Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. - Eren Allak; Alessandro Fornasier; Stephan Weiss 002 (IROS, 2020)

Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points. - Julian Blueml; Alessandro Fornasier; Stephan Weiss 002 (ICRA, 2021)

VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. - Alessandro Fornasier; Martin Scheiber; Alexander Hardt-Stremayr; Roland Jung; Stephan Weiss 002 (ICRA, 2021)

Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. - Bryan Starbuck; Alessandro Fornasier; Stephan Weiss 002; Cédric Pradalier (ICRA, 2021)

Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. - Alessandro Fornasier; Yonhon Ng; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2022)

Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data. - Jan Steinbrener; Christian Brommer; Thomas Jantos; Alessandro Fornasier; Stephan Weiss 002 (ICRA, 2022)

INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators. - Christian Brommer; Alessandro Fornasier; Martin Scheiber; Jeff Delaune; Roland Brockers; Jan Steinbrener; Stephan Weiss 002 (CoRR, 2022)

Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. - Alessandro Fornasier; Yonhon Ng; Christian Brommer; Christoph Böhm 004; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2022)

CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. - Martin Scheiber; Alessandro Fornasier; Roland Jung; Christoph Böhm 004; Rohit Dhakate; Christian Stewart; Jan Steinbrener; Stephan Weiss 002; Christian Brommer (IEEE Robotics Autom. Lett., 2022)

Revisiting Multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach. - Martin Scheiber; Alessandro Fornasier; Christian Brommer; Stephan Weiss 002 (ICAR, 2023)

UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. - Giulio Delama; Farhad Shamsfakhr; Stephan Weiss 002; Daniele Fontanelli; Alessandro Fornasier (IROS, 2023)

Equivariant Symmetries for Inertial Navigation Systems. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Robert E. Mahony; Stephan Weiss 002 (CoRR, 2023)

An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Martin Scheiber; Andrew Tridgell; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2024)

Equivariant Symmetries for Aided Inertial Navigation. - Alessandro Fornasier (CoRR, 2024)

The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios. - Christian Brommer; Alessandro Fornasier; Martin Scheiber; Jeff Delaune; Roland Brockers; Jan Steinbrener; Stephan Weiss 002 (Int. J. Robotics Res., 2024)

MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. - Alessandro Fornasier; Pieter van Goor; Eren Allak; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2024)

Equivariant IMU Preintegration With Biases: A Galilean Group Approach. - Giulio Delama; Alessandro Fornasier; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2025)

Sensor Model Identification via Simultaneous Model Selection and State Variable Determination. - Christian Brommer; Alessandro Fornasier; Jan Steinbrener; Stephan Weiss 002 (CoRR, 2025)

The Difference between the Left and Right Invariant Extended Kalman Filter. - Yixiao Ge; Giulio Delama; Martin Scheiber; Alessandro Fornasier; Pieter van Goor; Stephan Weiss 002; Robert E. Mahony (CoRR, 2025)