Attitude & Position Tracking of a Underwater Rigid Body

Global attitude/position regulation for underwater vehicles

Position Estimation of a Towed Underwater Body

Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions

In this paper, we propose a nonlinear adaptive position and attitude tracking controller for a rigid body that requires no information about the mass and inertia matrix of the body. Moreover, we provide sufficient conditions on the reference trajectory that guarantee mass and inertia matrix identification. The controller is shown to be almost globally asymptotically stable and can handle large ...

Position-based rigid-body dynamics

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

High performance rigid body tracking

Many potential applications of computer vision require a 3D tracking system which can cope with very unpredictable, rapid motions of the camera while operating at frame rate. This cannot be achieved using previously available techniques. Robustness in tracking is achieved by combining different systems in a non trivial way. This allows trackers to be designed in such a way that they are not gen...