43 citations · 63 across the 21 of their papers we have counts for
3 papers · 2 filters
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…