James Richard Forbes

178 papers A* 5A 7C 24Journal 128Unranked 14

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Forward-Backward Extended DMD with an Asymptotic Stability Constraint. J. Nonlinear Sci. Louis Lortie, Steven Dahdah, James Richard Forbes
2026	J	`jnl`	Gaussian Variational Inference With Non-Gaussian Factors for State Estimation: A UWB Localization Case Study. IEEE Robotics Autom. Lett. Andrew Stirling, Mykola Lukashchuk, Dmitry Bagaev, Wouter M. Kouw, James Richard Forbes
2026	J	`jnl`	KILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter. CoRR Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2026	J	`jnl`	Nonlinear Observer Design for Visual-Inertial Odometry. CoRR Mouaad Boughellaba, Abdelhamid Tayebi, James Richard Forbes, Soulaimane Berkane
2025	J	`jnl`	An SE(3) Noise Model for Range-Azimuth-Elevation Sensors. CoRR Thomas Hitchcox, James Richard Forbes
2025	J	`jnl`	Asymptotically stable data-driven koopman operator approximation with inputs using total extended DMD. Mach. Learn. Sci. Technol. Louis Lortie, James Richard Forbes
2025	J	`jnl`	Design of Input-Output Observers for a Population of Systems With Bounded Frequency-Domain Variation Using DK-Iteration. IEEE Control. Syst. Lett. Timothy Everett Adams, James Richard Forbes
2025	J	`jnl`	Design of Input-Output Observers for a Population of Systems with Bounded Frequency-Domain Variation using CoRR Timothy Everett Adams, James Richard Forbes
2025	J	`jnl`	Discretization of Linear Systems using the Matrix Exponential. CoRR Steven Dahdah, James Richard Forbes
2025	J	`jnl`	Gaussian Variational Inference with Non-Gaussian Factors for State Estimation: A UWB Localization Case Study. CoRR Andrew Stirling, Mykola Lukashchuk, Dmitry Bagaev, Wouter M. Kouw, James Richard Forbes
2025	J	`jnl`	Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations. CoRR Vassili Korotkine, Mitchell R. Cohen, James Richard Forbes
2025	J	`jnl`	Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations. IEEE Robotics Autom. Lett. Vassili Korotkine, Mitchell R. Cohen, James Richard Forbes
2025	C	`conf`	Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach. ACC Sepehr Moalemi, James Richard Forbes
2025	J	`jnl`	MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision. CoRR Mohammed Ayman Shalaby, Syed Shabbir Ahmed, Nicholas Dahdah, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2025	A*	`conf`	Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics. ICRA Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2025	J	`jnl`	Matrix-Scheduling of QSR-Dissipative Systems. IEEE Trans. Autom. Control. Sepehr Moalemi, James Richard Forbes
2025	J	`jnl`	Power Hardware-in-the-loop Interfacing via ℋ CoRR Jonathan Eid, Ashley Meagher, Dmitry Rimorov, Anil Kumar Bonala, Rajendra Thike, James Richard Forbes
2025	J	`jnl`	The Harmonic Exponential Filter for Nonparametric Estimation on Motion Groups. IEEE Robotics Autom. Lett. Miguel A. Saavedra-Ruiz, Steven A. Parkison, Ria Arora, James Richard Forbes, Liam Paull
2025	J	`jnl`	dkpy: Robust Control with Structured Uncertainty in Python. CoRR Timothy Everett Adams, Steven Dahdah, James Richard Forbes
2024	J	`jnl`	A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares. CoRR Vassili Korotkine, Mitchell R. Cohen, James Richard Forbes
2024	J	`jnl`	A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares. IEEE Robotics Autom. Lett. Vassili Korotkine, Mitchell R. Cohen, James Richard Forbes
2024	J	`jnl`	An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least-Squares Solutions. IEEE Trans. Robotics Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
2024	J	`jnl`	Asymptotically Stable Data-Driven Koopman Operator Approximation with Inputs using Total Extended DMD. CoRR Louis Lortie, James Richard Forbes
2024	J	`jnl`	Closed-loop Koopman operator approximation. Mach. Learn. Sci. Technol. Steven Dahdah, James Richard Forbes
2024	J	`jnl`	DIVE: Deep Inertial-Only Velocity Aided Estimation for Quadrotors. IEEE Robotics Autom. Lett. Angad Bajwa, Charles Champagne Cossette, Mohammed Ayman Shalaby, James Richard Forbes
2024	J	`jnl`	Data-Driven Batch Localization and SLAM Using Koopman Linearization. IEEE Trans. Robotics Zi Cong Guo, Frederike Dümbgen, James Richard Forbes, Timothy D. Barfoot
2024	J	`jnl`	Decentralized state estimation: An approach using pseudomeasurements and preintegration. Int. J. Robotics Res. Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes
2024	J	`jnl`	Forward-Backward Extended DMD with an Asymptotic Stability Constraint. CoRR Louis Lortie, Steven Dahdah, James Richard Forbes
2024	—	`conf`	Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. CCTA Syed S. Ahmed, Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2024	J	`jnl`	Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. CoRR Syed S. Ahmed, Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2024	J	`jnl`	Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach. CoRR Sepehr Moalemi, James Richard Forbes
2024	J	`jnl`	Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping. CoRR Thomas Hitchcox, James Richard Forbes
2024	J	`jnl`	Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping. IEEE Robotics Autom. Lett. Thomas Hitchcox, James Richard Forbes
2024	J	`jnl`	Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics. CoRR Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2024	J	`jnl`	Matrix-Scheduling of QSR-Dissipative Systems. CoRR Sepehr Moalemi, James Richard Forbes
2024	J	`jnl`	Multi-robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. IEEE Trans. Robotics Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2024	J	`jnl`	Navigation and Control of Unconventional VTOL UAVs in Forward-Flight with Explicit Wind Velocity Estimation. CoRR Mitchell R. Cohen, James Richard Forbes
2024	A	`conf`	Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations. IROS Syed Shabbir Ahmed, Mohammed Ayman Shalaby, Jerome Le Ny, James Richard Forbes
2024	J	`jnl`	Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations. CoRR Syed Shabbir Ahmed, Mohammed Ayman Shalaby, Jerome Le Ny, James Richard Forbes
2024	—	`conf`	Passivity-Based Gain-Scheduled Control with Scheduling Matrices. CCTA Sepehr Moalemi, James Richard Forbes
2024	J	`jnl`	Passivity-Based Gain-Scheduled Control with Scheduling Matrices. CoRR Sepehr Moalemi, James Richard Forbes
2024	J	`jnl`	Reducing Two-Way Ranging Variance by Signal-Timing Optimization. IEEE Trans. Aerosp. Electron. Syst. Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2024	—	`conf`	Synthesizing Control Laws from Data using Sum-of-Squares Optimization. CCTA Jason J. Bramburger, Steven Dahdah, James Richard Forbes
2024	J	`jnl`	The Harmonic Exponential Filter for Nonparametric Estimation on Motion Groups. CoRR Miguel A. Saavedra-Ruiz, Steven A. Parkison, Ria Arora, James Richard Forbes, Liam Paull
2024	J	`jnl`	The Invariant Rauch-Tung-Striebel Smoother. CoRR Niels van der Laan, Mitchell R. Cohen, Jonathan Arsenault, James Richard Forbes
2024	J	`jnl`	Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator. CoRR Steven Dahdah, James Richard Forbes
2023	J	`jnl`	Adaptive Graduated Nonconvexity Loss. CoRR Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
2023	J	`jnl`	Bayesian Filtering for Homography Estimation. CoRR Arturo Del Castillo Bernal, Philippe Decoste, James Richard Forbes
2023	J	`jnl`	Bayesian Filtering for Homography Estimation. IEEE Robotics Autom. Lett. Arturo Del Castillo Bernal, Philippe Decoste, James Richard Forbes
2023	A*	`conf`	Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements. ICRA Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2023	J	`jnl`	Cascaded Model Predictive Control of a Tandem-Rotor Helicopter. IEEE Control. Syst. Lett. Faraaz Ahmed, Ludwik A. Sobiesiak, James Richard Forbes
2023	J	`jnl`	Closed-Loop Koopman Operator Approximation. CoRR Steven Dahdah, James Richard Forbes
2023	J	`jnl`	Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning. CoRR Amro Al-Baali, Thomas Hitchcox, James Richard Forbes
2023	J	`jnl`	Data-Driven Batch Localization and SLAM Using Koopman Linearization. CoRR Zi Cong Guo, Frederike Dümbgen, James Richard Forbes, Timothy D. Barfoot
2023	J	`jnl`	IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints. CoRR Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2023	J	`jnl`	Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure. IEEE Trans. Robotics Thomas Hitchcox, James Richard Forbes
2023	J	`jnl`	Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended). CoRR Thomas Hitchcox, James Richard Forbes
2023	J	`jnl`	Know What You Don't Know: Consistency in Sliding Window Filtering With Unobservable States Applied to Visual-Inertial SLAM. IEEE Robotics Autom. Lett. Daniil Lisus, Mitchell R. Cohen, James Richard Forbes
2023	A	`conf`	Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. IROS Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes
2023	J	`jnl`	Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. CoRR Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes
2023	J	`jnl`	Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. CoRR Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2023	J	`jnl`	On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration. CoRR Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes
2023	A*	`conf`	Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments. ICRA Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
2023	J	`jnl`	STAR-loc: Dataset for STereo And Range-based localization. CoRR Frederike Dümbgen, Mohammed Ayman Shalaby, Connor Holmes, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny, Timothy D. Barfoot
2023	J	`jnl`	Synthesizing Control Laws from Data using Sum-of-Squares Optimization. CoRR Jason J. Bramburger, Steven Dahdah, James Richard Forbes
2023	J	`jnl`	System identification and simulation of soft tissue force feedback in a spine surgical simulator. Comput. Biol. Medicine Harriet Violet Chorney, James Richard Forbes, Mark Driscoll
2023	A	`conf`	navlie: A Python Package for State Estimation on Lie Groups. IROS Charles Champagne Cossette, Mitchell R. Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes
2023	J	`jnl`	navlie: A Python Package for State Estimation on Lie Groups. CoRR Charles Champagne Cossette, Mitchell R. Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes
2022	J	`jnl`	Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements. CoRR Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2022	J	`jnl`	Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version). CoRR Daniil Lisus, Mitchell R. Cohen, James Richard Forbes
2022	J	`jnl`	Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. IEEE Robotics Autom. Lett. Zi Cong Guo, Vassili Korotkine, James Richard Forbes, Timothy D. Barfoot
2022	J	`jnl`	Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems. CoRR Thomas Hitchcox, James Richard Forbes
2022	J	`jnl`	Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems. IEEE Robotics Autom. Lett. Thomas Hitchcox, James Richard Forbes
2022	J	`jnl`	Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon. IEEE Control. Syst. Lett. Faraaz Ahmed, Ludwik A. Sobiesiak, James Richard Forbes
2022	A	`conf`	Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements. IROS Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jérôme Le Ny, James Richard Forbes
2022	J	`jnl`	Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements. CoRR Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jerome Le Ny, James Richard Forbes
2022	J	`jnl`	Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments. CoRR Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
2022	J	`jnl`	Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems. Autom. Ken Lee, James Richard Forbes
2022	J	`jnl`	Reducing Two-Way Ranging Variance by Signal-Timing Optimization. CoRR Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2022	J	`jnl`	Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements. CoRR Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2022	J	`jnl`	System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues. CoRR Amanda Bianco, Raphael Zonis, Anne-Marie Lauzon, James Richard Forbes, Gijs Ijpma
2022	J	`jnl`	System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues. IEEE Trans. Biomed. Eng. Amanda Bianco, Raphael Zonis, Anne-Marie Lauzon, James Richard Forbes, Gijs Ijpma
2022	J	`jnl`	Ultra-Wideband Teach and Repeat. CoRR Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2022	J	`jnl`	Vectorial parameterizations of pose. Robotica Timothy D. Barfoot, James Richard Forbes, Gabriele M. T. D'Eleuterio
2021	J	`jnl`	Cascaded Filtering Using the Sigma Point Transformation (Extended Version). CoRR Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2021	J	`jnl`	Cascaded Filtering Using the Sigma Point Transformation. IEEE Robotics Autom. Lett. Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
2021	—	`conf`	Deep Koopman Representation for Control over Images (DKRCI). CRV Philippe Laferrière, Samuel Laferrière, Steven Dahdah, James Richard Forbes, Liam Paull
2021	J	`jnl`	Finite-Horizon LQR Control of Quadrotors on SE CoRR Mitchell R. Cohen, Khairi Abdulrahim, James Richard Forbes
2021	J	`jnl`	Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. CoRR Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes
2021	J	`jnl`	Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. IEEE Robotics Autom. Lett. Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes
2021	A*	`conf`	Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation. ICRA Natalia Pavlasek, Alex Walsh, James Richard Forbes
2021	J	`jnl`	Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation. CoRR Natalia Pavlasek, Alex Walsh, James Richard Forbes
2021	J	`jnl`	Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. CoRR Zi Cong Guo, Vassili Korotkine, James Richard Forbes, Timothy D. Barfoot
2021	J	`jnl`	Linear Matrix Inequality Approaches to Koopman Operator Approximation. CoRR Steven Dahdah, James Richard Forbes
2021	A	`conf`	Localization with Directional Coordinates. IROS Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes
2021	J	`jnl`	Localization with Directional Coordinates. CoRR Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes
2021	A	`conf`	Map-Aided Train Navigation with IMU Measurements. IROS Marc-Antoine Lavoie, James Richard Forbes
2021	J	`jnl`	Relative Position Estimation Between Two UWB Devices With IMUs. IEEE Robotics Autom. Lett. Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jerome Le Ny
2021	J	`jnl`	Relative Position Estimation Between Two UWB Devices with IMUs. CoRR Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jérôme Le Ny
2021	J	`jnl`	Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements. IEEE Robotics Autom. Lett. Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
2021	J	`jnl`	System Norm Regularization Methods for Koopman Operator Approximation. CoRR Steven Dahdah, James Richard Forbes
2021	J	`jnl`	The Complex-Step Derivative Approximation on Matrix Lie Groups. CoRR Charles Champagne Cossette, Alex Walsh, James Richard Forbes
2021	J	`jnl`	Vectorial Parameterizations of Pose. CoRR Timothy D. Barfoot, James Richard Forbes, Gabriele M. T. D'Eleuterio
2020	A	`conf`	A Point Cloud Registration Pipeline using Gaussian Process Regression for Bathymetric SLAM IROS Thomas Hitchcox, James Richard Forbes
2020	J	`jnl`	Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation. Int. J. Robotics Res. Timothy D. Barfoot, James Richard Forbes, David J. Yoon
2020	J	`jnl`	Finite-Horizon LQR Control of Quadrotors on $SE_2(3)$. IEEE Robotics Autom. Lett. Mitchell R. Cohen, Khairi Abdulrahim, James Richard Forbes
2020	J	`jnl`	MIMO Nyquist interpretation of the large gain theorem. Int. J. Control Ryan James Caverly, Richard Pates, Leila Jasmine Bridgeman, James Richard Forbes
2020	J	`jnl`	Navigation and Control of Unconventional VTOL UAVs in Forward-Flight With Explicit Wind Velocity Estimation. IEEE Robotics Autom. Lett. Mitchell R. Cohen, James Richard Forbes
2020	—	`conf`	System Identification and $\mathcal{H}_{\infty}$ Control of a Fatigue Structural Testing Rig. CCTA Robyn Fortune, C. André Beltempo, James Richard Forbes
2020	—	`conf`	TWOLATE: Total Registration of Point-Clouds Using a Weighted Optimal Linear Attitude and Translation Estimator. CCTA Duowen Qian, Guillaume Charland-Arcand, James Richard Forbes
2020	J	`jnl`	The Complex-Step Derivative Approximation on Matrix Lie Groups. IEEE Robotics Autom. Lett. Charles Champagne Cossette, Alex Walsh, James Richard Forbes
2020	J	`jnl`	The Invariant Rauch-Tung-Striebel Smoother. IEEE Robotics Autom. Lett. Niels van der Laan, Mitchell R. Cohen, Jonathan Arsenault, James Richard Forbes
2019	—	`conf`	An Invariant Extended H∞ Filter. CDC Marc-Antoine Lavoie, Jonathan Arsenault, James Richard Forbes
2019	J	`jnl`	DReCon: data-driven responsive control of physics-based characters. ACM Trans. Graph. Kevin Bergamin, Simon Clavet, Daniel Holden, James Richard Forbes
2019	J	`jnl`	Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation. CoRR Timothy D. Barfoot, James Richard Forbes, David J. Yoon
2019	J	`jnl`	Higher Order Nonlinear Complementary Filtering on Lie Groups. IEEE Trans. Autom. Control. David Evan Zlotnik, James Richard Forbes
2019	J	`jnl`	Interior-Conic Polytopic Systems Analysis and Control. CoRR Alex Walsh, James Richard Forbes
2019	C	`conf`	Invariant Sliding Window Filtering for Attitude and Bias Estimation. ACC Alex Walsh, Jonathan Arsenault, James Richard Forbes
2019	J	`jnl`	LMI Properties and Applications in Systems, Stability, and Control Theory. CoRR Ryan James Caverly, James Richard Forbes
2019	J	`jnl`	Linear- and Linear-Matrix-Inequality-Constrained State Estimation for Nonlinear Systems. IEEE Trans. Aerosp. Electron. Syst. Robin Aucoin, Stephen Alexander Chee, James Richard Forbes
2019	A*	`conf`	Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft. ICRA Romain Chiappinelli, Mitchell R. Cohen, Martin Doff-Sotta, Meyer Nahon, James Richard Forbes, Jacob Apkarian
2019	C	`conf`	Nonlinear Attitude and Bias Observer Design with a Gibbs-Inspired Cost Function Using Direct Vector Measurements. ACC David Evan Zlotnik, James Richard Forbes
2019	C	`conf`	Relative Constrained SLAM for Robot Navigation. ACC Duowen Qian, Shatil Rahman, James Richard Forbes
2019	C	`conf`	Synthesis of Strictly Negative Imaginary Controllers Using a H∞ Performance Index. ACC Ken Lee, James Richard Forbes
2019	J	`jnl`	Synthesis of strictly positive real ℋ2 controllers using dilated LMIs. Int. J. Control James Richard Forbes
2019	C	`conf`	ℋ ACC Ryan James Caverly, James Richard Forbes
2018	J	`jnl`	A Comparative Study of Input-Output Stability Results. IEEE Trans. Autom. Control. Leila Jasmine Bridgeman, James Richard Forbes
2018	C	`conf`	A Linear- and Linear-Matrix-Inequality-Constrained Extended Kalman Filter. ACC Robin Aucoin, Stephen Alexander Chee, James Richard Forbes
2018	J	`jnl`	Conic-Sector-Based Analysis and Control Synthesis for Linear Parameter Varying Systems. IEEE Control. Syst. Lett. Sivaranjani S., James Richard Forbes, Peter J. Seiler, Vijay Gupta
2018	J	`jnl`	Flexible Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions. IEEE Trans. Control. Syst. Technol. Ryan James Caverly, James Richard Forbes
2018	J	`jnl`	Gradient-Based Observer for Simultaneous Localization and Mapping. IEEE Trans. Autom. Control. David Evan Zlotnik, James Richard Forbes
2018	J	`jnl`	Higher-Order Nonlinear Complementary Filtering on Lie Groups. CoRR David Evan Zlotnik, James Richard Forbes
2018	C	`conf`	Iterative H ACC Leila Jasmine Bridgeman, James Richard Forbes
2018	—	`conf`	Linearly Combining Sensor Measurements Optimally to Enforce an SPR Transfer Matrix. CCTA Ryan James Caverly, James Richard Forbes
2018	—	`conf`	Riemann Sphere Interpretation of the Passivity, Small Gain, and Conic Sector Theorems. CCTA Ken Lee, Alex Walsh, James Richard Forbes
2018	J	`jnl`	Very Strictly Passive Controller Synthesis With Affine Parameter Dependence. IEEE Trans. Autom. Control. Alex Walsh, James Richard Forbes
2018	J	`jnl`	ℋ IEEE Control. Syst. Lett. Ryan James Caverly, James Richard Forbes
2017	J	`jnl`	Analysis and synthesis of input strictly passive gain-scheduled controllers. J. Frankl. Inst. Alex Walsh, James Richard Forbes
2017	J	`jnl`	Conic Bounds for Systems Subject to Delays. IEEE Trans. Autom. Control. Leila Jasmine Bridgeman, James Richard Forbes
2017	C	`conf`	Conic controller synthesis that minimizes an upper bound on the closed-loop ℋ2-norm. ACC Leila Jasmine Bridgeman, James Richard Forbes
2017	J	`jnl`	Conic-sector-based analysis and control synthesis for linear parameter varying systems. CoRR Sivaranjani S., James Richard Forbes, Peter Seiler, Vijay Gupta
2017	C	`conf`	Constrained extremum-seeking guidance using a constrained Kalman filter. ACC Alex Walsh, John Jack Ryan, James Richard Forbes
2017	J	`jnl`	Discrete-time minmax filtering subject to a norm-constrained state estimate. Autom. Stephen Alexander Chee, James Richard Forbes
2017	J	`jnl`	Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane. IEEE Trans. Control. Syst. Technol. Ryan James Caverly, James Richard Forbes
2017	J	`jnl`	Nonlinear Estimator Design on the Special Orthogonal Group Using Vector Measurements Directly. IEEE Trans. Autom. Control. David Evan Zlotnik, James Richard Forbes
2017	—	`conf`	Norm- and linear-inequality-constrained state estimation: An LMI approach. CCTA Stephen Alexander Chee, Leila Jasmine Bridgeman, James Richard Forbes
2017	C	`conf`	Regional pole and zero placement with static output feedback via the Modified Minimum Gain Lemma. ACC Ryan James Caverly, James Richard Forbes
2017	—	`conf`	Sigma Point Kalman Filtering on Matrix Lie Groups Applied to the SLAM Problem. GSI James Richard Forbes, David Evan Zlotnik
2016	C	`conf`	Control bandwidth recovery of flexible pointing systems. ACC David Evan Zlotnik, James Richard Forbes, Jack B. Aldrich
2016	J	`jnl`	Exponential convergence of a nonlinear attitude estimator. Autom. David Evan Zlotnik, James Richard Forbes
2016	—	`conf`	Exteroceptive measurement filtering embedded within an SO(3)-based attitude estimator. CDC David Evan Zlotnik, James Richard Forbes
2016	C	`conf`	Flexible kiteplane modeling and control with an unsteady aerodynamic model. ACC Ryan James Caverly, James Richard Forbes
2016	C	`conf`	Gravity-gradient-stabilized spacecraft attitude estimation using rate-gyroscope measurements. ACC Stephen A. Chee, James Richard Forbes, Dennis S. Bernstein
2016	C	`conf`	Robust controller design using the Large Gain Theorem: The full-state feedback case. ACC Ryan James Caverly, James Richard Forbes
2016	J	`jnl`	Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator. Robotica Ryan James Caverly, David Evan Zlotnik, James Richard Forbes
2016	J	`jnl`	State estimator design for a single degree of freedom cable-actuated system. J. Frankl. Inst. Ryan James Caverly, James Richard Forbes
2016	J	`jnl`	The Extended Conic Sector Theorem. IEEE Trans. Autom. Control. Leila Jasmine Bridgeman, James Richard Forbes
2015	—	`conf`	A nonlinear attitude estimator with desirable convergence properties. ECC David Evan Zlotnik, James Richard Forbes
2015	J	`jnl`	Differential Geometric SLAM. CoRR David Evan Zlotnik, James Richard Forbes
2015	J	`jnl`	Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System. IEEE Trans. Control. Syst. Technol. Ryan James Caverly, James Richard Forbes, Donya Mohammadshahi
2015	C	`conf`	Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator. ACC Ryan James Caverly, James Richard Forbes
2015	J	`jnl`	Modeling and Control of Flexible Telescoping Manipulators. IEEE Trans. Robotics Alex Walsh, James Richard Forbes
2015	C	`conf`	Modeling and control of a wind energy harvesting kite with flexible cables. ACC Alex Walsh, James Richard Forbes
2015	C	`conf`	Strictly positive real and conic system syntheses using observers. ACC Leila Jasmine Bridgeman, Mohamed Najih, James Richard Forbes
2015	J	`jnl`	The exterior conic sector lemma. Int. J. Control Leila Jasmine Bridgeman, James Richard Forbes
2014	J	`jnl`	Conic-sector-based control to circumvent passivity violations. Int. J. Control Leila Jasmine Bridgeman, James Richard Forbes
2014	C	`conf`	Conic-sector-based controller synthesis: Theory and experiments. ACC Leila Jasmine Bridgeman, Ryan James Caverly, James Richard Forbes
2014	J	`jnl`	Continuous-time norm-constrained Kalman filtering. Autom. James Richard Forbes, Anton H. J. de Ruiter, David Evan Zlotnik
2014	J	`jnl`	Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator. IEEE Trans. Robotics Ryan James Caverly, James Richard Forbes
2014	C	`conf`	Rotation-matrix-based attitude control without angular velocity measurements. ACC David Evan Zlotnik, James Richard Forbes
2014	C	`conf`	Spacecraft constrained attitude control using positively invariant constraint admissible sets on SO(3) × ℝ ACC Avishai Weiss, Frederick A. Leve, Morgan Baldwin, James Richard Forbes, Ilya V. Kolmanovsky
2014	C	`conf`	The Minimum Gain Lemma. ACC Leila Jasmine Bridgeman, James Richard Forbes
2013	C	`conf`	Conic-Sector-based control to circumvent passivity violations. ACC Leila Jasmine Bridgeman, James Richard Forbes
2013	—	`conf`	Sequential Pose Estimation Using Linearized Rotation Matrices. CRV Timothy Michael Drews, Paul G. Kry, James Richard Forbes, Clark Verbrugge
2013	J	`jnl`	Synthesis of Optimal Finite-Frequency Controllers Able to Accommodate Passivity Violations. IEEE Trans. Control. Syst. Technol. James Richard Forbes, Christopher J. Damaren
2012	J	`jnl`	Single-Link Flexible Manipulator Control Accommodating Passivity Violations: Theory and Experiments. IEEE Trans. Control. Syst. Technol. James Richard Forbes, Christopher J. Damaren
2011	J	`jnl`	Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems. J. Frankl. Inst. James Richard Forbes, Christopher J. Damaren
2010	C	`conf`	Passive linear time-varying systems: State-space realizations, stability in feedback, and controller synthesis. ACC James Richard Forbes, Christopher J. Damaren