84 citations · 464 across the 36 of their papers we have counts for
11 papers · 1 filter
System Norm Regularization Methods for Koopman Operator Approximation
Steven Dahdah, James Richard Forbes
Approximating the Koopman operator from data is numerically challenging when many lifting functions are considered. Even low-dimensional systems can yield unstable or ill-condition…
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…
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby +1
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environ…
Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems
Zi Cong Guo, Vassili Korotkine, James R. Forbes +1
We present the Koopman State Estimator (KoopSE), a framework for model-free batch state estimation of control-affine systems that makes no linearization assumptions, requires no pr…
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…
Relative Position Estimation Between Two UWB Devices with IMUs
Charles C. Cossette, Mohammed Shalaby, David Saussié +2
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execu…
Cascaded Filtering Using the Sigma Point Transformation (Extended Version)
Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
It is often convenient to separate a state estimation task into smaller "local" tasks, where each local estimator estimates a subset of the overall system state. However, neglectin…
Vectorial Parameterizations of Pose
Timothy D. Barfoot, James R. Forbes, Gabriele M. T. D'Eleuterio
Robotics and computer vision problems commonly require handling rigid-body motions comprising translation and rotation - together referred to as pose. In some situations, a vectori…
Linear Matrix Inequality Approaches to Koopman Operator Approximation
Steven Dahdah, James Richard Forbes
The regression problem associated with finding a matrix approximation of the Koopman operator from data is considered. The regression problem is formulated as a convex optimization…