7 papers
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
On Data-Driven Unbiased Predictors using the Koopman Operator
Roland Schurig, Pieter van Goor, Karl Worthmann +1
The Koopman operator and its data-driven approximations, such as extended dynamic mode decomposition (EDMD), are widely used for analysing, modelling, and controlling nonlinear dyn…
The Difference between the Left and Right Invariant Extended Kalman Filter
Yixiao Ge, Giulio Delama, Martin Scheiber +4
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent dev…
The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
Yixiao Ge, Pieter van Goor, Robert Mahony
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear…
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
Mirko Mizzoni, Pieter van Goor, Antonio Franchi
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achi…
Equivariant Filter Design for Range-only SLAM
Yixiao Ge, Arthur Pearce, Pieter van Goor +1
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in t…
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
Alessandro Fornasier, Pieter van Goor, Eren Allak +2
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in an…