{"id":"https://openalex.org/W7090154539","doi":"https://doi.org/10.23919/ecc65951.2025.11187174","title":"Gradient-Based Pose Tracking Law on SE(3) in Unknown Environment","display_name":"Gradient-Based Pose Tracking Law on SE(3) in Unknown Environment","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W7090154539","doi":"https://doi.org/10.23919/ecc65951.2025.11187174"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187174","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hangbiao Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hangbiao Zhu","raw_affiliation_strings":["Beihang University,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":null,"display_name":"Haichao Gui","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haichao Gui","raw_affiliation_strings":["Beihang University,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55860589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1249","last_page":"1254"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.43320000171661377,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.43320000171661377,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.16179999709129333,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.12039999663829803,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6793000102043152},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6621000170707703},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.642300009727478},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6279000043869019},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.5971999764442444},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.5626999735832214},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5490000247955322}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6793000102043152},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6621000170707703},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.642300009727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.640500009059906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6290000081062317},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6279000043869019},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.5971999764442444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634999871253967},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.5626999735832214},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5490000247955322},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4392000138759613},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3926999866962433},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3840000033378601},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38089999556541443},{"id":"https://openalex.org/C74992021","wikidata":"https://www.wikidata.org/wiki/Q184876","display_name":"Frame of reference","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187174","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7673504948616028,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1981004592","https://openalex.org/W2148238737","https://openalex.org/W2163696520","https://openalex.org/W2244651041","https://openalex.org/W2799927624","https://openalex.org/W2891965580","https://openalex.org/W2913215451","https://openalex.org/W2942758360","https://openalex.org/W2943966153","https://openalex.org/W2946901655","https://openalex.org/W3035799367","https://openalex.org/W3097539098","https://openalex.org/W3103458591","https://openalex.org/W3184407755","https://openalex.org/W4390452508"],"related_works":[],"abstract_inverted_index":{"When":[0],"inertial":[1,8],"information":[2],"is":[3,14,17],"unavailable":[4],"to":[5,20,57,70,98],"locate":[6],"the":[7,12,34,46,51,58,80,92,100],"reference":[9,43],"frame,":[10],"i.e.,":[11],"environment":[13],"unknown,":[15],"it":[16],"usually":[18],"difficult":[19],"conduct":[21],"pose":[22,36,53,65,74],"tracking":[23,66],"tasks":[24],"for":[25],"rigid":[26],"bodies.":[27],"To":[28],"address":[29],"this":[30],"problem,":[31],"based":[32],"on":[33,68],"adopted":[35],"observer,":[37],"we":[38,49],"can":[39],"determine":[40],"an":[41],"estimated":[42,59],"frame":[44,60],"from":[45],"estimates.":[47],"Then":[48],"express":[50],"desired":[52],"trajectory":[54,75],"with":[55,72],"respect":[56],"and":[61],"develop":[62],"a":[63],"gradient-based":[64],"law":[67],"SE(3)":[69],"deal":[71],"relative":[73],"tracking.":[76],"The":[77],"dynamics":[78],"of":[79,91,102],"combined":[81],"observer-controller":[82],"are":[83,95],"analyzed,":[84],"rigorously":[85],"showing":[86],"almost":[87],"global":[88],"asymptotic":[89],"stability":[90],"combination.":[93],"Simulations":[94],"also":[96],"conducted":[97],"show":[99],"effectiveness":[101],"our":[103],"method.":[104]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-14T00:00:00"}
