84 citations · 115 across the 4 of their papers we have counts for
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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…
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…
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…