5 citations · 7 across the 6 of their papers we have counts for
6 papers
Exploiting polar symmetry in designing equivariant observers for vision-based motion estimation
Tarek Bouazza, Robert Mahony, Tarek Hamel
Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential mat…
Constructive barrier feedback for collision avoidance in leader-follower formation control
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy…
Constructive Equivariant Observer Design for Inertial Navigation
Pieter van Goor, Tarek Hamel, Robert Mahony
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magneto…
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors
Matthew Hampsey, Pieter van Goor, Tarek Hamel +1
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers t…
A global exponential observer for velocity-aided attitude estimation
Philippe Martin, Ioannis Sarras, Minh-Duc Hua +1
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in…
Velocity-aided Attitude Estimation for Accelerated Rigid Bodies
Minh-Duc Hua, Philippe Martin, Tarek Hamel
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. A…