30 citations · 108 across the 22 of their papers we have counts for
23 papers
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
Arkadeep Saha, Pieter van Goor, Ravi Banavar
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated u…
Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, in…
Equivariant Tracking Control for Fully Actuated Mechanical Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of su…
Shaping the Koopman dictionary by learning on the Grassmannian
Roland Schurig, Pieter van Goor, Karl Worthmann +1
Extended dynamic mode decomposition (EDMD) is a powerful tool to construct linear predictors of nonlinear dynamical systems by approximating the action of the Koopman operator on a…
Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence
Arkadeep Saha, Pieter van Goor, Antonio Franchi +1
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those…
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable v…
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…
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
Pieter van Goor, Tarek Hamel, Robert Mahony
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as…
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…
Equivariant Symmetries for Inertial Navigation Systems
Alessandro Fornasier, Yixiao Ge, Pieter van Goor +2
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the…
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…
Nonlinear constructive observer design for direct homography estimation
Tarek Bouazza, Pieter Van Goor, Robert Mahony +1
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by…
Equivariant Filters are Equivariant
Hiya Gada, Pieter van Goor, Ravi Banavar +1
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, an…
Equivariant Filter Design for Discrete-time systems
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many nonlinear control systems, especially in the robotics field, admit a transitive Lie-group symmetry, which is useful in high performance observer design. The…
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors
Matthew Hampsey, Pieter van Goor, Tarek Hamel +1
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers t…
Observer Design for Nonlinear Systems with Equivariance
Robert Mahony, Pieter van Goor, Tarek Hamel
Equivariance is a common and natural property of many nonlinear control systems, especially those associated with models of mechatronic and navigation systems. Such systems admit a…
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces:…
Attitude Observation for Second Order Attitude Kinematics
Yonhon Ng, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly usef…
An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor, Robert Mahony
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the exte…
Event Camera Calibration of Per-pixel Biased Contrast Threshold
Ziwei Wang, Yonhon Ng, Pieter van Goor +1
Event cameras output asynchronous events to represent intensity changes with a high temporal resolution, even under extreme lighting conditions. Currently, most of the existing wor…
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…
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter…
An Equivariant Observer Design for Visual Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a c…