James Richard Forbes

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Publications

Cahiers du GERAD

Dec 2022

G-2022-57
Optimal multi-robot formations for relative pose estimation using range measurements

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, Jérôme Le Ny, and James Richard Forbes

In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formatio...

BibTeX reference

Dec 2019

G-2019-99
The invariant Rauch-Tung-Striebel Smoother

Niels van der Laan, Jonathan Arsenault, and James Richard Forbes

This paper presents an invariant Rauch-Tung-Striebel Smoother (IRTS) applicable to systems with states that are an element of a matrix Lie group. In particul...

BibTeX reference

Oct 2019

G-2019-80
The complex-step derivative approximation on matrix Lie groups

Charles Champagne Cossette, Alex Walsh, and James Richard Forbes

The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single ...

BibTeX reference

Articles

Jan 2023

Cascaded Model Predictive Control of a Tandem-Rotor Helicopter

Faraaz Ahmed, Ludwik Sobiesiak, and James Richard Forbes

IEEE Control Systems Letters, 7, 1345–1350, 2023 BibTeX reference

Dec 2022

System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues

Amanda Bianco, Raphael Zonis, Anne-Marie Lauzon, James Richard Forbes, and Gijs Ijpma

IEEE Transactions on Biomedical Engineering, 69(12), 3803–3811, 2022 BibTeX reference

Dec 2022

Spacecraft energy management using convex optimisation

Martin Doff-Sotta, Mark Cannon, and James Richard Forbes

Energy Conversion and Management: X, 16, Paper no: 100325, 2022 BibTeX reference

Sep 2022

System norm regularization methods for Koopman operator approximation

Steven Dahdah and James Richard Forbes

Proceedings of the Royal Society A, 478(2265), Paper no: 20220162, 2022 BibTeX reference

Jul 2022

Vectorial parameterizations of pose

Timothy D. Barfoot, James Richard Forbes, and Gabriele M.T. D’Eleuterio

Robotica, 40(7), 2409–2427, 2022 BibTeX reference

Jul 2022

Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems

Thomas Hitchcox and James Richard Forbes

IEEE Robotics and Automation Letters, 7(3), 7116–7123, 2022 BibTeX reference

May 2022

Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon

Faraaz Ahmed, Ludwik Sobiesiak, and James Richard Forbes

IEEE Control Systems Letters, 6, 2828–2833, 2022 BibTeX reference

May 2022

Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems

Ken Lee and James Richard Forbes

Automatica, 139, Paper no: 110203, 2022 BibTeX reference

Apr 2022

Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems

Zi Cong Guo, Vassili Korotkine, James Richard Forbes, and Timothy D. Barfoot

IEEE Robotics and Automation Letters, 7(2), 866–873, 2022 BibTeX reference

Jan 2022

Down-speeding diesel engines with two-stage turbochargers: Analysis and control considerations

Daryoush Mirza Hekmati, William P. Heath, Judith M. Apsley, and James Richard Forbes

International Journal of Engine Research, 23(1), 78–89, 2022 BibTeX reference

Oct 2021

Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes

Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, and James Richard Forbes

IEEE Robotics and Automation Letters, 6(4), 8387–8393, 2021 BibTeX reference

Jul 2021

Relative position estimation between two UWB devices with IMUs

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, and Jérôme Le Ny

IEEE Robotics and Automation Letters, 6(3), 4313–4320, 2021 BibTeX reference

Jul 2021

Relative position estimation in multi-agent systems using attitude-coupled range measurements

Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, and Jérôme Le Ny

IEEE Robotics and Automation Letters, 6(3), 4955–4961, 2021 BibTeX reference

Jul 2021

Cascaded filtering using the sigma point transformation

Mohammed Shalaby, Charles Champagne Cossette, Jérôme Le Ny, and James Richard Forbes

IEEE Robotics and Automation Letters, 6(3), 4758–4765, 2021 BibTeX reference

Feb 2021

Design and Configuration of Folded Platonic Strapdowns of Biaxial MEMS Accelerometers

Xiaowei Shan, Jorge Angeles, and James Richard Forbes

ASME Journal of Mechanical Design, 143(2), Paper no: 025001, 2021 BibTeX reference

Dec 2020

Elastodynamics of a parallel Schönflies-motion generator

Zuyu Yin, Bruno Belzile, Jorge Angeles, and James Richard Forbes

Transactions of the Canadian Society for Mechanical Engineering, 44(4), 511–519, 2020 BibTeX reference

Dec 2020

MIMO Nyquist interpretation of the large gain theorem

Ryan James Caverly, Richard Pates, Leila Jasmine Bridgeman, and James Richard Forbes

International Journal of Control, 93(10), 2326–2335, 2020 BibTeX reference

Nov 2020

Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation

Timothy D. Barfoot, James Richard Forbes, and David J. Yoon

The International Journal of Robotics Research, 39(13), 1473–1502, 2020 BibTeX reference

Oct 2020

Finite-horizon LQR control of quadrotors on \(SE_2(3)\)

Mitchell Cohen, Khairi Abdulrahim, and James Richard Forbes

IEEE Robotics and Automation Letters, 5(4), 5748–5755, 2020 BibTeX reference

Oct 2020

The invariant Rauch-Tung-Striebel smoother

Niels van der Laan, Mitchell Cohen, Jonathan Arsenault, and James Richard Forbes

IEEE Robotics and Automation Letters, 5(4), 5067–5074, 2020 BibTeX reference

Aug 2020

A class of biaxial micro/meso-scale structures for isotropic in-plane inertial sensing and actuation: design, fabrication and experiments

Xiaowei Shan, Jorge Angeles, and James Richard Forbes

Microsystem Technologies, 26, 2639–2648, 2020 BibTeX reference

Aug 2020

Correction to: A class of biaxial micro/meso-scale structures for isotropic in-plane inertial sensing and actuation: design, fabrication and experiments

Xiaowei Shan, Jorge Angeles, and James Richard Forbes

Microsystem Technologies, 26, page 2649, 2020 BibTeX reference

Apr 2020

The complex-step derivative approximation on matrix Lie groups

Charles Champagne Cossette, Alex Walsh, and James Richard Forbes

IEEE Robotics and Automation Letters, 5(2), 906–913, 2020 BibTeX reference

Apr 2020

Navigation and control of unconventional VTOL UAVs in forward-flight with explicit wind velocity estimation

Mitchell Cohen and James Richard Forbes

IEEE Robotics and Automation Letters , 5(2), 1151–1158, 2020 BibTeX reference

Jan 2020

Conic sector analysis using integral quadratic constraints

Matthew C. Turner and James Richard Forbes

International Journal of Robust and Nonlinear Control, 30(2), 741–755, 2020 BibTeX reference

Dec 2019

Linear- and linear-matrix-inequality-constrained state estimation for nonlinear systems

Robin Aucoin, Stephen Alexander Chee, and James Richard Forbes

IEEE Transactions on Aerospace and Electronic Systems, 55(6), 3153–3167, 2019 BibTeX reference

Dec 2019

A novel capacitive sensing structure for simultaneous detection of biaxial low-g acceleration in a commercial MEMS process

Xiaowei Shan, Jorge Angeles, and James Richard Forbes

Microsystem Technologies, 25(12), 4475–4481, 2019 BibTeX reference

Nov 2019

Synthesis of strictly positive real H-2 controllers using dilated LMIs

James Richard Forbes

International Journal of Innovative Computing, Information and Control Systems, 92(11), 2584–2590, 2019 BibTeX reference

Oct 2019

Dynamic modeling and adaptive control of a single degree-of-freedom flexible cable-driven parallel robot

Harsh Atul Godbole, Ryan James Caverly, and James Richard Forbes

Journal of Dynamic Systems, Measurement and Control, 141(10), page 101002, 2019 BibTeX reference

Jul 2019

Iterative H2-Conic Controller Synthesis

Leila Jasmine Bridgeman and James Richard Forbes

International Journal of Robust and Nonlinear Control, 29(11), 3701–3714, 2019 BibTeX reference

May 2019

Higher order nonlinear complementary filtering on Lie groups

David Evan Zlotnik and James Richard Forbes

IEEE Transactions on Automatic Control, 64(5), 1772–1783, 2019 BibTeX reference

Dec 2018

Gradient-based observer for simultaneous localization and mapping

David Evan Zlotnik and James Richard Forbes

IEEE Transactions on Automatic Control, 63(12), 4338–4344, 2018 BibTeX reference

Nov 2018

Constrained attitude control on SO(3) via semidefinite programming

Alex Walsh and James Richard Forbes

Journal of Guidance, Control, and Dynamics, 41(11), 2480–2485, 2018 BibTeX reference

Oct 2018

H∞-Optimal parallel feedforward control using minimum gain

Ryan James Caverly and James Richard Forbes

IEEE Control Systems Letters, 2(4), 677–682, 2018 BibTeX reference

Sep 2018

Flexible cable-driven parallel manipulator control: Maintaining positive cable tensions

Ryan James Caverly and James Richard Forbes

IEEE Transactions on Control Systems Technology, 26(5), 1874–1883, 2018 BibTeX reference

Sep 2018

Design of a biaxial high frequency-ratio low-g MEMS accelerometer

Xiaowei Shan, Jorge Angeles, and James Richard Forbes

Microsystem Technologies, 244(9), 3851–3861, 2018 BibTeX reference

May 2018

Very strictly passive controller synthesis with affine parameter dependence

Alex Walsh and James Richard Forbes

IEEE Transactions on Automatic Control, 63(5), 1531–1537, 2018 BibTeX reference

May 2018

Constrained Kalman filtering

Anton H.J. de Ruiter, James Richard Forbes, and Maksims Demjanenko

Journal of Guidance, Control, and Dynamics, 41(5), 1206–1210, 2018 BibTeX reference

Apr 2018

Conic-sector-based analysis and control synthesis for linear parameter varying systems

S. Sivaranjani, James Richard Forbes, Peter Seiler, and Vijay Gupta

IEEE Control Systems Letters, 2(2), 224–229, 2018 BibTeX reference

Feb 2018

A comparative study of input-output stability results

Leila Jasmine Bridgeman and James Richard Forbes

IEEE Transactions on Automatic Control, 63(2), 463–476, 2018 BibTeX reference

Nov 2017

Discrete-time minmax filtering subject to a norm-constrained state estimate

Stephen Alexander Chee and James Richard Forbes

Automatica, 85, 477–480, 2017 BibTeX reference

Nov 2017

Continuous-time Kalman filtering on the orthogonal group O(n)

Anton H.J. de Ruiter and James Richard Forbes

International Journal of Robust and Nonlinear Control, 27(17), 3466–3487, 2017 BibTeX reference

Sep 2017

Kalman-filter-based unconstrained and constrained extremum-seeking guidance on SO(3)

Alex Walsh, James Richard Forbes, and John Jens Ryan

Journal of Guidance, Control, and Dynamics, Special Issue on The Kalman Filter and Its Aerospace Applications, 40(9), 2260–2271, 2017 BibTeX reference

Jul 2017

Dynamic modeling, trajectory optimization, and control of a flexible kiteplane

Ryan James Caverly and James Richard Forbes

IEEE Transactions on Control Systems Technology, 25(4), 1297–1306, 2017 BibTeX reference

Apr 2017

Conic bounds for systems subject to unknown delay

Leila Jasmine Bridgeman and James Richard Forbes

IEEE Transactions on Automatic Control, 62(4), 2006–2013, 2017 BibTeX reference

Feb 2017

Analysis and synthesis of input strictly passive gain-scheduled controllers

Alex Walsh and James Richard Forbes

Journal of the Franklin Institute, 354(3), 1285–1301, 2017 BibTeX reference

Jan 2017

Nonlinear estimator design on the special orthogonal group using vector measurements directly

David Evan Zlotnik and James Richard Forbes

IEEE Transactions on Automatic Control, 62(1), 149–160, 2017 BibTeX reference

Jan 2017

Discrete-time SO(n)-constrained Kalman filtering

Anton H.J. de Ruiter and James Richard Forbes

Journal of Guidance, Control, and Dynamics, 40(1), 28–37, 2017 BibTeX reference

Proceedings

May 2023

Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements

Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, and Jérôme Le Ny

2023 IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK, 2023 BibTeX reference

Oct 2022

Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, Jérôme Le Ny, and James Richard Forbes

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022 BibTeX reference

Sep 2022

Spatial Roles in Hockey Special Teams

Jonathan Arsenault, Margaret Cunniff, Eric Tulsky, and James Richard Forbes

The Cascadia Symposium on Statistics in Sports (CASSIS), Vancouver, Canada, 2022 BibTeX reference

Oct 2021

Localization with Directional Coordinates

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, and James Richard Forbes

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2253–2258, 2021 BibTeX reference

Oct 2021

Map-Aided Train Navigation with IMU Measurements

Marc-Antoine Lavoie and James Richard Forbes

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 3465–3470, 2021 BibTeX reference

Jun 2021

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation

Natalia Pavlasek, Alex Walsh, and James Richard Forbes

2021 IEEE International Conference on Robotics and Automation (ICRA), 5582–5588, 2021 BibTeX reference

Jun 2021

Cascaded Filtering Using the Sigma Point Transformation

Mohammed Shalaby, Charles Champagne Cossette, Jérôme Le Ny, and James Richard Forbes

2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021 BibTeX reference

Jun 2021

Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, and Jérôme Le Ny

To appear in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021 BibTeX reference

May 2021

Deep Koopman Representation for Control over Images (DKRCI)

Philippe Laferrière, Samuel Laferrière, Steven Dahdah, James Richard Forbes, and Liam Paull

2021 18th Conference on Robots and Vision (CRV), Burnaby, BC, Canada, 158–164, 2021 BibTeX reference

Oct 2020

A Point Cloud Registration Pipeline using Gaussian Process Regression for Bathymetric SLAM*

Thomas Hitchcox and James Richard Forbes

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 4615–4622, 2020 BibTeX reference

Sep 2020

Comparing Robust Cost Functions for Bathymetric Point Cloud Registration

Thomas Hitchcox and James Richard Forbes

2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020 BibTeX reference

Aug 2020

TWOLATE: Total registration of point-clouds using a weighted optimal linear attitude and translation estimator

Duowen Qian, Guillaume Charland-Arcand, and James Richard Forbes

2020 IEEE Conference on Control Technology and Applications (CCTA), Montréal, Canada, 43–48, 2020 BibTeX reference

Aug 2020

System identification and \(H_\infty\) control of a fatigue structural testing rig

Robyn Fortune, C. André Beltempo, and James Richard Forbes

2020 IEEE Conference on Control Technology and Applications (CCTA), Montréal, Canada, 168–173, 2020 BibTeX reference

Dec 2019

An invariant extended H∞ filter

Marc-Antoine Lavoie, Jonathan Arsenault, and James Richard Forbes

2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, 2019 BibTeX reference

Nov 2019

DReCon: data-driven responsive control of physics-based characters

Kevin Bergamin, Simon Clavet, Daniel Holden, and James Richard Forbes

ACM Transactions on Graphics (TOG), 38(6), 2019 BibTeX reference

Oct 2019

Periodic tracking control using gain-scheduled Fourier series-based internal models

Dylan Caverly, Ryan James Caverly, and James Richard Forbes

ASME 2019 Dynamic Systems and Control Conference, Utah, USA, 2019 BibTeX reference

Aug 2019

System identification and feedforward control of a fatigue structural testing rig: The single actuator case

Robyn Fortune, C. André Beltempo, and James Richard Forbes

IFAC-PapersOnLine, 21st IFAC Symposium on Automatic Control in Aerospace ACA 2019, 52(12), 382–387, 2019 BibTeX reference

Jul 2019

H∞-Optimal strictly positive real parallel feedforward control

Ryan James Caverly and James Richard Forbes

2019 American Control Conference (ACC), Philadelphia, USA, 5185–5190, 2019 BibTeX reference

Jul 2019

Synthesis of strictly negative imaginary controllers using a H∞ performance index

Ken Lee and James Richard Forbes

2019 American Control Conference (ACC), Philadelphia, USA, 497–502, 2019 BibTeX reference

Jul 2019

Invariant sliding window filtering for attitude and bias estimation

Alex Walsli, Jonathan Arsenault, and James Richard Forbes

2019 American Control Conference (ACC), Philadelphia, USA, 3161–3166, 2019 BibTeX reference

Jul 2019

Relative constrained SLAM for robot navigation

Duowen Qian, Shatil Rahman, and James Richard Forbes

2019 American Control Conference (ACC), Philadelphia, USA, 31–36, 2019 BibTeX reference

Jul 2019

Nonlinear attitude and bias observer design with a Gibbs-inspired cost function using direct vector measurements

David Evan Zlotnik and James Richard Forbes

2019 American Control Conference (ACC), Philadelphia, USA, 5128–5133, 2019 BibTeX reference

May 2019

Modeling and control of a passively-coupled tilt-rotor vertical takeoff and landing aircraft

Romain Chiappinelli, Mitchell Cohen, Martin Doff-Sotta, Meyer Nahon, James Richard Forbes, and Jacob Apkarian

2019 International Conference on Robotics and Automation (ICRA), Montréal, Canada, 4141–4147, 2019 BibTeX reference

May 2019

Elastodynamics of a parallel Schonflies-motion generator

Zuyu Yin, Bruno Belzile, Jorge Angeles, and James Richard Forbes

2019 CCToMM M3 Symposium, Montréal, Canada, 2019 BibTeX reference

Dec 2018

H∞-Optimal parallel feedforward control using minimum gain

Ryan James Caverly and James Richard Forbes

IEEE Conference on Decision and Control, Miami Beach, Florida, 2018 BibTeX reference

Aug 2018

Riemann sphere interpretation of the passivity, small gain, and conic sector theorems

Ken Lee, Alex Walsh, and James Richard Forbes

2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 1301–1306, 2018 BibTeX reference

Aug 2018

Linearly combining sensor measurements optimally to enforce an SPR transfer matrix

Ryan James Caverly and James Richard Forbes

2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 1289–1294, 2018 BibTeX reference

Jun 2018

A linear- and linear-matrix-inequality-constrained extended Kalman filter

Robin Aucoin, Stephen Alexander Chee, and James Richard Forbes

2018 Annual American Control Conference (ACC), Milwaukee, USA, 5043–5048, 2018 BibTeX reference

Jun 2018

Iterative H2-conic controller synthesis

Leila Jasmine Bridgeman and James Richard Forbes

2018 Annual American Control Conference (ACC), Milwaukee, USA, 2663–2668, 2018 BibTeX reference

Jun 2018

Elastostatics of a full-mobility PKM with flexible links

Qi Sun, Jorge Angeles, and James Richard Forbes

ROMANSY 22 – Robot Design, Dynamics and Control, vol. 584, Springer, Cham, 34–41, 2018 BibTeX reference

Jan 2018

Modelling of flexible cable-driven parallel robots using a Rayleigh-Ritz approach

Harsh Atul Godbole, Ryan James Caverly, and James Richard Forbes

Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53, Springer, Cham, 3–14, 2018 BibTeX reference

Jan 2018

Zero shaping of nonminimum phase aircraft dynamics

Ryan James Caverly and James Richard Forbes

2018 AIAA Guidance, Navigation, and Control Conference, Kissimmee, Florida, 2018 BibTeX reference

Nov 2017

Sigma point Kalman filtering on matrix Lie groups

James Richard Forbes and David Evan Zlotnik

Geometric Science of Information. GSI 2017, Lecture Notes in Computer Science, vol. 10589, Springer, Cham, 318–328, 2017 BibTeX reference

Sep 2017

Trimetric imaging of the martian ionosphere using a CubeSat constellation

Edgar A. Bering, Laila Andersson, Ji Chen, James Cutler, Kentaro Hara, David Jackson, Mark Lemmon, Lawrence Pinsky, J.P. Sheehan, Umair Siddiqui, Russell Stoneback, Paul Withers, Rod Heelis, Mark Moldwin, Helen Reed, and James Richard Forbes

AIAA SPACE and Astronautics Forum and Exposition, AIAA SPACE Forum, Orlando, USA, 2017 BibTeX reference

Aug 2017

Norm and linear-inequality-constrained state estimation: An LMI approach

Stephen Alexander Chee, Leila Jasmine Bridgeman, and James Richard Forbes

IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, 2017 BibTeX reference

Jul 2017

Nyquist interpretation of the large gain theorem

Ryan James Caverly and James Richard Forbes

20th IFAC World Congress, Toulouse, France, 2017 BibTeX reference

May 2017

Constrained extremum-seeking guidance using a constrained Kalman filter

Alex Walsh, John Jack Ryan, and James Richard Forbes

2017 American Control Conference (ACC), Seattle, WA, USA, 1290–1295, 2017 BibTeX reference

May 2017

Regional pole and zero placement with static output feedback via the modified minimum gain lemma

Ryan James Caverly and James Richard Forbes

2017 American Control Conference (ACC), Seattle, WA, USA, 364–369, 2017 BibTeX reference

May 2017

Conic controller synthesis that minimizes an upper bound on the closed-loop ℋ2-norm

Leila Jasmine Bridgeman and James Richard Forbes

2017 American Control Conference (ACC), Seattle, WA, USA, 2405–2410, 2017 BibTeX reference

Jan 2017

Norm-constrained forward-backward smoothing

Stephen Alexander Chee and James Richard Forbes

AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Gaylord Texan, Grapevine, TX, USA, 2017 BibTeX reference

Jan 2017

Gust-load alleviation of a flexible aircraft using a disturbance observer

Ryan James Caverly, James Richard Forbes, Brian P. Danowsky, and Peter M. Suh

AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Gaylord Texan, Grapevine, TX, USA, 2017 BibTeX reference