1 citations · 2 across the 8 of their papers we have counts for
8 papers
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry
Pieter van Goor, Robert Mahony
Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) glob…
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actua…
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…
Exploiting spatial group error and synchrony for a unicycle tracking controller
Matthew Hampsey, Pieter van Goor, Robert Mahony
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of t…
A Note on the Extended Kalman Filter on a Manifold
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kal…
Constructive Equivariant Observer Design for Inertial Navigation
Pieter van Goor, Tarek Hamel, Robert Mahony
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magneto…