30 citations · 169 across the 30 of their papers we have counts for
5 papers · 1 filter
Correction to:"Position estimation from direction or range measurements"
Tarek Hamel, Minh-Duc Hua, Claude Samson
This technical communiqué aims at correcting an erroneous statement (Lemma 2.4) in an earlier paper by the same authors concerning a sufficient condition of uniform observability f…
Bearing-only formation control under persistence of excitation
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of bearing-only formation control in -dimensional space by exploring persistence of excitation (PE) of the desired bearing reference.…
Equivariant Systems Theory and Observer Design
Robert Mahony, Tarek Hamel, Jochen Trumpf
A wide range of system models in modern robotics and avionics applications admit natural symmetries. Such systems are termed equivariant and the structure provided by the symmetry…
Constructive Observer Design for Visual Simultaneous Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by liftin…
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter…