided by a constructive observer d
Externí odkaz:
http://arxiv.org/abs/2409.08623
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up approach where ea
Externí odkaz:
http://arxiv.org/abs/2407.13176
Stochastic inference on Lie groups plays a key role in state estimation problems such as; inertial navigation, visual inertial odometry, pose estimation in virtual reality, etc. A key problem is fusing independent concentrated Gaussian distributions
Externí odkaz:
http://arxiv.org/abs/2403.16411
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of
Externí odkaz:
http://arxiv.org/abs/2401.16725
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group and corresp
Externí odkaz:
http://arxiv.org/abs/2311.11649
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature. To the aut
Externí odkaz:
http://arxiv.org/abs/2311.03007
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as GNSS position, GNSS velocity, and magnetometer, to estimate the attit
Externí odkaz:
http://arxiv.org/abs/2311.02234
The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kalman filter, are posed on Euclidean space. Although any filter algorith
Externí odkaz:
http://arxiv.org/abs/2309.06008
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the staple of INS filtering for 50 years; however, recent advances in ine
Externí odkaz:
http://arxiv.org/abs/2309.03765
Publikováno v:
BMC Emergency Medicine, Vol 24, Iss 1, Pp 1-13 (2024)
Abstract Background Healthcare providers, including medical students, should maintain their basic life support (BLS) skills and be able to perform BLS in case of cardiac arrest. Research shows that the use of virtual reality (VR) has advantages such
Externí odkaz:
https://doaj.org/article/4e36495119574ccebe2a0ec57b3a1e11
