47 citations · 131 across the 15 of their papers we have counts for
18 papers
A Weak Notion of Symmetry for Control Systems
Jake Welde, Riley Link, Pieter van Goor
Symmetry (or invariance) is a powerful structural property that enables efficient, effective solutions for estimation and control. However, the constraints imposed on a system's dy…
Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems
Arihant Lunawat, Pieter van Goor, Frank Dellaert +1
Autonomous Underwater Vehicles (AUVs) navigating without GPS typically fuse inertial measurements with acoustic Doppler Velocity Log (DVL) velocities and pressure-derived depth. Po…
The Iterative Equivariant Filter
Pieter van Goor, James Richard Forbes
This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF) replaces the standard EKF correction step with an iterative correctio…
Equivariant Observer Design on SL(3) for Image Intensity-Based Homography Estimation
Tarek Bouazza, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of homography estimation using a nonlinear observer designed on the Lie group that exploits the full image information through dir…
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
Benedetta Rota, Mirko Mizzoni, Amr Afifi +2
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear d…
A Weak Notion of Symmetry for Dynamical Systems
Jake Welde, Pieter van Goor
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of…
The Geometry of Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load
Pieter van Goor, Chiara Gabellieri, Antonio Franchi
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometr…
Geometric Data Fusion for Collaborative Attitude Estimation
Yixiao Ge, Behzad Zamani, Pieter van Goor +2
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and re…
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups
Yixiao Ge, Pieter van Goor, Robert Mahony
Stochastic inference on Lie groups plays a key role in state estimation problems such as; inertial navigation, visual inertial odometry, pose estimation in virtual reality, etc. A…
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actua…
Exploiting spatial group error and synchrony for a unicycle tracking controller
Matthew Hampsey, Pieter van Goor, Robert Mahony
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of t…
Reprojection methods for Koopman-based modelling and prediction
Pieter van Goor, Robert Mahony, Manuel Schaller +1
Extended Dynamic Mode Decomposition (eDMD) is a powerful tool to generate data-driven surrogate models for the prediction and control of nonlinear dynamical systems in the Koopman…
Asynchronous Blob Tracker for Event Cameras
Ziwei Wang, Timothy Molloy, Pieter van Goor +1
Event-based cameras are popular for tracking fast-moving objects due to their high temporal resolution, low latency, and high dynamic range. In this paper, we propose a novel algor…
Tracking control on homogeneous spaces: the Equivariant Regulator (EqR)
Matthew Hampsey, Pieter van Goor, Robert Mahony
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many d…
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude
Pieter van Goor, Tarek Hamel, Robert Mahony
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) mea…
EqVIO: An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor, Robert Mahony
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great inte…
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups
Yonhon Ng, Pieter van Goor, Tarek Hamel +1
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a ma…
Equivariant Filter (EqF)
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equippe…