Search Results - "Forbes, James Richard"

Closed-loop Koopman operator approximation by Dahdah, Steven, Forbes, James Richard

“…Abstract This paper proposes a method to identify a Koopman model of a feedback-controlled system given a known controller. The Koopman operator allows a…”
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Map-Aided Train Navigation with IMU Measurements by Lavoie, Marc-Antoine, Richard Forbes, James

“…Autonomous train navigation using only a low-cost MEMS IMU and a track map is considered in this paper. The approach is designed for urban rail or subway…”
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Spacecraft energy management using convex optimisation by Doff-Sotta, Martin, Cannon, Mark, Forbes, James Richard

“…•An energy management strategy for spacecraft using convex optimisation is presented.•Models of the energy subsystems are derived and leveraged by the…”
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Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems by Lee, Ken, Forbes, James Richard

“…This paper considers position and attitude tracking control. Counterclockwise (CCW) input–output maps from force and torque to position and attitude are…”
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Synthesis of strictly positive real ℋ 2 controllers using dilated LMIs by Forbes, James Richard

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Synthesis of strictly positive real ℋ2 controllers using dilated LMIs by Forbes, James Richard

“…This paper considers strictly positive real (SPR) controller design via direct minimisation of an upper bound on the closed-loop norm. To realise a tractable…”
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An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least-Squares Solutions by Jung, Kyungmin, Hitchcox, Thomas, Forbes, James Richard

“…Many problems in robotics, such asestimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems…”
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Very Strictly Passive Controller Synthesis With Affine Parameter Dependence by Walsh, Alex, Forbes, James Richard

“…This paper considers linear parameter-varying (LPV) control within a passive systems framework. A very strictly passive (VSP) controller is presented in…”
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Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure by Hitchcox, Thomas, Forbes, James Richard

“…Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by…”
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Nonlinear Estimator Design on the Special Orthogonal Group Using Vector Measurements Directly by Zlotnik, David Evan, Forbes, James Richard

“…The convergence properties of popular nonlinear attitude estimators can be traced to the choice of an attitude error function. This paper considers a nonlinear…”
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Flexible Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions by Caverly, Ryan James, Forbes, James Richard

“…In this brief, a planar cable-driven parallel manipulator is controlled using a strictly positive real compensator, cable pretension is explicitly accounted…”
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Exponential convergence of a nonlinear attitude estimator by Zlotnik, David Evan, Forbes, James Richard

“…A nonlinear attitude estimator is presented. The estimator uses a minimum of two vector measurements and a rate-gyro to estimate the attitude and the rate-gyro…”
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A Comparative Study of Input-Output Stability Results by Bridgeman, Leila Jasmine, Forbes, James Richard

“…At present, many similar but disparate input-output (I-O) stability criteria exist. Without means for comparison, it is unclear which result is best used in…”
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Higher Order Nonlinear Complementary Filtering on Lie Groups by Zlotnik, David Evan, Forbes, James Richard

“…Nonlinear observer design for systems whose state-space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear…”
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A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares by Korotkine, Vassili, Cohen, Mitchell, Forbes, James Richard

“…This letter proposes a novel Hessian approximation for Maximum a Posteriori estimation problems in robotics involving Gaussian mixture likelihoods. Previous…”
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Discrete-time minmax filtering subject to a norm-constrained state estimate by Chee, Stephen Alexander, Forbes, James Richard

“…This paper considers discrete-time minmax filtering when the state estimate, or part of the state estimate, is subjected to a norm constraint. Derivation and…”
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Data-Driven Batch Localization and SLAM Using Koopman Linearization by Guo, Zi Cong, Dumbgen, Frederike, Forbes, James Richard, Barfoot, Timothy D.

“…In this article, we present a framework for model-free batch localization and simultaneous localization and mapping (SLAM). We use lifting functions to map a…”
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Conic Bounds for Systems Subject to Delays by Bridgeman, Leila Jasmine, Forbes, James Richard

“…Linear matrix inequality conditions implying conic bounds are developed for stable linear time-invariant systems with input, output, and/or state delays…”
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Iterative ‐conic controller synthesis by Bridgeman, Leila Jasmine, Forbes, James Richard

“…Summary This paper proposes a method to synthesize controllers that minimize an upper bound on the closed‐loop ‐norm while imposing desired controller conic…”
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Decentralized state estimation: An approach using pseudomeasurements and preintegration by Cossette, Charles Champagne, Shalaby, Mohammed Ayman, Saussié, David, Forbes, James Richard

“…This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where…”
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