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检索条件"机构=Control Theory and Robotics Lab"
49 条 记 录,以下是1-10 订阅
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An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System
An Equivariant Approach to Robust State Estimation for the A...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Alessandro Fornasier Yixiao Ge Pieter van Goor Martin Scheiber Andrew Tridgell Robert Mahony Stephan Weiss Control of Networked Systems Group University of Klagenfurt Austria System Theory and Robotics Lab Australian National University Australia
The majority of commercial and open-source autopilot software for uncrewed aerial vehicles rely on the tried and tested extended Kalman filter (EKF) to provide the state estimation solution for the inertial navigation... 详细信息
来源: 评论
Equivariant IMU Preintegration with Biases: a Galilean Group Approach
arXiv
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arXiv 2024年
作者: Delama, Giulio Fornasier, Alessandro Mahony, Robert Weiss, Stephan Control of Networked Systems Group University of Klagenfurt Austria System Theory and Robotics Lab Australian National University Australia
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial Navigation System (INS) localization ... 详细信息
来源: 评论
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
arXiv
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arXiv 2023年
作者: Fornasier, Alessandro van Goor, Pieter Allak, Eren Mahony, Robert Weiss, Stephan The Control of Networked Systems Group University of Klagenfurt Austria The System Theory and Robotics Lab Australian National University Australia
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 de... 详细信息
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Equivariant Symmetries for Inertial Navigation Systems
arXiv
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arXiv 2023年
作者: Fornasier, Alessandro Ge, Yixiao van Goor, Pieter Mahony, Robert Weiss, Stephan Control of Networked Systems Group University of Klagenfurt Austria System Theory and Robotics Lab Australian Centre for Robotic Vision Australian National University Australia
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... 详细信息
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Equivariant filter design for inertial navigation systems with input measurement biases
arXiv
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arXiv 2022年
作者: Fornasier, Alessandro Ng, Yonhon Mahony, Robert Weiss, Stephan Control of Networked Systems Group University of Klagenfurt Austria System Theory and Robotics Lab Australian National University Australia
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitat... 详细信息
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Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
arXiv
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arXiv 2022年
作者: Fornasier, Alessandro Ng, Yonhon Brommer, Christian Böhm, Christoph Mahony, Robert Weiss, Stephan The Control of Networked Systems Group University of Klagenfurt Austria The System Theory and Robotics Lab Australian National University Australia
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system’s capability. Both asymptotic behavior (e.g... 详细信息
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Revisiting "Consensus-based energy-management in smart grid with transmission losses and directed communication"
arXiv
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arXiv 2020年
作者: Zimmermann, Jan Tatarenko, Tatiana Willert, Volker Adamy, Jürgen Control Theory and Robotics Lab Department of Electrical Engineering Technical University of Darmstadt 64283 Germany
We discovered a deficiency in Algorithm 1 and Theorem 3 of [1]. The algorithm called CEMA aims to solve an energy management problem distributively. However, by means of a counter example, we show that Theorem 2 and 3... 详细信息
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Bandit Learning in Convex Non-Strictly Monotone Games
arXiv
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arXiv 2020年
作者: Tatarenko, Tatiana Kamgarpour, Maryam The Department of Control Theory and Robotics TU Darmstadt Germany The EPFL School of Engineering Sycamore Lab Switzerland
We address learning Nash equilibria in convex games under the payoff information setting. We consider the case in which the game pseudo-gradient is monotone but not necessarily strictly monotone. This relaxation of st... 详细信息
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Grid mapping in dynamic road environments: Classification of dynamic cell hypothesis via tracking
Grid mapping in dynamic road environments: Classification of...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Matthias Schreier Volker Willert Jürgen Adamy Institute of Automatic Control and Mechatronics Control Theory and Robotics Lab Darmstadt Germany
We propose a method capable of acquiring an occupancy grid map-based representation of the local, static driving environment around an intelligent vehicle in the presence of dynamic objects. These corrupt the represen... 详细信息
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Beyond histograms: Why learned structure-preserving descriptors outperform HOG  22
Beyond histograms: Why learned structure-preserving descript...
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22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014
作者: Guthier, Thomas Willert, Volker Eggert, Julian TU Darmstadt Control Theory and Robotics Lab. Landgraf-Georg-Str. 4 Darmstadt64283 Germany Honda Research Institute Europe Carl-Legien-Str. 30 Offenbach63073 Germany
Statistical image descriptors based on histograms (e.g. SIFT [1], HOG [2]) are widely used in image processing, because they are fast and simple methods with high classification performance. However, they discard the ... 详细信息
来源: 评论