9 papers
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…
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…
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…
Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations
Syed Shabbir Ahmed, Mohammed Ayman Shalaby, Jerome Le Ny +1
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-i…