4 citations · 9 across the 19 of their papers we have counts for
6 papers · 1 filter
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…