This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)times mathbb{R}^{15}$ relying on body-frame acceleration, angular v
elocity and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and local exponential stability. A detailed uniform observability analysis has been conducted and sufficient conditions are derived. Moreover, a hybrid version of the proposed observer is provided to handle the intermittent nature of the measurements in practical applications. Simulation and experimental results are provided to illustrate the effectiveness of the proposed state observer.
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on $SO(3)$ from ac
hieving global stability. The key idea consists in constructing a suitable potential function on $SO(3)times mathbb{R}$ involving an auxiliary scalar variable, with flow and jump dynamics, which keeps the state away from the undesired critical points while, at the same time, guarantees a decrease of the potential function over the flows and jumps. Based on this new hybrid mechanism, a hybrid feedback control scheme for the attitude tracking problem on $SO(3)$, endowed with global asymptotic stability and semi-global exponential stability guarantees, is proposed. This control scheme is further improved through a smoothing mechanism that removes the discontinuities in the input torque. The third hybrid control scheme, proposed in this paper, removes the requirement of the angular velocity measurements, while preserving the strong stability guarantees of the first hybrid control scheme. This approach has also been applied to the tracking problem on $SE(3)$ to illustrate its advantages with respect to the existing synergistic hybrid approaches. Finally, some simulation results are presented to illustrate the performance of the proposed hybrid controllers.
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt with usin
g the extended Kalman filter and its variants which proved to be instrumental in many practical applications. Although practically efficient, the lack of strong stability guarantees of these algorithms motivated the emergence of a new class of geometric navigation observers relying on Riemannian geometry tools, leading to provable strong stability properties. The objective of this brief tutorial is to provide an overview of the existing estimation schemes, as well as some recently developed geometric nonlinear observers, for autonomous navigation systems relying on inertial measurement unit (IMU) and landmark measurements.
The connected vehicle paradigm empowers vehicles with the capability to communicate with neighboring vehicles and infrastructure, shifting the role of vehicles from a transportation tool to an intelligent service platform. Meanwhile, the transportati
on electrification pushes forward the electric vehicle (EV) commercialization to reduce the greenhouse gas emission by petroleum combustion. The unstoppable trends of connected vehicle and EVs transform the traditional vehicular system to an electric vehicular network (EVN), a clean, mobile, and safe system. However, due to the mobility and heterogeneity of the EVN, improper management of the network could result in charging overload and data congestion. Thus, energy and information management of the EVN should be carefully studied. In this paper, we provide a comprehensive survey on the deployment and management of EVN considering all three aspects of energy flow, data communication, and computation. We first introduce the management framework of EVN. Then, research works on the EV aggregator (AG) deployment are reviewed to provide energy and information infrastructure for the EVN. Based on the deployed AGs, we present the research work review on EV scheduling that includes both charging and vehicle-to-grid (V2G) scheduling. Moreover, related works on information communication and computing are surveyed under each scenario. Finally, we discuss open research issues in the EVN.
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular velocity and l
inear acceleration measurements as well as intermittent landmark position measurements. The first type relies on a fixed-gain design approach based on an infinite-dimensional optimization, while the second one relies on a variable-gain design approach based on a continuous-discrete Riccati equation. For each case, we provide two different observers with and without the estimation of the gravity vector. The proposed observers are shown to be exponentially stable with a large domain of attraction. Simulation and experimental results are presented to illustrate the performance of the proposed observers.
Model averaging is an alternative to model selection for dealing with model uncertainty, which is widely used and very valuable. However, most of the existing model averaging methods are proposed based on the least squares loss function, which could
be very sensitive to the presence of outliers in the data. In this paper, we propose an outlier-robust model averaging approach by Mallows-type criterion. The key idea is to develop weight choice criteria by minimising an estimator of the expected prediction error for the function being convex with an unique minimum, and twice differentiable in expectation, rather than the expected squared error. The robust loss functions, such as least absolute deviation and Hubers function, reduce the effects of large residuals and poor samples. Simulation study and real data analysis are conducted to demonstrate the finite-sample performance of our estimators and compare them with other model selection and averaging methods.
Model averaging considers the model uncertainty and is an alternative to model selection. In this paper, we propose a frequentist model averaging estimator for composite quantile regressions. In recent years, research on these topics has been added a
s a separate method, but no study has investigated them in combination. We apply a delete-one cross-validation method to estimate the model weights, and prove that the jackknife model averaging estimator is asymptotically optimal in terms of minimizing out-of-sample composite final prediction error. Simulations are conducted to demonstrate the good finite sample properties of our estimator and compare it with commonly used model selection and averaging methods. The proposed method is applied to the analysis of the stock returns data and the wage data and performs well.
Smoothed AIC (S-AIC) and Smoothed BIC (S-BIC) are very widely used in model averaging and are very easily to implement. Especially, the optimal model averaging method MMA and JMA have only been well developed in linear models. Only by modifying, they
can be applied to other models. But S-AIC and S-BIC can be used in all situations where AIC and BIC can be calculated. In this paper, we study the asymptotic behavior of two commonly used model averaging estimators, the S-AIC and S-BIC estimators, under the standard asymptotic with general fixed parameter setup. In addition, the resulting coverage probability in Buckland et al. (1997) is not studied accurately, but it is claimed that it will be close to the intended. Our derivation make it possible to study accurately. Besides, we also prove that the confidence interval construction method in Hjort and Claeskens (2003) still works in linear regression with normal distribution error. Both the simulation and applied example support our theory conclusion.
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global exponential
stability. The first observer relies on fixed gains, while the second one uses variable gains depending on the solution of a continuous Riccati equation (CRE). These observers are then extended to handle biased angular velocity measurements. Both simulation and experimental results are presented to illustrate the performance of the proposed observers.
Example-guided image synthesis aims to synthesize an image from a semantic label map and an exemplary image indicating style. We use the term style in this problem to refer to implicit characteristics of images, for example: in portraits style includ
es gender, racial identity, age, hairstyle; in full body pictures it includes clothing; in street scenes, it refers to weather and time of day and such like. A semantic label map in these cases indicates facial expression, full body pose, or scene segmentation. We propose a solution to the example-guided image synthesis problem using conditional generative adversarial networks with style consistency. Our key contributions are (i) a novel style consistency discriminator to determine whether a pair of images are consistent in style; (ii) an adaptive semantic consistency loss; and (iii) a training data sampling strategy, for synthesizing style-consistent results to the exemplar.
