66 citations · 184 across the 19 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…