Mitchell Cohen

I am completing my Ph.D in robotic perception at McGill University under the supervision of Professor James Forbes in the DECAR research group. Broadly, my research interests are in the areas of robotic state estimation, simulatenous localization and mapping (SLAM), computer vision, and optimization, with a focus on improving navigation techniques for robots. My current research focuses on the fusion of camera and inertial data to perform SLAM. Specifically, I am interested in exploring how the use of semantic information can be used within visual-inertial SLAM pipelines.

I also recieved a Master’s in Mechanical Engineering in 2020 from McGill University, where I focused on developing novel control and state estimation algorithms for both fixed-wing and multirotor UAVs.

selected publications

IROS

navlie: A Python Package for State Estimation on Lie Groups

Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine, and 3 more authors

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

arXiv Bib PDF

@inproceedings{cossette2023navlie,
  title = {navlie: A Python Package for State Estimation on Lie Groups},
  author = {Cossette, Charles Champagne and Cohen, Mitchell and Korotkine, Vassili and Bernal, Arturo Del Castillo and Shalaby, Mohammed Ayman and Forbes, James Richard},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5282--5287},
  year = {2023},
  organization = {IEEE},
}

RA-L/IROS

Know What You Don’t Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM

Daniil Lisus, Mitchell Cohen, and James Richard Forbes

IEEE Robotics and Automation Letters, 2023

arXiv Bib PDF

@article{lisus2023know,
  title = {Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM},
  author = {Lisus, Daniil and Cohen, Mitchell and Forbes, James Richard},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {6},
  pages = {3382--3389},
  year = {2023},
  publisher = {IEEE},
}

RA-L/IROS

Finite-Horizon LQR Control of Quadrotors on SE_2 (3)

Mitchell R Cohen, Khairi Abdulrahim, and James Richard Forbes

IEEE Robotics and Automation Letters, 2020

arXiv Bib PDF

@article{cohen2020finite,
  title = {{Finite-Horizon LQR Control of Quadrotors on $ SE\_2 (3) $}},
  author = {Cohen, Mitchell R and Abdulrahim, Khairi and Forbes, James Richard},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {4},
  pages = {5748--5755},
  year = {2020},
  publisher = {IEEE},
}