@inproceedings{MTMT:34742516,
	title = {Simultaneous attitude and position tracking using dual quaternion parameterized dynamics},
	url = {https://m2.mtmt.hu/api/publication/34742516},
	author = {Kimathi, Stephen and Lantos, Béla},
	booktitle = {IEEE 22nd World Symposium on Applied Machine Intelligence and Informatics : SAMI 2024 : Proceedings},
	doi = {10.1109/SAMI60510.2024.10432898},
	unique-id = {34742516},
	abstract = {This paper presents the simultaneous attitude and position control of rigid bodies using the unit dual quaternion. A dual quaternion is a compound of a unit quaternion and a translational vector, using the dual number formalization, such that the real part represents the rotation and the dual part, the translation transformation. Since the unit dual quaternion can be used to represent the rigid body dynamics in the 3D space, then the error dual quaternion can be used to design feedback control laws for both set-point stabilization, and attitude and position tracking. Simulation results using a rigid-body model are presented to show the performance of the dual quaternion formalism for simultaneous attitude and position control. © 2024 IEEE.},
	keywords = {Parameterized; Trajectory tracking; position control; Real part; Rigid body; Tracking (position); Formalisation; Rigid structures; attitude control; attitude control; dual number; Dual quaternion; Dual quaternion; Quaternion; Quaternion; Unit quaternion; trajectory-tracking; Rigidbody dynamics},
	year = {2024},
	pages = {309-314}
}

@article{MTMT:34689545,
	title = {Extended Linear Regression and Interior Point Optimization for Identification of Model Parameters of Fixed Wing UAVs},
	url = {https://m2.mtmt.hu/api/publication/34689545},
	author = {Alsudany, Huda and Lantos, Béla},
	doi = {10.12700/APH.21.6.2024.6.4},
	journal-iso = {ACTA POLYTECH HUNG},
	journal = {ACTA POLYTECHNICA HUNGARICA},
	volume = {21},
	unique-id = {34689545},
	issn = {1785-8860},
	year = {2024},
	eissn = {1785-8860},
	pages = {69-88}
}

@inproceedings{MTMT:34256591,
	title = {PD control and the unwinding effect in quaternion parameterized attitude control},
	url = {https://m2.mtmt.hu/api/publication/34256591},
	author = {Kimathi, Stephen and Lantos, Béla},
	booktitle = {IEEE 27th International Conference on Intelligent Engineering Systems 2023 (INES 2023)},
	doi = {10.1109/INES59282.2023.10297790},
	unique-id = {34256591},
	year = {2023},
	pages = {67-72}
}

@article{MTMT:34256533,
	title = {Robust Aerodynamic Parameter Estimation of Unmanned Aircraft Based on Two-step Identification},
	url = {https://m2.mtmt.hu/api/publication/34256533},
	author = {Kimathi, Stephen and Lantos, Béla},
	doi = {10.3311/PPee.21948},
	journal-iso = {PERIOD POLYTECH ELECTR ENG COMP SCI},
	journal = {PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE},
	volume = {67},
	unique-id = {34256533},
	issn = {2064-5260},
	abstract = {This paper presents the estimation of stability and control derivatives of an unmanned aircraft. The aerodynamics are described using regressors composed of velocity, angular rates, flow angles and control surface deflections. The flight data is generated from numerical simulation of postulated equations of motion describing the aerodynamics model. Least squares based on the equation error method is used to estimate the parameters representing the different force and moment aerodynamic coefficients. Statistical analysis is done on the estimates to determine the accuracy and adequacy of the estimates to describe the aerodynamic model. A dynamic simulation based on the identified aerodynamic model is used to improve the parameter estimates through regression of the errors between the flight data and the model response. The aircraft under consideration is a scaled Yak-54 fixed wing unmanned aerial vehicle.},
	year = {2023},
	eissn = {2064-5279},
	pages = {394-402}
}

@inproceedings{MTMT:33213177,
	title = {Prediction of the Navigation Angles Using Random Forest Algorithm And Real Flight Data of UAVs},
	url = {https://m2.mtmt.hu/api/publication/33213177},
	author = {Alsudany, Huda and Lantos, Béla},
	booktitle = {IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics (SISY 2022)},
	doi = {10.1109/SISY56759.2022.10036286},
	unique-id = {33213177},
	year = {2022},
	pages = {97-102}
}

@inproceedings{MTMT:33212858,
	title = {Quaternion based attitude control of a maneuvering fixed wing UAV},
	url = {https://m2.mtmt.hu/api/publication/33212858},
	author = {Kimathi, Stephen and Lantos, Béla},
	booktitle = {2022 IEEE 26th International Conference on Intelligent Engineering Systems (INES 2022)},
	doi = {10.1109/INES56734.2022.9922611},
	unique-id = {33212858},
	year = {2022},
	pages = {261-266}
}

@inproceedings{MTMT:33061870,
	title = {Unmanned Aerial Vehicles Swarm Flocking Architectures: An Overview},
	url = {https://m2.mtmt.hu/api/publication/33061870},
	author = {Kimathi, Stephen and Lantos, Béla},
	booktitle = {IEEE 10th Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems ICCC 2022},
	doi = {10.1109/ICCC202255925.2022.9922828},
	unique-id = {33061870},
	year = {2022},
	pages = {383-388}
}

@article{MTMT:33056361,
	title = {Comparison of Adaptive Fuzzy EKF and Adaptive Fuzzy UKF for State Estimation of UAVs Using Sensor Fusion},
	url = {https://m2.mtmt.hu/api/publication/33056361},
	author = {Alsudany, Huda and Lantos, Béla},
	doi = {10.3311/PPee.20361},
	journal-iso = {PERIOD POLYTECH ELECTR ENG COMP SCI},
	journal = {PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE},
	volume = {66},
	unique-id = {33056361},
	issn = {2064-5260},
	abstract = {Development of an Adaptive Fuzzy Extended Kalman Filter (AFEKF) and an Adaptive Fuzzy Unscented Kalman Filter (AFUKF) for the state estimation of unmanned aerial vehicles (UAVs) were presented in this paper based on real flight data of a fixed wing airplane. The Adaptive Neuro Fuzzy extension helps to estimate the values of the EKF's and UKF's Rk covariance matrix at each sampling instant when measurement update step is carried out. The ANFIS monitors the EKF's and UKF's performances attempt to eliminate the gap between theoretical and real innovation sequences' covariance. The investigations show that AFUKF can provide better performance in accuracy and less error than the AFEKF in case of real flight data for maneuvering fixed wing UAVs.},
	year = {2022},
	eissn = {2064-5279},
	pages = {215-226}
}

@article{MTMT:33056359,
	title = {Modelling and Attitude Control of an Agile Fixed Wing UAV based on Nonlinear Dynamic Inversion},
	url = {https://m2.mtmt.hu/api/publication/33056359},
	author = {Kimathi, Stephen and Lantos, Béla},
	doi = {10.3311/PPee.20287},
	journal-iso = {PERIOD POLYTECH ELECTR ENG COMP SCI},
	journal = {PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE},
	volume = {66},
	unique-id = {33056359},
	issn = {2064-5260},
	year = {2022},
	eissn = {2064-5279},
	pages = {227-235}
}

@inproceedings{MTMT:31913991,
	title = {Nonlinear control of maneuvering fixed wing UAVs using quaternion logarithm},
	url = {https://m2.mtmt.hu/api/publication/31913991},
	author = {Bodó, Zsófia and Lantos, Béla},
	booktitle = {2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)},
	doi = {10.1109/ISMCR51255.2020.9263760},
	unique-id = {31913991},
	year = {2020}
}