4 accepted papers
Estimating the six degrees of freedom relative poses is a fundamental problem in robotics. Generally, correspondence-based methods are often vulnerable to mismatches in features between the source and the target. This paper presents an alternative approach: estimating the relative pose globally with
This letter proposes a fault-tolerant control (FTC) framework for a novel type of aircraft—lifting-wing multicopters. The core of the framework is an attitude controller based on nonlinear model predictive control (NMPC), where the objective function of the NMPC is designed on the based of the relax
Learning-based control policies are widely used in various tasks in the field of robotics and control. However, formal (Lyapunov) stability guarantees for learning-based controllers with nonlinear dynamical systems are challenging to obtain. We propose a novel control approach, namely Control with…
In V-SLAM, the estimation of relative camera pose is crucial to determine the spatial relationship between consecutive camera images, helping to accurately track the movement of the camera in its environment. In small indoor scenes, when the training set is limited, which is very common in robot SLA…