84 citations · 464 across the 36 of their papers we have counts for
10 papers · 1 filter
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version)
Daniil Lisus, Mitchell Cohen, James Richard Forbes
Estimation algorithms, such as the sliding window filter, produce an estimate and uncertainty of desired states. This task becomes challenging when the problem involves unobservabl…
Reducing Two-Way Ranging Variance by Signal-Timing Optimization
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Time-of-flight-based ranging among transceivers with different clocks requires protocols that accommodate varying rates of the clocks. Double-sided two-way ranging (DS-TWR) is wide…
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. Howe…
Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
The recent development of high-precision subsea optical scanners allows for 3D keypoint detectors and feature descriptors to be leveraged on point cloud scans from subsea environme…
System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues
Amanda Bianco, Raphael Zonis, Anne-Marie Lauzon +2
Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…
Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon
Faraaz Ahmed, Ludwik Sobiesiak, James Richard Forbes
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group . A reference trajectory to a target is cal…
Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Thomas Hitchcox, James Richard Forbes
Measurement outliers are unavoidable when solving real-world robot state estimation problems. A large family of robust loss functions (RLFs) exists to mitigate the effects of outli…
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…