The Complex-Step Derivative Approximation on Matrix Lie Groups. - Charles Champagne Cossette; Alex Walsh; James Richard Forbes (IEEE Robotics Autom. Lett., 2020)

Localization with Directional Coordinates. - Charles Champagne Cossette; Mohammed Shalaby 001; David Saussié; James Richard Forbes (IROS, 2021)

Cascaded Filtering Using the Sigma Point Transformation (Extended Version). - Mohammed Shalaby 001; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (CoRR, 2021)

Relative Position Estimation Between Two UWB Devices With IMUs. - Charles Champagne Cossette; Mohammed Shalaby 001; David Saussié; James Richard Forbes; Jerome Le Ny (IEEE Robotics Autom. Lett., 2021)

Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. - Daniil Lisus; Charles Champagne Cossette; Mohammed Shalaby 001; James Richard Forbes (IEEE Robotics Autom. Lett., 2021)

Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements. - Mohammed Shalaby 001; Charles Champagne Cossette; James Richard Forbes; Jerome Le Ny (IEEE Robotics Autom. Lett., 2021)

Cascaded Filtering Using the Sigma Point Transformation. - Mohammed Shalaby 001; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (IEEE Robotics Autom. Lett., 2021)

Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements. - Charles Champagne Cossette; Mohammed Ayman Shalaby; David Saussié; Jérôme Le Ny; James Richard Forbes (IROS, 2022)

Ultra-Wideband Teach and Repeat. - Mohammed Ayman Shalaby; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (CoRR, 2022)

Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements. - Mohammed Ayman Shalaby; Charles Champagne Cossette; James Richard Forbes; Jerome Le Ny (ICRA, 2023)

navlie: A Python Package for State Estimation on Lie Groups. - Charles Champagne Cossette; Mitchell R. Cohen; Vassili Korotkine; Arturo Del Castillo Bernal; Mohammed Ayman Shalaby; James Richard Forbes (IROS, 2023)

Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. - Natalia Pavlasek; Charles Champagne Cossette; David Roy-Guay; James Richard Forbes (IROS, 2023)

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

STAR-loc: Dataset for STereo And Range-based localization. - Frederike Dümbgen; Mohammed Ayman Shalaby; Connor Holmes; Charles Champagne Cossette; James Richard Forbes; Jerome Le Ny; Timothy D. Barfoot (CoRR, 2023)

IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints. - Mohammed Ayman Shalaby; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (CoRR, 2023)

Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. - Syed S. Ahmed; Mohammed Ayman Shalaby; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (CCTA, 2024)

Decentralized state estimation: An approach using pseudomeasurements and preintegration. - Charles Champagne Cossette; Mohammed Ayman Shalaby; David Saussié; James Richard Forbes (Int. J. Robotics Res., 2024)

DIVE: Deep Inertial-Only Velocity Aided Estimation for Quadrotors. - Angad Bajwa; Charles Champagne Cossette; Mohammed Ayman Shalaby; James Richard Forbes (IEEE Robotics Autom. Lett., 2024)

Multi-robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. - Mohammed Ayman Shalaby; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (IEEE Trans. Robotics, 2024)

Reducing Two-Way Ranging Variance by Signal-Timing Optimization. - Mohammed Ayman Shalaby; Charles Champagne Cossette; James Richard Forbes; Jerome Le Ny (IEEE Trans. Aerosp. Electron. Syst., 2024)

MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision. - Mohammed Ayman Shalaby; Syed Shabbir Ahmed; Nicholas Dahdah; Charles Champagne Cossette; Jerome Le Ny; James Richard Forbes (CoRR, 2025)

Fast and Accurate Collision Probability Estimation for Autonomous Vehicles using Adaptive Sigma-Point Sampling. - Charles Champagne Cossette; Taylor S. Clawson; Andrew Feit (CoRR, 2025)