Charles C. Cossette

Charles C. Cossette

Software Engineer at Zoox

Zoox

DECAR Group, McGill University

About me

I am currently a Software Engineer at Zoox, where I work on the autonomous vehicle’s collision avoidance system. I previously completed my Ph.D. in Robotics with the DECAR Group at McGill university, under the supervision of James Forbes and David Saussié.

My PhD research focused on planning, estimation, and control algorithms for multi-robot teams. We specifically researched how to best use ultra-wideband radio to enable collaboration between robots.

Featured Publications

Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jerome Le Ny, James Richard Forbes
January 2022 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Optimal multi-robot formations for relative pose estimation using range measurements
Optimal multi-robot formations for relative pose estimation using range measurements
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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jerome Le Ny
January 2021 IEEE Robotics and Automation Letters
Relative position estimation between two UWB devices with IMUs
Relative position estimation between two UWB devices with IMUs
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Other Publications

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Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
Syed S Ahmed, Mohammed A Shalaby, Charles C Cossette, Jerome Le Ny, James R Forbes
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Reducing two-way ranging variance by signal-timing optimization
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
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Calibration and uncertainty characterization for ultra-wideband two-way-ranging measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
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Estimation Methods for Multi-robot Relative Localization using Ultra-wideband Radio
Charles Cossette
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Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes
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Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
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navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes
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On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes
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STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A Shalaby, Connor Holmes, Charles C Cossette, James R Forbes, Jerome Le Ny, Timothy D Barfoot
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Cascaded filtering using the sigma point transformation (extended version)
Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
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Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes
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Localization with Directional Coordinates
Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes
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Relative position estimation in multi-agent systems using attitude-coupled range measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
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Lagrangian Derivation of Variable-Mass Equations of Motion using an Arbitrary Attitude Parameterization
Charles Champagne Cossette, James Richard Forbes, David Saussié
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Modular Derivation of the Equations of Motion of a Flexible Launch Vehicle with Propellant Slosh
Charles Cossette, James R Forbes, David Saussié
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The complex-step derivative approximation on matrix lie groups
Charles Champagne Cossette, Alex Walsh, James Richard Forbes
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Contact

To get in touch with me, contact the email below or find me on LinkedIn!