James Richard Forbes

IEEE Trans. Robotics, 2024

Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2024

DIVE: Deep Inertial-Only Velocity Aided Estimation for Quadrotors.

[BibT_eX]

[DOI]

Angad Bajwa

IEEE Robotics Autom. Lett., 2024

A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares.

[BibT_eX]

[DOI]

Vassili Korotkine

CoRR, 2024

Forward-Backward Extended DMD with an Asymptotic Stability Constraint.

[BibT_eX]

[DOI]

Louis Lortie

CoRR, 2024

Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations.

[BibT_eX]

[DOI]

Syed Shabbir Ahmed

CoRR, 2024

Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities.

[BibT_eX]

[DOI]

Syed S. Ahmed

Arturo Del Castillo Bernal

CoRR, 2024

2023

Bayesian Filtering for Homography Estimation.

[BibT_eX]

[DOI]

Philippe Decoste

IEEE Robotics Autom. Lett., December, 2023

System identification and simulation of soft tissue force feedback in a spine surgical simulator.

[BibT_eX]

[DOI]

Harriet Violet Chorney

Mark Driscoll

Comput. Biol. Medicine, September, 2023

Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, June, 2023

Know What You Don't Know: Consistency in Sliding Window Filtering With Unobservable States Applied to Visual-Inertial SLAM.

[BibT_eX]

[DOI]

Daniil Lisus

IEEE Robotics Autom. Lett., June, 2023

Cascaded Model Predictive Control of a Tandem-Rotor Helicopter.

[BibT_eX]

[DOI]

Faraaz Ahmed

Ludwik A. Sobiesiak

IEEE Control. Syst. Lett., 2023

IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints.

[BibT_eX]

[DOI]

CoRR, 2023

STAR-loc: Dataset for STereo And Range-based localization.

[BibT_eX]

[DOI]

Frederike Dümbgen

Connor Holmes

Timothy D. Barfoot

CoRR, 2023

Data-Driven Batch Localization and SLAM Using Koopman Linearization.

[BibT_eX]

[DOI]

CoRR, 2023

Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning.

[BibT_eX]

[DOI]

Amro Al-Baali

CoRR, 2023

Synthesizing Control Laws from Data using Sum-of-Squares Optimization.

[BibT_eX]

[DOI]

Jason J. Bramburger

CoRR, 2023

Adaptive Graduated Nonconvexity Loss.

[BibT_eX]

[DOI]

Kyungmin Jung

CoRR, 2023

On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration.

[BibT_eX]

[DOI]

David Saussié

CoRR, 2023

Closed-Loop Koopman Operator Approximation.

[BibT_eX]

[DOI]

CoRR, 2023

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended).

[BibT_eX]

[DOI]

CoRR, 2023

Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection.

[BibT_eX]

[DOI]

Natalia Pavlasek

David Roy-Guay

IROS, 2023

navlie: A Python Package for State Estimation on Lie Groups.

[BibT_eX]

[DOI]

Arturo Del Castillo Bernal

Vassili Korotkine

IROS, 2023

Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments.

[BibT_eX]

[DOI]

Kyungmin Jung

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues.

[BibT_eX]

[DOI]

IEEE Trans. Biomed. Eng., 2022

Vectorial parameterizations of pose.

[BibT_eX]

[DOI]

Timothy D. Barfoot

Gabriele M. T. D'Eleuterio

Robotica, 2022

Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon.

[BibT_eX]

[DOI]

Faraaz Ahmed

Ludwik A. Sobiesiak

IEEE Control. Syst. Lett., 2022

Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version).

[BibT_eX]

[DOI]

Daniil Lisus

CoRR, 2022

Reducing Two-Way Ranging Variance by Signal-Timing Optimization.

[BibT_eX]

[DOI]

CoRR, 2022

Ultra-Wideband Teach and Repeat.

[BibT_eX]

[DOI]

CoRR, 2022

Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems.

[BibT_eX]

[DOI]

Ken Lee

Autom., 2022

Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements.

[BibT_eX]

[DOI]

David Saussié

Jérôme Le Ny

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021

Cascaded Filtering Using the Sigma Point Transformation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes.

[BibT_eX]

[DOI]

Daniil Lisus

IEEE Robotics Autom. Lett., 2021

Relative Position Estimation Between Two UWB Devices With IMUs.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

System Norm Regularization Methods for Koopman Operator Approximation.

[BibT_eX]

[DOI]

CoRR, 2021

Finite-Horizon LQR Control of Quadrotors on SE2(3).

[BibT_eX]

[DOI]

Khairi Abdulrahim

CoRR, 2021

Cascaded Filtering Using the Sigma Point Transformation (Extended Version).

[BibT_eX]

[DOI]

CoRR, 2021

Linear Matrix Inequality Approaches to Koopman Operator Approximation.

[BibT_eX]

[DOI]

CoRR, 2021

Map-Aided Train Navigation with IMU Measurements.

[BibT_eX]

[DOI]

Marc-Antoine Lavoie

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Localization with Directional Coordinates.

[BibT_eX]

[DOI]

David Saussié

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation.

[BibT_eX]

[DOI]

Natalia Pavlasek

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Deep Koopman Representation for Control over Images (DKRCI).

[BibT_eX]

[DOI]

Proceedings of the 18th Conference on Robots and Vision, 2021

2020

The Invariant Rauch-Tung-Striebel Smoother.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

The Complex-Step Derivative Approximation on Matrix Lie Groups.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Navigation and Control of Unconventional VTOL UAVs in Forward-Flight With Explicit Wind Velocity Estimation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Finite-Horizon LQR Control of Quadrotors on $SE_2(3)$.

[BibT_eX]

[DOI]

Khairi Abdulrahim

IEEE Robotics Autom. Lett., 2020

Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation.

[BibT_eX]

[DOI]

Timothy D. Barfoot

David J. Yoon

Int. J. Robotics Res., 2020

MIMO Nyquist interpretation of the large gain theorem.

[BibT_eX]

[DOI]

Richard Pates

Int. J. Control, 2020

A Point Cloud Registration Pipeline using Gaussian Process Regression for Bathymetric SLAM*.

[BibT_eX]

[DOI]

Guillaume Charland-Arcand

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

TWOLATE: Total Registration of Point-Clouds Using a Weighted Optimal Linear Attitude and Translation Estimator.

[BibT_eX]

[DOI]

Duowen Qian

Proceedings of the 2020 IEEE Conference on Control Technology and Applications, 2020

System Identification and $\mathcal{H}_{\infty}$ Control of a Fatigue Structural Testing Rig.

[BibT_eX]

[DOI]

Robyn Fortune

C. André Beltempo

Proceedings of the 2020 IEEE Conference on Control Technology and Applications, 2020

2019

DReCon: data-driven responsive control of physics-based characters.

[BibT_eX]

[DOI]

ACM Trans. Graph., 2019

Linear- and Linear-Matrix-Inequality-Constrained State Estimation for Nonlinear Systems.

[BibT_eX]

[DOI]

Robin Aucoin

IEEE Trans. Aerosp. Electron. Syst., 2019

Higher Order Nonlinear Complementary Filtering on Lie Groups.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2019

Synthesis of strictly positive real ℋ2 controllers using dilated LMIs.

[BibT_eX]

[DOI]

Int. J. Control, 2019

LMI Properties and Applications in Systems, Stability, and Control Theory.

[BibT_eX]

[DOI]

CoRR, 2019

Interior-Conic Polytopic Systems Analysis and Control.

[BibT_eX]

[DOI]

CoRR, 2019

Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

An Invariant Extended H∞ Filter.

[BibT_eX]

[DOI]

Marc-Antoine Lavoie

Jonathan Arsenault

Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Nonlinear Attitude and Bias Observer Design with a Gibbs-Inspired Cost Function Using Direct Vector Measurements.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

Invariant Sliding Window Filtering for Attitude and Bias Estimation.

[BibT_eX]

[DOI]

Alex Walsli

Jonathan Arsenault

Proceedings of the 2019 American Control Conference, 2019

Relative Constrained SLAM for Robot Navigation.

[BibT_eX]

[DOI]

Duowen Qian

Shatil Rahman

Proceedings of the 2019 American Control Conference, 2019

Synthesis of Strictly Negative Imaginary Controllers Using a H∞ Performance Index.

[BibT_eX]

[DOI]

Ken Lee

Proceedings of the 2019 American Control Conference, 2019

ℋ∞-Optimal Strictly Positive Real Parallel Feedforward Control.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

2018

Flexible Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2018

Gradient-Based Observer for Simultaneous Localization and Mapping.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2018

Very Strictly Passive Controller Synthesis With Affine Parameter Dependence.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2018

A Comparative Study of Input-Output Stability Results.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2018

Conic-Sector-Based Analysis and Control Synthesis for Linear Parameter Varying Systems.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2018

ℋ∞-Optimal Parallel Feedforward Control Using Minimum Gain.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2018

Riemann Sphere Interpretation of the Passivity, Small Gain, and Conic Sector Theorems.

[BibT_eX]

[DOI]

Ken Lee

Proceedings of the IEEE Conference on Control Technology and Applications, 2018

Linearly Combining Sensor Measurements Optimally to Enforce an SPR Transfer Matrix.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Control Technology and Applications, 2018

Iterative H2-Conic Controller Synthesis.

[BibT_eX]

[DOI]

Proceedings of the 2018 Annual American Control Conference, 2018

A Linear- and Linear-Matrix-Inequality-Constrained Extended Kalman Filter.

[BibT_eX]

[DOI]

Robin Aucoin

Proceedings of the 2018 Annual American Control Conference, 2018

2017

Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2017

Nonlinear Estimator Design on the Special Orthogonal Group Using Vector Measurements Directly.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2017

Conic Bounds for Systems Subject to Delays.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2017

Analysis and synthesis of input strictly passive gain-scheduled controllers.

[BibT_eX]

[DOI]

J. Frankl. Inst., 2017

Discrete-time minmax filtering subject to a norm-constrained state estimate.

[BibT_eX]

[DOI]

Autom., 2017

Sigma Point Kalman Filtering on Matrix Lie Groups Applied to the SLAM Problem.

[BibT_eX]

[DOI]

Proceedings of the Geometric Science of Information - Third International Conference, 2017

Norm- and linear-inequality-constrained state estimation: An LMI approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Constrained extremum-seeking guidance using a constrained Kalman filter.

[BibT_eX]

[DOI]

John Jack Ryan

Proceedings of the 2017 American Control Conference, 2017

Regional pole and zero placement with static output feedback via the Modified Minimum Gain Lemma.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

Conic controller synthesis that minimizes an upper bound on the closed-loop ℋ2-norm.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

The Extended Conic Sector Theorem.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2016

Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator.

[BibT_eX]

[DOI]

Robotica, 2016

State estimator design for a single degree of freedom cable-actuated system.

[BibT_eX]

[DOI]

J. Frankl. Inst., 2016

Exponential convergence of a nonlinear attitude estimator.

[BibT_eX]

[DOI]

Autom., 2016

Exteroceptive measurement filtering embedded within an SO(3)-based attitude estimator.

[BibT_eX]

[DOI]

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Control bandwidth recovery of flexible pointing systems.

[BibT_eX]

[DOI]

Jack B. Aldrich

Proceedings of the 2016 American Control Conference, 2016

Gravity-gradient-stabilized spacecraft attitude estimation using rate-gyroscope measurements.

[BibT_eX]

[DOI]

Stephen A. Chee

Dennis S. Bernstein

Proceedings of the 2016 American Control Conference, 2016

Flexible kiteplane modeling and control with an unsteady aerodynamic model.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

Robust controller design using the Large Gain Theorem: The full-state feedback case.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

2015

Modeling and Control of Flexible Telescoping Manipulators.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2015

Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System.

[BibT_eX]

[DOI]

Donya Mohammadshahi

IEEE Trans. Control. Syst. Technol., 2015

The exterior conic sector lemma.

[BibT_eX]

[DOI]

Int. J. Control, 2015

Differential Geometric SLAM.

[BibT_eX]

[DOI]

CoRR, 2015

A nonlinear attitude estimator with desirable convergence properties.

[BibT_eX]

[DOI]

Proceedings of the 14th European Control Conference, 2015

Modeling and control of a wind energy harvesting kite with flexible cables.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2015

Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2015

Strictly positive real and conic system syntheses using observers.

[BibT_eX]

[DOI]

Mohamed Najih

Proceedings of the American Control Conference, 2015

2014

Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2014

Conic-sector-based control to circumvent passivity violations.

[BibT_eX]

[DOI]

Int. J. Control, 2014

Continuous-time norm-constrained Kalman filtering.

[BibT_eX]

[DOI]

Anton H. J. de Ruiter

Autom., 2014

Rotation-matrix-based attitude control without angular velocity measurements.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2014

Spacecraft constrained attitude control using positively invariant constraint admissible sets on SO(3) × ℝ3.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2014

The Minimum Gain Lemma.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2014

Conic-sector-based controller synthesis: Theory and experiments.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2014

2013

Synthesis of Optimal Finite-Frequency Controllers Able to Accommodate Passivity Violations.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2013

Sequential Pose Estimation Using Linearized Rotation Matrices.

[BibT_eX]

[DOI]

Timothy Michael Drews

Paul G. Kry

Clark Verbrugge

Proceedings of the Tenth Conference on Computer and Robot Vision, 2013

2012

Single-Link Flexible Manipulator Control Accommodating Passivity Violations: Theory and Experiments.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2012

2011

Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems.

[BibT_eX]

[DOI]

J. Frankl. Inst., 2011

2010

Passive linear time-varying systems: State-space realizations, stability in feedback, and controller synthesis.

[BibT_eX]

[DOI]