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McGill.CA / Centre pour les machines intelligentes / Recherche / Publications

James Richard Forbes

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Headshot of James Richard Forbes

Le professeur James Richard Forbes est membre du Département de génie mécanique de l'Université McGill et directeur du groupe Dynamics Estimation Control of Aerospace and Robotic Systems (DECAR) au Centre de Recherche sur les Machines Intelligentes.

Profil

2023

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

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

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

D. Lisus, M. Cohen, and J.R. Forbes, “Know What You Don’t Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3382–3389, 2023.

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

F. Ahmed, L.A. Sobiesiak, and J.R. Forbes, “Cascaded Model Predictive Control of a Tandem-Rotor Helicopter,” IEEE Control Systems Letters, vol. 7, pp. 1345–1350, 2023.

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

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

K. Jung, T. Hitchcox, and J.R. Forbes, “Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments,” 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, “Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements,” International Conference on Robotics and Automation, London, UK, May 29 - June 2, 2023.

2022

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

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

Amanda Bianco et al. “System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues”. In: IEEE Transactions on Biomedical Engineering 69.12 (2022), pp. 3803–3811.

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

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

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

Timothy D Barfoot, James R Forbes, and Gabriele MT D’Eleuterio. “Vectorial parameterizations of pose”. In: Robotica 40.7 (2022), pp. 2409–2427.

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

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

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

2021

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

M. Shalaby, C.C. Cossette, J.L. Ny, and J.R. Forbes. “Cascaded Filtering Using the Sigma Point Transformation,” IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4758–4765, 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. “Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements,” IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4955–4961, 2021. Jointly accepted to ICRA.

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

M.-A. Lavoie and J.R. Forbes. “Map-Aided Train Navigation with IMU Measurements,” 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. “Localization with Directional Coordinates,” Conference on Intelligent Robots and Systems, Prague, Czech Republic (online), September 27 - October 1, 2021.

N. Pavlasek, A. Walsh, and J.R. Forbes. “Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation,” International Conference on Robotics and Automation, Xi’an, China, May 30 - June 5, 2021.

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

J.R. Forbes, F. Ahmed, and M. Cohen. “Invariant Model Predictive Control of Quadrotor Vehicles,” Robotics: Science and Systems, Online, July 12-16, 2021. Presented in “Software Tools for Real-Time Optimal Control” workshop.

P. Decoste and J.R. Forbes. “Robot Navigation in Unknown Environments: Towards Topographical SLAM,” 2021 McGill Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

J. Yun and J.R. Forbes. “Standardized Datasets for GNC Algorithm Development,” 2021 McGill Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

S. Li and J.R. Forbes. “Dataset Collection for Benchmarking Robot Navigation Methods,” 2021 McGill Summer Undergraduate Research in Engineering (SURE) Poster Presentation, Montreal, QC, August 17, 2021.

2018

R. Aucoin, S. A. Chee, and J. R. Forbes, “Nonlinear Approaches to Linear- and Linear-Matrix-Inequality-Constrained State Estimation,” 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, “MIMO Nyquist Interpretation of the Large Gain Theorem,” International Journal of Control, 2018.

R. J. Caverly and J. R. Forbes, “H1-Optimal Parallel Feedforward Control Using Minimum Gain,” IEEE Control Systems Letters, vol. 2, no. 4, pp. 677–682, 2018.

A. Walsh and J. R. Forbes, “Constrained Attitude Control on SO(3) via Semidefinite Programming,” AIAA Journal of Guidance, Control, and Dynamics, 2018.

D. E. Zlotnik and J. R. Forbes, “Higher-Order Nonlinear Complementary Filtering on Lie Groups,” IEEE Transactions on Automatic Control, 2018.

Localization and Mapping,” IEEE Transactions on Automatic Control, 2018.

X. Shan, J. Angeles, and J. R. Forbes, “Design of a biaxial high frequency-ratio low-g MEMS accelerometer,” Microsystem Technologies, 2018.

2017

L.J. Bridgeman and J.R. Forbes, “Comparative Study of Input-Output Stability Results,” IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 463–476, 2018.

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

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

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

L. J. Bridgeman and J. R. Forbes, “Conic Bounds for Systems Subject to Unknown Delay,” IEEE Transactions on Automatic Control, vol. 62, no. 4, pp. 2006–2013, 2017.

R. J. Caverly and J. R. Forbes, “Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane,” IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1297–1306, 2017.

A. Walsh and J. R. Forbes, “Analysis and Synthesis of Input Strictly Passive Gain-Scheduled Controllers,” Journal of the Franklin Institute, vol. 354, pp. 1285–1301, February 2017.

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

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

J. R. Forbes and D. E. Zlotnik, “Sigma Point Kalman Filtering on Matrix Lie Groups,” 3rd conference on Geometric Science of Information (GSI 2017), Socie ́te ́ Mathe ́matique de France, Paris, France, November 7–9, 2017. J.R. Forbes is an invited speaker as part of “Geometric Robotics” 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, “Trimetric Imaging of the Martian Ionosphere using a CubeSat Constellation ,” 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, “Norm- and Linear-Inequality-Constrained State Estimation: An LMI Approach,” IEEE Conference on Control Technology and Applications, Kohala Coast, HI, USA, August 27–30, 2017.

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

R. J. Caverly and J. R. Forbes⋆, “Nyquist Interpretation of the Large Gain Theorem,” 20th IFAC World Congress, Toulouse, France, July 9–14, 2017.

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

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

A. Walsh⋆, J. J. Ryan, and J. R. Forbes, “Constrained Extremum-Seeking Guidance Using a Con- strained Kalman Filter,” American Control Conference, Seattle, WA, USA, May 24-26, 2017.

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

S. A. Chee and J. R. Forbes, “Norm-Constrained Forward-Backward Smoothing,” AIAA Science and Technology Forum and Exposition 2017, Gaylord Texan, Grapevine, TX, USA, January 9–13, 2017.

J. R. Forbes, “Extremum-Seeking Guidance on the Special Orthogonal Group,” 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, “Guidance on SO(3) Using a Kalman Filter,” Tutorial Session “Vision-based Navi- gation and Perception for Space Systems”, American Control Conference, Seattle, WA, USA, May 24-26, 2017. Invited Speaker.

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

D. Qian and J. R. Forbes, “Exploiting landmark Constraints for Mobile robot Localization and Maapping,” Optimization Days 2017, HEC Montreal, May 8-10, 2017.

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