2023

A. Del Castillo Bernal, P. Decoste, and J. R. Forbes, 鈥淏ayesian Filtering for Homography Estimation,鈥� IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8216鈥�8223, 2023. Jointly accepted to ICRA.

H. Chorney, J. R. Forbes, and M. Driscoll, 鈥淪ystem Identification and Simulation of Soft Tissue Force Feedback in a Spine Surgical Simulator,鈥� Computers in Biology and Medicine, vol. 164, p. 107267, 2023.

A. Al-Baali, T. Hitchcox, and J.R. Forbes, 鈥淐ombining DVL-INS and Laser-based Loop Closures in a Batch Estimation Framework for Underwater Positioning,鈥� IEEE Journal of Oceanic Engineering, vol. 48, no. 4, pp. 1096鈥�1111, 2023.

D. Lisus, M. Cohen, and J.R. Forbes, 鈥淜now What You Don鈥檛 Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM,鈥� IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3382鈥�3389, 2023.

T. Hitchcox and J.R. Forbes, 鈥淚mproving Self-Consistency in Underwater Mapping through Laser- Based Loop Closure,鈥� IEEE Transactions on Robotics, vol. 39, no. 3, pp. 1873鈥�1892, 2023. Jointly accepted to ICRA.

F. Ahmed, L.A. Sobiesiak, and J.R. Forbes, 鈥淐ascaded Model Predictive Control of a Tandem-Rotor Helicopter,鈥� IEEE Control Systems Letters, vol. 7, pp. 1345鈥�1350, 2023.

C.C. Cossette, M. Cohen, V. Korotkine, A. Del Castillo Bernal, M.A. Shalaby, and J.R. Forbes, 鈥渘avlie: A Python Package for State Estimation on Lie Groups,鈥� Conference on Intelligent Robots and Systems, Detroit, MI, October 1-5, 2023.

N. Pavlasek, C.C. Cossette, and J.R. Forbes, 鈥淢agnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection,鈥� Conference on Intelligent Robots and Systems, Detroit, MI, October 1-5, 2023.

K. Jung, T. Hitchcox, and J.R. Forbes, 鈥淧erformance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments,鈥� International Conference on Robotics and Automation, London, UK, May 29 - June 2, 2023.

M.Shalab, C.C. Cossette, J.R. Forbes, and J. Le Ny, 鈥淐alibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements,鈥� International Conference on Robotics and Automation, London, UK, May 29 - June 2, 2023.

2022

Martin Doff-Sotta, Mark Cannon, and James Richard Forbes. 鈥淪pacecraft energy management using convex optimisation鈥�. In: Energy Conversion and Management: X 16 (2022), p. 100325.

Steven Dahdah and James R Forbes. 鈥淪ystem norm regularization methods for Koopman operator approximation鈥�. In: Proceedings of the Royal Society A 478.2265 (2022), p. 20220162.

Amanda Bianco et al. 鈥淪ystem Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues鈥�. In: IEEE Transactions on Biomedical Engineering 69.12 (2022), pp. 3803鈥�3811.

Thomas Hitchcox and James Richard Forbes. 鈥淢ind the gap: Norm-aware adaptive robust loss for multivariate least-squares problems鈥�. In: IEEE Robotics and Automation Letters 7.3 (2022), pp. 7116鈥�7123.

Faraaz Ahmed, Ludwik Sobiesiak, and James Richard Forbes. 鈥淢odel Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon鈥�. In: IEEE Control Systems Letters 6 (2022), pp. 2828鈥� 2833.

Ken Lee and James Richard Forbes. 鈥淧osition and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems鈥�. In: Automatica 139 (2022), p. 110203.

Timothy D Barfoot, James R Forbes, and Gabriele MT D鈥橢leuterio. 鈥淰ectorial parameterizations of pose鈥�. In: Robotica 40.7 (2022), pp. 2409鈥�2427.

Zi Cong Guo et al. 鈥淜oopman linearization for data-driven batch state estimation of control-affine systems鈥�. In: IEEE Robotics and Automation Letters 7.2 (2021), pp. 866鈥�873.

Daryoush Mirza-Hekmati et al. 鈥淒ownspeeding diesel engines with two-stage turbochargers: Analysis and control considerations鈥�. In: International Journal of Engine Research 23.1 (2022), pp. 78鈥�89.

Charles Champagne Cossette et al. 鈥淥ptimal multi-robot formations for relative pose estimation using range measurements鈥�. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022, pp. 2431鈥�2437.

2021

D. Lisus, C.C. Cossette, M. Shalaby, and J.R. Forbes. 鈥淗eading Estimation Using Ultra-wideband Received Signal Strength and Gaussian Processes,鈥� IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8387鈥�8393, 2021. Jointly accepted to IROS.

M. Shalaby, C.C. Cossette, J.L. Ny, and J.R. Forbes. 鈥淐ascaded Filtering Using the Sigma Point Transformation,鈥� IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4758鈥�4765, 2021. Jointly accepted to ICRA. Best student paper award finalist (1 of 4 finalists).

M. Shalaby, C.C. Cossette, J.R. Forbes, and J.L. Ny. 鈥淩elative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements,鈥� IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4955鈥�4961, 2021. Jointly accepted to ICRA.

C.C. Cossette, M. Shalaby, D. Saussie, J.R. Forbes, and J.L. Ny. 鈥淩elative Position Estimation Between Two UWB Devices with IMUs,鈥� IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4313鈥�4320, 2021. Jointly accepted to ICRA.

M.-A. Lavoie and J.R. Forbes. 鈥淢ap-Aided Train Navigation with IMU Measurements,鈥� Conference on Intelligent Robots and Systems, Prague, Czech Republic (online), September 27 - October 1, 2021.

C.C. Cossette, M. Shalaby, D. Saussie, and J.R. Forbes. 鈥淟ocalization with Directional Coordinates,鈥� Conference on Intelligent Robots and Systems, Prague, Czech Republic (online), September 27 - October 1, 2021.

N. Pavlasek, A. Walsh, and J.R. Forbes. 鈥淚nvariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation,鈥� International Conference on Robotics and Automation, Xi鈥檃n, China, May 30 - June 5, 2021.

P. Laferriere, S. Laferriere, S. Dahdah, J.R. Forbes, and L. Paull. 鈥淒eep Koopman Representation for Control over Images (DKRCI),鈥� 18th Conference on Robots and Vision, Burnaby, BC, May 26 - 28, 2021.

J.R. Forbes, F. Ahmed, and M. Cohen. 鈥淚nvariant Model Predictive Control of Quadrotor Vehicles,鈥� Robotics: Science and Systems, Online, July 12-16, 2021. Presented in 鈥淪oftware Tools for Real-Time Optimal Control鈥� workshop.

P. Decoste and J.R. Forbes. 鈥淩obot Navigation in Unknown Environments: Towards Topographical SLAM,鈥� 2021 平特五不中 Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

J. Yun and J.R. Forbes. 鈥淪tandardized Datasets for GNC Algorithm Development,鈥� 2021 平特五不中 Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

S. Li and J.R. Forbes. 鈥淒ataset Collection for Benchmarking Robot Navigation Methods,鈥� 2021 平特五不中 Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

2018

R. Aucoin, S. A. Chee, and J. R. Forbes, 鈥淣onlinear Approaches to Linear- and Linear-Matrix-Inequality-Constrained State Estimation,鈥� IEEE Transactions on Aerospace and Electronic
Systems, 2019. To appear. Accepted on February 10, 2019.

R. J. Caverly, L. J. Bridgeman, R. Pates, and J. R. Forbes, 鈥淢IMO Nyquist Interpretation of the Large Gain Theorem,鈥� International Journal of Control, 2018.

R. J. Caverly and J. R. Forbes, 鈥淗1-Optimal Parallel Feedforward Control Using Minimum Gain,鈥� IEEE Control Systems Letters, vol. 2, no. 4, pp. 677鈥�682, 2018.

A. Walsh and J. R. Forbes, 鈥淐onstrained Attitude Control on SO(3) via Semidefinite Programming,鈥� AIAA Journal of Guidance, Control, and Dynamics, 2018.

D. E. Zlotnik and J. R. Forbes, 鈥淗igher-Order Nonlinear Complementary Filtering on Lie Groups,鈥� IEEE Transactions on Automatic Control, 2018.

Localization and Mapping,鈥� IEEE Transactions on Automatic Control, 2018.

X. Shan, J. Angeles, and J. R. Forbes, 鈥淒esign of a biaxial high frequency-ratio low-g MEMS accelerometer,鈥� Microsystem Technologies, 2018.

2017

L.J. Bridgeman and J.R. Forbes, 鈥淐omparative Study of Input-Output Stability Results,鈥� IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 463鈥�476, 2018.

S. A. Chee and J. R. Forbes, 鈥淒iscrete-Time Minmax Filtering Subject to a Norm- Constrained State Estimate,鈥� Automatica, vol. 85, pp. 477鈥�480, November 2017. DOI: 10.1016/j.automatica.2017.07.024.

A. Walsh, J. R. Forbes, S. A. Chee, and J. J. Ryan, 鈥淜alman Filter Based Unconstrained and Constrained Extremum-Seeking Guidance on SO(3),鈥� AIAA Journal of Guidance Control and Dynamics, vol. 40, no. 9, pp. 2260鈥�2271, 2017. Special issue 鈥淭he Kalman Filter and Its Aerospace Appli- cations鈥�. DOI: 10.2514/1.G002635.

H. J. de Ruiter and J. R. Forbes, 鈥淐ontinuous-Time Kalman Filtering on the Orthogonal Group O(n),鈥� International Journal of Robust and Nonlinear Control, vol. 27, no. 17, pp. 3466鈥�3487, 2017. DOI: 10.1002/rnc.3744.

L. J. Bridgeman and J. R. Forbes, 鈥淐onic Bounds for Systems Subject to Unknown Delay,鈥� IEEE Transactions on Automatic Control, vol. 62, no. 4, pp. 2006鈥�2013, 2017.

R. J. Caverly and J. R. Forbes, 鈥淒ynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane,鈥� IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1297鈥�1306, 2017.

A. Walsh and J. R. Forbes, 鈥淎nalysis and Synthesis of Input Strictly Passive Gain-Scheduled Controllers,鈥� Journal of the Franklin Institute, vol. 354, pp. 1285鈥�1301, February 2017.

D. E. Zlotnik and J. R. Forbes, 鈥淣onlinear Estimator Design on the Special Orthogonal Group using Vector Measurements Directly,鈥� IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 149鈥� 160, 2017.

A. H. J. de Ruiter and J. R. Forbes, 鈥淒iscrete-Time SO(n)-Constrained Kalman Filtering,鈥� AIAA Journal of Guidance Control and Dynamics, vol. 40, no. 1, pp. 28鈥�37, 2017.

J. R. Forbes and D. E. Zlotnik, 鈥淪igma Point Kalman Filtering on Matrix Lie Groups,鈥� 3rd conference on Geometric Science of Information (GSI 2017), Socie 虂te 虂 Mathe 虂matique de France, Paris, France, November 7鈥�9, 2017. J.R. Forbes is an invited speaker as part of 鈥淕eometric Robotics鈥� session.

E. Bering, L. Andersson, J. Chen, J. Cutler, K. Hara, D. Jackson, M. Lemmon, L. Pinsky, J. Shee- han, U. Siddiqui, R. Stoneback, P. Withers, R. Heelis, M. Moldwin, H. Reed, and J. Forbes, 鈥淭rimetric Imaging of the Martian Ionosphere using a CubeSat Constellation ,鈥� AIAA SPACE and As- tronautics Forum and Exposition, Orlando, FL, USA, September 12-14, 2017.

S. A. Chee, L. J. Bridgeman, and J. R. Forbes, 鈥淣orm- and Linear-Inequality-Constrained State Estimation: An LMI Approach,鈥� IEEE Conference on Control Technology and Applications, Kohala Coast, HI, USA, August 27鈥�30, 2017.

H. A. Godbole, R. J. Caverly, and J. R. Forbes, 鈥淢odelling of Flexible Cable-Driven Parallel Robots using a Rayleigh-Ritz Approach,鈥� Third International Conference on Cable-Driven Parallel Robots, Quebec City, QC, August 2-4, 2017.

R. J. Caverly and J. R. Forbes鈰�, 鈥淣yquist Interpretation of the Large Gain Theorem,鈥� 20th IFAC World Congress, Toulouse, France, July 9鈥�14, 2017.

L. J. Bridgeman and J. R. Forbes, 鈥淐onic Controller Synthesis that Minimizes an Upper Bound on the Closed-Loop H2-Norm,鈥� American Control Conference, Seattle, WA, USA, May 24-26, 2017.

R. J. Caverly and J. R. Forbes, 鈥淩egional Pole and Zero Placement with Static Output Feedback via the Modified Minimum Gain Lemma,鈥� American Control Conference, Seattle, WA, USA, May 24-26, 2017.

A. Walsh鈰�, J. J. Ryan, and J. R. Forbes, 鈥淐onstrained Extremum-Seeking Guidance Using a Con- strained Kalman Filter,鈥� American Control Conference, Seattle, WA, USA, May 24-26, 2017.

R. J. Caverly, J. R. Forbes, B. P. Danowsky, and P. M. Suh, 鈥淕ust-Load Alleviation of a Flexible Aircraft using a Disturbance Observer,鈥� AIAA Science and Technology Forum and Exposition 2017, Gaylord Texan, Grapevine, TX, USA, January 9鈥�13, 2017.

S. A. Chee and J. R. Forbes, 鈥淣orm-Constrained Forward-Backward Smoothing,鈥� AIAA Science and Technology Forum and Exposition 2017, Gaylord Texan, Grapevine, TX, USA, January 9鈥�13, 2017.

J. R. Forbes, 鈥淓xtremum-Seeking Guidance on the Special Orthogonal Group,鈥� Aerial Robotics In- ternational Research Symposium, Centre for Aerial Robotics Research and Education (CARRE), Toronto, ON, June 21-22, 2017. Invited Speaker.

J. R. Forbes, 鈥淕uidance on SO(3) Using a Kalman Filter,鈥� Tutorial Session 鈥淰ision-based Navi- gation and Perception for Space Systems鈥�, American Control Conference, Seattle, WA, USA, May 24-26, 2017. Invited Speaker.

A. Walsh and J. R. Forbes, 鈥淓xtremum-Seeking Guidance on SO(3) Using a Kalman Filter,鈥� Opti- mization Days 2017, HEC Montreal, May 8-10, 2017.

D. Qian and J. R. Forbes, 鈥淓xploiting landmark Constraints for Mobile robot Localization and Maapping,鈥� Optimization Days 2017, HEC Montreal, May 8-10, 2017.