Article
Engineering, Marine
Xiang Li, Yan Wang, Bin Qi, Yu Hao, Shuo Li
Summary: This paper investigates the optimal maneuver problem for passive sonar TBD bearing-only localization algorithms on unmanned underwater vehicles. The Fisher information matrix is derived and its determinant is used as a cost function to design an optimal maneuver strategy. The designed strategy is extended to consider physical limitations and is validated through simulations and real experiments.
Article
Automation & Control Systems
Ziwen Yang, Cailian Chen, Shanying Zhu, Xinping Guan, Gang Feng
Summary: This article examines the distributed entrapping control problem of multiple mobile agents using bearing and velocity measurements. A time-varying entrapping formation with a prescribed shape is adopted, and a design framework integrating various components is proposed. The stability of the system is guaranteed if the bearing observability condition is satisfied, and simulations confirm the effectiveness of the proposed framework.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Engineering, Marine
Pedro Mendes, Pedro Batista, Paulo Oliveira, Carlos Silvestre
Summary: This work presents and compares several cooperative navigation solutions for formations of autonomous underwater vehicles, equipped with depth sensors and capable of taking bearing measurements to their neighbors under a certain measurement topology. The paper describes two approaches based on the extended Kalman filter, one centralized and the other decentralized, which have different benefits. Additionally, four other Kalman filter implementations, based on systems with linear dynamics using artificial measurements, are compared in terms of performance.
Article
Engineering, Aerospace
Xiaohua Li, Bo Lu, Wasiq Ali, Jun Su, Haiyan Jin
Summary: The paper introduces a probabilistic multiple hypothesis tracker (PMHT) algorithm based on batch recursive extended Rauch-Tung-Striebel smoother (RTSS) to effectively handle the nonlinearity in passive Doppler and bearing measurements in multiple-target tracking.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2021)
Article
Chemistry, Analytical
Yuchong Gao, Huiqi Feng, Jiexiang Chen, Junhui Li, Zhiqing Wei
Summary: Unmanned Aerial Vehicles (UAVs) can cooperate through formations to perform tasks. Wireless communication allows UAVs to exchange information, but for high-security situations, electromagnetic silence is needed to avoid potential threats. This paper proposes a scalable distributed control algorithm for bearing-only passive UAV formation maintenance that utilizes pure angle information to maintain formations without the precise locations of UAVs.
Article
Engineering, Aerospace
Yigal Zivan, Daniel Choukroun
Summary: This article introduces two novel Kalman filters for satellite relative pose estimation. By handling the constraints of dual quaternion and using observability analysis, accurate estimation of relative pose can be achieved. Numerical simulations validate that the proposed filters have good performance in practical applications.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Chemistry, Analytical
Adriano Frutuoso, Felipe O. Silva, Ettore A. de Barros
Summary: This paper proposes a thorough observability analysis for the localization of AUV, considering three types of sensor fusion integration and a set of maneuvers, with results validated through numerical simulations. It is shown that the addition of position errors in the observation vector can decouple some gyro and accelerometer biases from the latitude and altitude errors, particularly in the stationary observability analysis.
Article
Automation & Control Systems
Xiaolei Li, Changyun Wen, Ci Chen
Summary: The article addresses the bearing-only formation control problem of 3-D networked robotic systems with parametric uncertainties. It extends the bearing-rigid theory to solve nonlinear robotic systems and proposes a novel almost global stable distributed bearing-only formation control law, demonstrating its effectiveness through simulations. The bearing-rigid approach ensures almost global stability and excludes flip ambiguities.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Article
Robotics
Jianan Li, Zian Ning, Shaoming He, Chang-Hun Lee, Shiyu Zhao
Summary: This paper studies the problem of air-to-air target following of micro aerial vehicles (MAVs) and proposes a solution that has been theoretically and practically verified to be effective and robust.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Engineering, Marine
Asra Nusrat, Yaan Li, Chunyan Cheng, Hafeezullah Qazi, Lingji Xu
Summary: This paper discusses the problem of tracking a moving source using noisy bearing measurements from a distant observer, focusing on optimizing observer trajectories to minimize target state estimation errors. A new optimization method for passive tracking is proposed, which proves to be more efficient compared to traditional approaches.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Haonan Jiang, Yuanli Cai, Zhenhua Yu
Summary: This work explores the observability problem in bearings-only tracking (BOT) and proposes a series of metrics based on the condition number to quantitatively describe the observability degree and evaluate the tracking performance. The metrics can also be applied to sensor trajectory optimization and sensor configuration to enhance the tracking performance.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Environmental Sciences
Bertrand Saulquin
Summary: BRDF estimation is essential for characterizing the anisotropic behavior of observed surfaces and normalizing satellite-derived observations. Implementing robust methods to handle noise in the reflectance data caused by atmospheric correction is crucial for accurate normalization. The Kalman filtering approach shows promise for achieving more suitable results compared to classical methods.
Article
Robotics
Luke Calkins, Phil Baldoni, James McMahon, Corbin Wilhelmi, Michael M. Zavlanos
Summary: The algorithm proposed in the letter actively tracks multiple moving targets using a bearing-only sensor in the presence of merged measurements. It employs a merged measurement model and an online adaptive planning algorithm to bias the trajectory away from situations where merged measurements occur, thus increasing tracking performance. The algorithm has been successfully demonstrated in both simulation and onboard real unmanned ground vehicles, marking a significant advancement in this field.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Giovanni Pittiglio, Simone Calo, Pietro Valdastri
Summary: This article discusses the observability properties and observer design for rigid body attitude under conditions of partial inertial sensing. The lack of first-order observability hinders standard observers from achieving global convergence, requiring a more suitable approach for observer design. The proposed approach is validated through numerical and experimental results, showing improvements in error convergence.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Engineering, Electrical & Electronic
Batu Candan, Halil Ersin Soken
Summary: This article introduces two novel covariance-tuning methods for a robust Kalman filter algorithm to solve attitude estimation problem using only IMU measurements. The proposed methods can adapt to external accelerations to enhance robustness, and adjust the measurement noise covariance adaptively to improve attitude estimation accuracy.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Automation & Control Systems
B. M. Miller, G. B. Miller, K. V. Semenikhin
AUTOMATION AND REMOTE CONTROL
(2018)
Article
Engineering, Electrical & Electronic
A. B. Miller, B. M. Miller
JOURNAL OF COMMUNICATIONS TECHNOLOGY AND ELECTRONICS
(2018)
Article
Chemistry, Analytical
Alexander Miller, Boris Miller, Alexey Popov, Karen Stepanyan
Article
Chemistry, Analytical
Alexander Miller, Boris Miller, Gregory Miller
Article
Chemistry, Analytical
Andrey Borisov, Alexey Bosov, Boris Miller, Gregory Miller
Article
Mathematics
Daniel McInnes, Boris Miller, Gregory Miller, Sergei Schreider
Article
Environmental Sciences
Kirin Kolosov, Alexander Miller, Boris Miller
Review
Remote Sensing
Alexander Miller, Boris Miller, Gregory Miller
Summary: Navigation of autonomous underwater vehicles is a significant challenge due to the opacity of water for usual types of radiation and the variability of acoustic wave propagation speed. Data fusion of acoustic measurements with other sensors is essential for improving estimation quality and robustness. New methods, such as sonar array-based analogs of Optical Flow method, are being explored to address these challenges.
Proceedings Paper
Computer Science, Theory & Methods
Alexander Miller, Boris Miller, Gregory Miller
2018 IEEE/OES AUTONOMOUS UNDERWATER VEHICLE WORKSHOP (AUV)
(2018)
Proceedings Paper
Automation & Control Systems
Alexander Miller, Boris Miller, Gregory Miller
2018 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC)
(2018)
Proceedings Paper
Automation & Control Systems
Alexander Miller, Boris Miller, Alexey Popov, Karen Stepanyan
2018 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC)
(2018)
Proceedings Paper
Automation & Control Systems
Boris M. Miller, Karen Stepanyan, Alexander B. Miller, Alexey K. Popov
2018 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC)
(2018)
Proceedings Paper
Automation & Control Systems
Alexander Miller, Boris Miller, Karen Stepanyan
2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)
(2018)
Proceedings Paper
Automation & Control Systems
Alexander B. Miller, Boris M. Miller
2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)
(2018)
Proceedings Paper
Automation & Control Systems
Alexander Miller, Boris Miller, Karen Stepanyan
