84 citations · 150 across the 5 of their papers we have counts for
16 papers · 1 filter
Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems
Yanting Zhou, Jozsef Kövecses, James Richard Forbes
Rendering haptic feedback with nonlinear virtual environments (VEs) is important in many applications that require highly accurate force feedback. This paper considers the use of t…
Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping
Thomas Hitchcox, James Richard Forbes
Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner re…
Navigation and Control of Unconventional VTOL UAVs in Forward-Flight with Explicit Wind Velocity Estimation
Mitchell Cohen, James Richard Forbes
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight cond…
The Invariant Rauch-Tung-Striebel Smoother
Niels van der Laan, Mitchell Cohen, Jonathan Arsenault +1
This paper presents an invariant Rauch-Tung- Striebel (IRTS) smoother applicable to systems with states that are an element of a matrix Lie group. In particular, the extended Rauch…
Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning
Amro Al-Baali, Thomas Hitchcox, James Richard Forbes
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due…
An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanil…