Publications

Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny (2024). Reducing two-way ranging variance by signal-timing optimization. IEEE Transactions on Aerospace and Electronic Systems.

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Syed S Ahmed, Mohammed A Shalaby, Charles C Cossette, Jerome Le Ny, James R Forbes (2024). Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. arXiv preprint arXiv:2402.08566.

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Frederike Dümbgen, Mohammed A Shalaby, Connor Holmes, Charles C Cossette, James R Forbes, Jerome Le Ny, Timothy D Barfoot (2023). STAR-loc: Dataset for STereo And Range-based localization. arXiv preprint arXiv:2309.05518.

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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes (2023). On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration. arXiv preprint arXiv:2304.04036.

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Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes (2023). navlie: A Python Package for State Estimation on Lie Groups. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes (2023). Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. arXiv preprint arXiv:2304.03837.

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Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes (2023). Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Charles Cossette (2023). Estimation Methods for Multi-robot Relative Localization using Ultra-wideband Radio. McGill University.

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Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny (2023). Calibration and uncertainty characterization for ultra-wideband two-way-ranging measurements. 2023 IEEE International Conference on Robotics and Automation (ICRA).

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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jerome Le Ny, James Richard Forbes (2022). Optimal multi-robot formations for relative pose estimation using range measurements. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny (2021). Relative position estimation in multi-agent systems using attitude-coupled range measurements. IEEE Robotics and Automation Letters.

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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jerome Le Ny (2021). Relative position estimation between two UWB devices with IMUs. IEEE Robotics and Automation Letters.

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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes (2021). Localization with Directional Coordinates. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes (2021). Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. IEEE Robotics and Automation Letters.

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Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes (2021). Cascaded filtering using the sigma point transformation (extended version). arXiv preprint arXiv:2103.04249.

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Charles Champagne Cossette, Alex Walsh, James Richard Forbes (2020). The complex-step derivative approximation on matrix lie groups. IEEE Robotics and Automation Letters.

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Charles Cossette, James R Forbes, David Saussié (2020). Modular Derivation of the Equations of Motion of a Flexible Launch Vehicle with Propellant Slosh. AIAA Scitech 2020 Forum.

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Charles Champagne Cossette, James Richard Forbes, David Saussié (2020). Lagrangian Derivation of Variable-Mass Equations of Motion using an Arbitrary Attitude Parameterization. The Journal of the Astronautical Sciences.

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