84 citations · 150 across the 4 of their papers we have counts for
9 papers
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussie +2
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this pape…
Ultra-Wideband Teach and Repeat
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy…
Localization with Directional Coordinates
Charles Champagne Cossette, Mohammed Shalaby, David Saussié +1
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and el…
Finite-Horizon LQR Control of Quadrotors on
Mitchell R. Cohen, Khairi Abdulrahim, James Richard Forbes
This paper considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finite-horizon, linear quadratic regulator (LQR). The state of a quadrot…
The Complex-Step Derivative Approximation on Matrix Lie Groups
Charles Champagne Cossette, Alex Walsh, James Richard Forbes
The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single function evaluation. In…
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation
Natalia Pavlasek, Alex Walsh, James Richard Forbes
This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called…