{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:14:23Z","timestamp":1760238863517,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,9,10]],"date-time":"2020-09-10T00:00:00Z","timestamp":1599696000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NASA Marshall Space Flight Center","award":["Cooperative Agreements 80MSFC18N0001 and NNM17AA03A"],"award-info":[{"award-number":["Cooperative Agreements 80MSFC18N0001 and NNM17AA03A"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents the first demonstration of NASA\u2019s Smartphone Video Guidance Sensor (SVGS) as real-time position and attitude estimator for proximity and formation maneuvers. An optimal linear quadratic Gaussian controller was used, combining a linear quadratic regulator and a Kalman filter. The system was demonstrated controlling the 3-degree of freedom planar motion of the RINGS ground units (Resonant Inductive Near-field Generation Systems). A state-space model of the system\u2019s 3-DOF motion dynamics was derived, and model parameters extracted using a system identification technique. The system\u2019s motion control performance is experimentally demonstrated in both tracking and formation maneuvers. The results highlight the capabilities and performance of the Smartphone Video Guidance Sensor (SVGS) as a vision-based real-time position and attitude sensor for motion control, formation flight and proximity operations. A leader-follower formation maneuver approach is demonstrated, as well as position hold and path following.<\/jats:p>","DOI":"10.3390\/robotics9030070","type":"journal-article","created":{"date-parts":[[2020,9,10]],"date-time":"2020-09-10T22:58:01Z","timestamp":1599778681000},"page":"70","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Proximity Operations and Three Degree-of-Freedom Maneuvers Using the Smartphone Video Guidance Sensor"],"prefix":"10.3390","volume":"9","author":[{"given":"Nasir","family":"Hariri","sequence":"first","affiliation":[{"name":"Department of Mechanical and Energy Engineering, College of Engineering, Imam Abdulrahman Bin Faisal University, P.O. Box 1982, Dammam 31441, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2181-1964","authenticated-orcid":false,"given":"Hector","family":"Gutierrez","sequence":"additional","affiliation":[{"name":"Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL 32901, USA"}]},{"given":"John","family":"Rakoczy","sequence":"additional","affiliation":[{"name":"Control Systems Design and Analysis Branch, NASA Marshall Space Flight Center, Huntsville, AL 35812, USA"}]},{"given":"Richard","family":"Howard","sequence":"additional","affiliation":[{"name":"Avionics Subsystems Branch, NASA Marshall Space Flight Center, Huntsville, AL 35812, USA"}]},{"given":"Ivan","family":"Bertaska","sequence":"additional","affiliation":[{"name":"Control Systems Design and Analysis Branch, NASA Marshall Space Flight Center, Huntsville, AL 35812, USA"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Valmorbida, A., Mazzucato, M., Aboudan, A., and Tronco, S. 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