Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial target pursuit task where a target may maneuver in 3D space, this paper studies how to further enhance observability by incorporating the \emph{bearing rate} information that has not been well explored in the literature. The main contribution of this paper is to propose a new cooperative estimator called STT-R (Spatial-Temporal Triangulation with bearing Rate), which is designed under the framework of distributed recursive least squares. This theoretical result is further verified by numerical simulation and real-world experiments. It is shown that the proposed STT-R algorithm can effectively generate more accurate estimations and effectively reduce the lag in velocity estimation, enabling tracking of more maneuverable targets.
Optimal Spatial-Temporal Triangulation for Bearing-Only Cooperative Motion Estimation
College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；Westlake University（西湖大学）；School of System Design and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学系统设计与智能制造学院）；Peng Cheng Laboratory（鹏城实验室）
Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The focus is on adapting the technique to handle the challenging visibility conditions underwater. Furthermore, data from inertial, magnetic, and depth sensors are utilized to improve the robustness of the estimation. In addition to robotic applications, the presented technique can be used for cave mapping and for marine archeology surveying, both by human divers. Experimental results from different environments, includi…
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University（工业控制技术国家重点实验室，系统与控制研究所，浙江大学）；Huzhou Institute of Zhejiang University（浙江大学湖州研究院）；University of Michigan（密歇根大学）；The Hong Kong Polytechnic University（香港理工大学）
A Recursive Total Least Squares Solution for Bearing-Only Target Motion Analysis and Circumnavigation
School of Aeronautics and Astronautics, Shenzhen campus of Sun Yat-sen University（中山大学航空学院）；Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China（电子科技大学深圳研究院）
Observability-driven Assignment of Heterogeneous Sensors for Multi-Target Tracking
Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology (SUSTech)（广东省全驱动系统控制理论与技术重点实验室，自动化与智能制造学院，南方科技大学）
Nonlinear Cooperative Salvo Guidance with Seeker-Limited Interceptors
Intelligent Systems & Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay（智能系统与控制实验室，航空航天工程系，印度理工学院班加罗尔）；Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati（智能系统引导、自主、学习与控制实验室，航空航天工程与工程力学系，辛辛那提大学）
Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
I3S-CNRS, Nice-Sophia Antipolis, France（法国Nice-索菲亚大学I3S-CNRS研究中心）；Department of Computer Science and Engineering, Université du Québec en Outaouais (UQO)（魁北克大学Outaouais计算机科学与工程系）
Cooperative Integrated Estimation-Guidance for Simultaneous Interception of Moving Targets
Intelligent Systems & Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay（智能系统与控制实验室，航空航天工程系，印度理工学院班加罗尔）；Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati（智能系统引导、自主、学习与控制实验室，航空航天工程与工程力学系，辛辛那提大学）
Predefined-time One-Shot Cooperative Estimation, Guidance, and Control for Simultaneous Target Interception
Intelligent Systems and Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay（智能系统与控制实验室，航空航天工程系，印度理工学院班加罗尔）；Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati（智能系统引导、自主、学习与控制实验室，航空航天工程与工程力学系，辛辛那提大学）
Distance-based Multiple Non-cooperative Ground Target Encirclement for Complex Environments
School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电气与电子工程学院）；Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University（同济大学上海智能自主系统研究院）；School of Automation, Guangdong University of Technology（广东工业大学自动化学院）
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is investigated. Each agent is equipped with inertial sensors (accelerometer and gyroscope) and with a monocular camera. By using the monocular camera, each agent can observe the other agent. No additional camera observations (e.g., of external point features in the environment) are considered. All the inertial sensors are assumed to be affected by a bias. First, the e…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required either exciting the trajectory or searching key nodes in a long interval, which is commonly highly nonlinear and may also lack resilience. Therefore, such a positioning approach is still not widely accepted in real-world applications. To address this issue, this work first investigates the dissipative nature of flying robots considering aerial drag effects an…
Aerial Target Encirclement and Interception with Noisy Range Observations
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore（电子工程学院，南洋理工大学，新加坡）；School of Automation, Guangdong University of Technology, Guangzhou 510006, China（自动化学院，广东技术大学，广州）
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
organization= State Key Laboratory of Information Engineering in Surveying, Mapping；Remote Sensing , addressline= Wuhan University , city= Wuhan , postcode= 430079 , country= China；organization= School of Electrical；Electronic Engineering , addressline= Nanyang Technological University , postcode= 639798 , country= Singapore
