43 citations · 63 across the 21 of their papers we have counts for
15 papers · 1 filter
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
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…
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane +2
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and…
Equivariant Tracking Control for Fully Actuated Mechanical Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of su…
The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
Yixiao Ge, Pieter van Goor, Robert Mahony
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear…
Synchronous Models and Fundamental Systems in Observer Design
Pieter van Goor, Robert Mahony
This paper introduces the concept of a synchronous model as an extension of the internal model concept used in observer design for dynamical systems. A system is said to contain a…
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry
Pieter van Goor, Robert Mahony
Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) glob…
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 polar symmetry in designing equivariant observers for vision-based motion estimation
Tarek Bouazza, Robert Mahony, Tarek Hamel
Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential mat…
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…
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
Pieter van Goor, Tarek Hamel, Robert Mahony
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as…
A Note on the Extended Kalman Filter on a Manifold
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kal…
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…