62 citations · 86 across the 12 of their papers we have counts for
12 papers
Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach
Sepehr Moalemi, James Richard Forbes
This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it…
Passivity-Based Gain-Scheduled Control with Scheduling Matrices
Sepehr Moalemi, James Richard Forbes
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realiz…
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…
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…