Geometric Control on SO(3) for Aerobatic Flight using Singularity-Free Guiding Vector Fields

Guiding Vector Fields (GVFs) are a powerful tool for path following in robotic systems, but their extension to rotational motion on SO(3) is nontrivial. In this seminar, I will first discuss the challenges associated with attitude representations and introduce the basic notions of geometric control on SO(3). I will then present my current work on GVF-based path following defined directly on SO(3), leading to a singularity-free formulation suitable for aerobatic flight. The seminar will conclude with several simulation examples, along with practical tips for implementing Lie group operations, not only in high-level simulations but also in real-time autopilot systems.