8,636 research outputs found
Bio-inspired vision-based leader-follower formation flying in the presence of delays
Flocking starlings at dusk are known for the mesmerizing and intricate shapes they generate, as well as how fluid these shapes change. They seem to do this effortlessly. Real-life vision-based flocking has not been achieved in micro-UAVs (micro Unmanned Aerial Vehicles) to date. Towards this goal, we make three contributions in this paper: (i) we used a computational approach to develop a bio-inspired architecture for vision-based Leader-Follower formation flying on two micro-UAVs. We believe that the minimal computational cost of the resulting algorithm makes it suitable for object detection and tracking during high-speed flocking; (ii) we show that provided delays in the control loop of a micro-UAV are below a critical value, Kalman filter-based estimation algorithms are not required to achieve Leader-Follower formation flying; (iii) unlike previous approaches, we do not use external observers, such as GPS signals or synchronized communication with flock members. These three contributions could be useful in achieving vision-based flocking in GPS-denied environments on computationally-limited agents
Near-optimal deterministic filtering on the rotation group
Abstract—This paper considers the problem of
obtaining minimum-energy state estimates for a
system defined on the rotation group, SO(3). The
signals of the system are modeled as purely deterministic
signals. We derive a non-linear observer
(“filter”) posed directly on SO(3) that respects the
geometry of the group and achieves a performance
that is close to optimal in the sense of minimizing
an integral cost that is measuring the state energy.
The performance of the proposed filter is demonstrated
in simulations involving large initialization,
process and measurement errors where the results
are compared against a quaternion implementation
of an Extended Kalman Filter (EKF). Our results
indicate that the proposed filter achieves better
robustness against a range of noise levels and
initialization errors
Rigid Body Motion Estimation based on the Lagrange-d'Alembert Principle
Stable estimation of rigid body pose and velocities from noisy measurements,
without any knowledge of the dynamics model, is treated using the
Lagrange-d'Alembert principle from variational mechanics. With body-fixed
optical and inertial sensor measurements, a Lagrangian is obtained as the
difference between a kinetic energy-like term that is quadratic in velocity
estimation error and the sum of two artificial potential functions; one
obtained from a generalization of Wahba's function for attitude estimation and
another which is quadratic in the position estimate error. An additional
dissipation term that is linear in the velocity estimation error is introduced,
and the Lagrange-d'Alembert principle is applied to the Lagrangian with this
dissipation. This estimation scheme is discretized using discrete variational
mechanics. The presented pose estimator requires optical measurements of at
least three inertially fixed landmarks or beacons in order to estimate
instantaneous pose. The discrete estimation scheme can also estimate velocities
from such optical measurements. In the presence of bounded measurement noise in
the vector measurements, numerical simulations show that the estimated states
converge to a bounded neighborhood of the actual states.Comment: My earlier submitted manuscript (arXiv:1508.07671), is an extended
version of this work, containing detailed proofs and more elaborated
numerical simulations, currently under review in Automatica. This paper will
be cited in the extended journal version (arXiv:1508.07671) upon publicatio
Robust mixed H-2/H∞ control for a class of nonlinear stochastic systems
The problem of mixed H2/H∞ control is considered for a class of uncertain discrete-time nonlinear stochastic systems. The nonlinearities are described by statistical means of the stochastic variables and the uncertainties are represented by deterministic norm-bounded parameter perturbations. The mixed H2/H∞ control problem is formulated in terms of the notion of exponentially mean-square quadratic stability and the characterisations of both the H2 control performance and the H∞ robustness performance. A new technique is developed to deal with the matrix trace terms arising from the stochastic nonlinearities and the well-known S-procedure is adopted to handle the deterministic uncertainities. A unified framework is established to solve the addressed mixed H2/H∞ control problem using a linear matrix inequality approach. Within such a framework, two additional optimisation problems are discussed, one is to optimise the H∞ robustness performance, and the other is to optimise the H2 control performance. An illustrative example is provided to demonstrate the effectiveness of the proposed method.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the Nuffield Foundation of
the UK under Grant NAL/00630/G and the Alexander von Humboldt Foundation of Germany, the National Natural Science Foundation of China under Grant 60474049 and the Fujian provincial Natural Science Foundation of China under Grant A0410012
A second order minimum-energy filter on the special orthogonal group
Abstract— This work documents a case study in the application
of Mortensen’s nonlinear filtering approach to invariant
systems on general Lie groups. In this paper, we consider the
special orthogonal group SO(3) of all rotation matrices. We
identify the exact form of the kinematics of the minimumenergy
(optimal) observer on SO(3) and note that it depends
on the Hessian of the value function of the associated optimal
control problem. We derive a second order approximation of
the dynamics of the Hessian by neglecting third order terms in
the expansion of the dynamics. This yields a Riccati equation
that together with the optimal observer equation form a second
order minimum-energy filter on SO(3). The proposed filter is
compared to the multiplicative extended Kalman filter (MEKF),
arguably the industry standard for attitude estimation, by
means of simulations. Our studies indicate superior transient
and asymptotic tracking performance of the proposed filter as
compared to the MEKF
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