projects

Research projects, current and past.

Projects are often done in collaboration with an industry sponsor and supported by NSERC, FRQNT, or Mitacs. The support of both our industry partners and the government funding agencies is gratefully acknowledged.

Related publications are listed on the publications page.

Current Projects

  • Invariant State Estimation Methods

    Extension and application of the invariant extended Kalman filter on matrix Lie groups: invariant forms of batch estimation, SLAM, monocular-IMU navigation, and others.

  • Autonomous Underwater Vehicle (AUV) Navigation

    Using a laser scanner, DVL, and IMU to ascertain the position of an AUV and map the surrounding underwater environment.

  • Koopman-operator-based Nonlinear System Identification

    Koopman operator theory for data-driven modelling and control of nonlinear systems.

  • Navigation and Control of Robotic Networks using UWB Signals

    State-estimation and formation control algorithms for groups of robots using UWB signals for localization.

    In collaboration with Mobile Robotics and Autonomous Systems Laboratory, École Polytechnique, Montréal.

  • Dynamic SLAM for Ground Vehicles

    Stereo SLAM and dynamic object tracking for ground vehicles in an invariant framework.

  • Stability and Control of Haptic Devices

    Improving the stability and transparency of haptic devices through novel control strategies.

Past Projects

  • Constrained Filtering in Rail Environments

    Estimating a train's position using an IMU alone when GPS is poor or unavailable, by exploiting the fact that the train is constrained to a railway track with distinctive features such as curvature and grade.

  • Control of Industrial Crane Systems

    Fully autonomous feedback control strategies for industrial crane systems.

  • Industrial Robot Control

    High-performance control architectures for ultra-compact industrial robot arms, reducing gearbox-induced vibration and increasing the frequency of pick-and-place operations.

  • LIDAR-Inertial-Visual Navigation

    A tightly-coupled visual-inertial-LIDAR SLAM algorithm for unmanned aerial vehicles.

    In collaboration with ARA Robotique.

  • Control of Nonlinear, Viscoelastic Tissues

    A system to test the mechanical and contractile functionality of human or animal muscle tissue under exposure to drugs, biological mediators, and environmental factors.

  • Linear System Identification of Viscoelastic Tissue

    Models for haptic feedback and control in spinal interbody fusion surgical simulations.

  • DReCon: Data-Driven Responsive Control of Physics-Based Characters

    A reinforcement-learning method for controlling physically simulated humanoids that learns from unstructured motion capture, emphasizing responsiveness to user input, motion quality, and low runtime cost for video-game applications.

  • Unconventional Unmanned Aerial Vehicle Navigation, Guidance, and Control

    Navigation, guidance, and control of unconventional VTOL UAVs, focusing on real-time estimation of wind velocity from standard onboard sensors using machine learning techniques.

  • Guidance and Nonlinear Control of Multicopters

    Guidance and control of multicopter landing using MPC on a matrix Lie group.

  • State Estimation using Thermal Imaging

    Homography estimation and robot navigation using thermal cameras.