Publications

2024

1. RA-L/ICRA

   A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares

   Vassili Korotkine, Mitchell Cohen, and James Richard Forbes

   IEEE Robotics and Automation Letters, 2024

   DOI arXiv Bib PDF

   @article{10607873,
     author = {Korotkine, Vassili and Cohen, Mitchell and Forbes, James Richard},
     journal = {IEEE Robotics and Automation Letters},
     title = {A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares},
     year = {2024},
     volume = {9},
     number = {9},
     pages = {7891-7898},
     doi = {10.1109/LRA.2024.3432350},
   }

2023

1. 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},
   }

2. 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},
   }

2020

1. RA-L

   Navigation and Control of Unconventional VTOL UAVs in Forward-Flight with Explicit Wind Velocity Estimation

   Mitchell R Cohen, and James Richard Forbes

   IEEE Robotics and Automation Letters, 2020

   arXiv Bib PDF

   @article{cohen2020navigation,
     title = {Navigation and Control of Unconventional VTOL UAVs in Forward-Flight with Explicit Wind Velocity Estimation},
     author = {Cohen, Mitchell R and Forbes, James Richard},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {2},
     pages = {1151--1158},
     year = {2020},
     publisher = {IEEE},
   }

2. RA-L/IROS

   The Invariant Rauch-Tung-Striebel Smoother

   Niels Der Laan, Mitchell Cohen, Jonathan Arsenault, and 1 more author

   IEEE Robotics and Automation Letters, 2020

   arXiv Bib PDF

   @article{van2020invariant,
     title = {The Invariant Rauch-Tung-Striebel Smoother},
     author = {van Der Laan, Niels and Cohen, Mitchell and Arsenault, Jonathan and Forbes, James Richard},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {4},
     pages = {5067--5074},
     year = {2020},
     publisher = {IEEE},
   }

3. 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},
   }

2019

1. ICRA

   Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft

   Romain Chiappinelli, Mitchell Cohen, Martin Doff-Sotta, and 3 more authors

   In 2019 International Conference on Robotics and Automation (ICRA), 2019

   Bib

   @inproceedings{chiappinelli2019modeling,
     title = {{Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft}},
     author = {Chiappinelli, Romain and Cohen, Mitchell and Doff-Sotta, Martin and Nahon, Meyer and Forbes, James R and Apkarian, Jacob},
     booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
     pages = {4141--4147},
     year = {2019},
     organization = {IEEE},
   }