30 citations · 169 across the 30 of their papers we have counts for
30 papers
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
Pieter van Goor, Tarek Hamel, Robert Mahony
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as…
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…
Nonlinear constructive observer design for direct homography estimation
Tarek Bouazza, Pieter Van Goor, Robert Mahony +1
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by…
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…
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…
Formation control of a leader-follower structure in three dimensional space using bearing measurements
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. U…