Research
Research
Research
Research
23+ open-access research outputs.
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operati…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to …
This paper makes two main contributions. First, we present a pedagogical review of the derivation of the three-term recurrence relation for Legendre polynomials, without relying on the classical Legen…
Understanding and predicting articulated actions is important in robot learning. However, common architectures such as MLPs and Transformers lack inductive biases that reflect the underlying kinematic…
A geometric interpretation of the equinoctial elements is given with a connection to orthogonal rotations and attitude dynamics in Euclidean 3-space. An identification is made between the equinoctial …
Matrix Lie groups provide a language for describing motion in such fields as robotics, computer vision, and graphics. When using these tools, we are often faced with turning infinite-series expression…
This article describes a new, efficient way of finding control and state trajectories in optimal control problems by reformulation as a system of differential-algebraic equations (DAEs). The optimal c…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parame…
The modified Rodrigues parameters (MRP) consist of two numerically different triplets that, by switching between them, yield a minimal globally non-singular attitude description with advantageous prop…
This paper provides an observer-based event-triggered boundary control strategy for the one-phase Stefan problem using the position and velocity measurements of the moving interface. The infinite-dime…
This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orie…
The eXtreme Mesh deformation approach (X-MESH) is a new paradigm to follow sharp interfaces without remeshing and without changing the mesh topology. Even though the mesh does not change its topology,…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bri…
While investigating a signal of adaptive evolution in humans at the gene LARGE, we encountered an intriguing finding by Dr. Stefan Kunz that the gene plays a critical role in Lassa virus binding and e…
This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algorithms were supplant…
The problems of point-cloud registration and attitude estimation from vector observations (Wahba's problem) have widespread applications in computer vision and mobile robotics. This work introduces a …
This article deals with the mathematical derivation and the validation over benchmark examples of a numerical method for the solution of a finite-strain holonomic (rate-independent) Cosserat plasticit…
The rapid growth of the world's population demands more natural resources, food, and space. World-renowned physicist Stephan Hawking has argued that soon we will require another world to live on becau…
RodFIter is a promising method of attitude reconstruction from inertial measurements based on the functional iterative integration of Rodrigues vector. The Rodrigues vector is used to encode the attit…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in…
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