4 papers
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude
Pieter van Goor, Tarek Hamel, Robert Mahony
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) mea…
EqVIO: An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor, Robert Mahony
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great inte…
Equivariant Filter (EqF)
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equippe…
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
Mirko Mizzoni, Pieter van Goor, Antonio Franchi
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achi…