4 citations · 9 across the 19 of their papers we have counts for
19 papers
Observability-Informed Optimal Sensor Placement for Soft Robots
Samuel Smocot, James Richard Forbes, Audrey Sedal
This paper presents the application and experimental evaluation of a systematic method for optimal sensor placement in soft robots. Existing methods either lack generalizability ac…
Range-Aided SLAM Initialization Exploiting Accurate Heading Information
Isabel Lougheed, James Richard Forbes
This paper presents a novel initialization method for range-aided simultaneous localization and mapping (RA-SLAM). The general SLAM problem has a well-known separable structure whe…
Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
Vassili Korotkine, Pierre Chamoun, Mohammed Ayman Shalaby +1
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration typically necessitates full exci- tation…
A Passivity-Based Analysis of First-Order Momentum-Based Methods
Sepehr Moalemi, James Richard Forbes
This paper presents a discrete-time passivity-based analysis of first-order momentum-based methods for a class of functions whose gradient has lower and upper sector bounds of …
D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange
Kyle Biron-Gricken, James Richard Forbes
Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and control. Centralized filtering approaches optimally fuse all availa…
DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
Kyungmin Jung, Angad Bajwa, Junha Yoo +2
This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory estimation framework for unmanned underwater vehicles. Underwater env…
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…
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…
Matrix-Scheduling of QSR-Dissipative Systems
Sepehr Moalemi, James Richard Forbes
This paper considers gain-scheduling of QSR-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled syst…
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…
Passivity-Based Gain-Scheduled Control with Scheduling Matrices
Sepehr Moalemi, James Richard Forbes
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realiz…
The Harmonic Exponential Filter for Nonparametric Estimation on Motion Groups
Miguel Saavedra-Ruiz, Steven A. Parkison, Ria Arora +2
Bayesian estimation is a vital tool in robotics as it allows systems to update the robot state belief using incomplete information from noisy sensors. To render the state estimatio…
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
Syed S. Ahmed, Mohammed A. Shalaby, Charles C. Cossette +2
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dim…
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…
Bayesian Filtering for Homography Estimation
Arturo Del Castillo Bernal, Philippe Decoste, James Richard Forbes
This paper considers homography estimation in a Bayesian filtering framework using rate gyro and camera measurements. The use of rate gyro measurements facilitates a more reliable…
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of th…
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay +1
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result o…
Data-Driven Batch Localization and SLAM Using Koopman Linearization
Zi Cong Guo, Frederike Dümbgen, James R. Forbes +1
We present a framework for model-free batch localization and SLAM. We use lifting functions to map a control-affine system into a high-dimensional space, where both the process mod…