858 citations
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5 papers · 2 filters
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle
Jack Henderson, Mohammad Zamani, Robert Mahony +1
Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimati…
Preserving Privacy of the Influence Structure in Friedkin-Johnsen Systems
Jack Liell-Cock, Ian R. Manchester, Guodong Shi
The nature of information sharing in common distributed consensus algorithms permits network eavesdroppers to expose sensitive system information. An important parameter within dis…
Initial-Value Privacy of Linear Dynamical Systems
Lei Wang, Ian R. Manchester, Jochen Trumpf +1
This paper studies initial-value privacy problems of linear dynamical systems. We consider a standard linear time-invariant system with random process and measurement noises. For s…
Constructive Observer Design for Visual Simultaneous Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by liftin…
Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization
Bowen Yi, Romeo Ortega, Ian R. Manchester +1
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control object…