3 papers
cs.RO2025
MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision
Mohammed Ayman Shalaby, Syed Shabbir Ahmed, Nicholas Dahdah +3
This paper introduces MILUV, a Multi-UAV Indoor Localization dataset with UWB and Vision measurements. This dataset comprises 217 minutes of flight time over 36 experiments using t…
math.OC2024
Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach
Sepehr Moalemi, James Richard Forbes
This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it…
cs.RO2024
Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics
Zi Cong Guo, James R. Forbes, Timothy D. Barfoot
We present closed-form expressions for marginalizing and conditioning Gaussians onto linear manifolds, and demonstrate how to apply these expressions to smooth nonlinear manifolds…