110 citations · 628 across the 48 of their papers we have counts for
10 papers · 1 filter
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…
Equivariant Filters are Equivariant
Hiya Gada, Pieter van Goor, Ravi Banavar +1
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, an…
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Alessandro Fornasier, Yonhon Ng, Christian Brommer +3
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capab…
Equivariant Filter Design for Discrete-time systems
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many nonlinear control systems, especially in the robotics field, admit a transitive Lie-group symmetry, which is useful in high performance observer design. The…
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…
Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras
Ziwei Wang, Yonhon Ng, Jack Henderson +1
Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor c…