25 citations · 37 across the 9 of their papers we have counts for
11 papers · 1 filter
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…
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…
Quadrotor going through a window and landing: An image-based visual servo control approach
Zhiqi Tang, Rita Cunha, David Cabecinhas +2
This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller…
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces:…
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups
Yonhon Ng, Pieter van Goor, Tarek Hamel +1
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a ma…