30 citations · 108 across the 22 of their papers we have counts for
6 papers · 1 filter
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…
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…
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…
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…
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…