Passive linear time-varying systems: State-space realizations, stability in feedback, and controller synthesis. - James Richard Forbes; Christopher J. Damaren (ACC, 2010)

Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems. - James Richard Forbes; Christopher J. Damaren (J. Frankl. Inst., 2011)

Single-Link Flexible Manipulator Control Accommodating Passivity Violations: Theory and Experiments. - James Richard Forbes; Christopher J. Damaren (IEEE Trans. Control. Syst. Technol., 2012)

Sequential Pose Estimation Using Linearized Rotation Matrices. - Timothy Michael Drews; Paul G. Kry; James Richard Forbes; Clark Verbrugge (CRV, 2013)

Synthesis of Optimal Finite-Frequency Controllers Able to Accommodate Passivity Violations. - James Richard Forbes; Christopher J. Damaren (IEEE Trans. Control. Syst. Technol., 2013)

Conic-sector-based controller synthesis: Theory and experiments. - Leila Jasmine Bridgeman; Ryan James Caverly; James Richard Forbes (ACC, 2014)

The Minimum Gain Lemma. - Leila Jasmine Bridgeman; James Richard Forbes (ACC, 2014)

Spacecraft constrained attitude control using positively invariant constraint admissible sets on SO(3) × ℝ3. - Avishai Weiss; Frederick A. Leve; Morgan Baldwin; James Richard Forbes; Ilya V. Kolmanovsky (ACC, 2014)

Rotation-matrix-based attitude control without angular velocity measurements. - David Evan Zlotnik; James Richard Forbes (ACC, 2014)

Continuous-time norm-constrained Kalman filtering. - James Richard Forbes; Anton H. J. de Ruiter; David Evan Zlotnik (Autom., 2014)

Conic-sector-based control to circumvent passivity violations. - Leila Jasmine Bridgeman; James Richard Forbes (Int. J. Control, 2014)

Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator. - Ryan James Caverly; James Richard Forbes (IEEE Trans. Robotics, 2014)

Strictly positive real and conic system syntheses using observers. - Leila Jasmine Bridgeman; Mohamed Najih; James Richard Forbes (ACC, 2015)

Maintaining positive cable tensions during operation of a single degree of freedom flexible cable-driven parallel manipulator. - Ryan James Caverly; James Richard Forbes (ACC, 2015)

Modeling and control of a wind energy harvesting kite with flexible cables. - Alex Walsh; James Richard Forbes (ACC, 2015)

A nonlinear attitude estimator with desirable convergence properties. - David Evan Zlotnik; James Richard Forbes (ECC, 2015)

Differential Geometric SLAM. - David Evan Zlotnik; James Richard Forbes (CoRR, 2015)

The exterior conic sector lemma. - Leila Jasmine Bridgeman; James Richard Forbes (Int. J. Control, 2015)

Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System. - Ryan James Caverly; James Richard Forbes; Donya Mohammadshahi (IEEE Trans. Control. Syst. Technol., 2015)

Modeling and Control of Flexible Telescoping Manipulators. - Alex Walsh; James Richard Forbes (IEEE Trans. Robotics, 2015)

Robust controller design using the Large Gain Theorem: The full-state feedback case. - Ryan James Caverly; James Richard Forbes (ACC, 2016)

Flexible kiteplane modeling and control with an unsteady aerodynamic model. - Ryan James Caverly; James Richard Forbes (ACC, 2016)

Gravity-gradient-stabilized spacecraft attitude estimation using rate-gyroscope measurements. - Stephen A. Chee; James Richard Forbes; Dennis S. Bernstein (ACC, 2016)

Control bandwidth recovery of flexible pointing systems. - David Evan Zlotnik; James Richard Forbes; Jack B. Aldrich (ACC, 2016)

Exteroceptive measurement filtering embedded within an SO(3)-based attitude estimator. - David Evan Zlotnik; James Richard Forbes (CDC, 2016)

Exponential convergence of a nonlinear attitude estimator. - David Evan Zlotnik; James Richard Forbes (Autom., 2016)

State estimator design for a single degree of freedom cable-actuated system. - Ryan James Caverly; James Richard Forbes (J. Frankl. Inst., 2016)

Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator. - Ryan James Caverly; David Evan Zlotnik; James Richard Forbes (Robotica, 2016)

The Extended Conic Sector Theorem. - Leila Jasmine Bridgeman; James Richard Forbes (IEEE Trans. Autom. Control., 2016)

Conic controller synthesis that minimizes an upper bound on the closed-loop ℋ2-norm. - Leila Jasmine Bridgeman; James Richard Forbes (ACC, 2017)

Regional pole and zero placement with static output feedback via the Modified Minimum Gain Lemma. - Ryan James Caverly; James Richard Forbes (ACC, 2017)

Constrained extremum-seeking guidance using a constrained Kalman filter. - Alex Walsh; John Jack Ryan; James Richard Forbes (ACC, 2017)

Norm- and linear-inequality-constrained state estimation: An LMI approach. - Stephen Alexander Chee; Leila Jasmine Bridgeman; James Richard Forbes (CCTA, 2017)

Sigma Point Kalman Filtering on Matrix Lie Groups Applied to the SLAM Problem. - James Richard Forbes; David Evan Zlotnik (GSI, 2017)

Discrete-time minmax filtering subject to a norm-constrained state estimate. - Stephen Alexander Chee; James Richard Forbes (Autom., 2017)

Analysis and synthesis of input strictly passive gain-scheduled controllers. - Alex Walsh; James Richard Forbes (J. Frankl. Inst., 2017)

Conic Bounds for Systems Subject to Delays. - Leila Jasmine Bridgeman; James Richard Forbes (IEEE Trans. Autom. Control., 2017)

Nonlinear Estimator Design on the Special Orthogonal Group Using Vector Measurements Directly. - David Evan Zlotnik; James Richard Forbes (IEEE Trans. Autom. Control., 2017)

Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane. - Ryan James Caverly; James Richard Forbes (IEEE Trans. Control. Syst. Technol., 2017)

A Linear- and Linear-Matrix-Inequality-Constrained Extended Kalman Filter. - Robin Aucoin; Stephen Alexander Chee; James Richard Forbes (ACC, 2018)

Iterative H2-Conic Controller Synthesis. - Leila Jasmine Bridgeman; James Richard Forbes (ACC, 2018)

Linearly Combining Sensor Measurements Optimally to Enforce an SPR Transfer Matrix. - Ryan James Caverly; James Richard Forbes (CCTA, 2018)

Riemann Sphere Interpretation of the Passivity, Small Gain, and Conic Sector Theorems. - Ken Lee; Alex Walsh; James Richard Forbes (CCTA, 2018)

ℋ∞-Optimal Parallel Feedforward Control Using Minimum Gain. - Ryan James Caverly; James Richard Forbes (IEEE Control. Syst. Lett., 2018)

Conic-Sector-Based Analysis and Control Synthesis for Linear Parameter Varying Systems. - Sivaranjani S.; James Richard Forbes; Peter J. Seiler; Vijay Gupta 001 (IEEE Control. Syst. Lett., 2018)

A Comparative Study of Input-Output Stability Results. - Leila Jasmine Bridgeman; James Richard Forbes (IEEE Trans. Autom. Control., 2018)

Very Strictly Passive Controller Synthesis With Affine Parameter Dependence. - Alex Walsh; James Richard Forbes (IEEE Trans. Autom. Control., 2018)

Gradient-Based Observer for Simultaneous Localization and Mapping. - David Evan Zlotnik; James Richard Forbes (IEEE Trans. Autom. Control., 2018)

Flexible Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions. - Ryan James Caverly; James Richard Forbes (IEEE Trans. Control. Syst. Technol., 2018)

ℋ∞-Optimal Strictly Positive Real Parallel Feedforward Control. - Ryan James Caverly; James Richard Forbes (ACC, 2019)

Synthesis of Strictly Negative Imaginary Controllers Using a H∞ Performance Index. - Ken Lee; James Richard Forbes (ACC, 2019)

Relative Constrained SLAM for Robot Navigation. - Duowen Qian; Shatil Rahman; James Richard Forbes (ACC, 2019)

Invariant Sliding Window Filtering for Attitude and Bias Estimation. - Alex Walsli; Jonathan Arsenault; James Richard Forbes (ACC, 2019)

Nonlinear Attitude and Bias Observer Design with a Gibbs-Inspired Cost Function Using Direct Vector Measurements. - David Evan Zlotnik; James Richard Forbes (ACC, 2019)

An Invariant Extended H∞ Filter. - Marc-Antoine Lavoie; Jonathan Arsenault; James Richard Forbes (CDC, 2019)

Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft. - Romain Chiappinelli; Mitchell R. Cohen; Martin Doff-Sotta; Meyer Nahon; James Richard Forbes; Jacob Apkarian (ICRA, 2019)

Interior-Conic Polytopic Systems Analysis and Control. - Alex Walsh; James Richard Forbes (CoRR, 2019)

LMI Properties and Applications in Systems, Stability, and Control Theory. - Ryan James Caverly; James Richard Forbes (CoRR, 2019)

Synthesis of strictly positive real ℋ2 controllers using dilated LMIs. - James Richard Forbes (Int. J. Control, 2019)

Higher Order Nonlinear Complementary Filtering on Lie Groups. - David Evan Zlotnik; James Richard Forbes (IEEE Trans. Autom. Control., 2019)

Linear- and Linear-Matrix-Inequality-Constrained State Estimation for Nonlinear Systems. - Robin Aucoin; Stephen Alexander Chee; James Richard Forbes (IEEE Trans. Aerosp. Electron. Syst., 2019)

DReCon: data-driven responsive control of physics-based characters. - Kevin Bergamin; Simon Clavet; Daniel Holden; James Richard Forbes (ACM Trans. Graph., 2019)

System Identification and $ mathcal{H}_{ infty}$ Control of a Fatigue Structural Testing Rig. - Robyn Fortune; C. André Beltempo; James Richard Forbes (CCTA, 2020)

TWOLATE: Total Registration of Point-Clouds Using a Weighted Optimal Linear Attitude and Translation Estimator. - Duowen Qian; Guillaume Charland-Arcand; James Richard Forbes (CCTA, 2020)

A Point Cloud Registration Pipeline using Gaussian Process Regression for Bathymetric SLAM*. - Thomas Hitchcox; James Richard Forbes (IROS, 2020)

MIMO Nyquist interpretation of the large gain theorem. - Ryan James Caverly; Richard Pates; Leila Jasmine Bridgeman; James Richard Forbes (Int. J. Control, 2020)

Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation. - Timothy D. Barfoot; James Richard Forbes; David J. Yoon (Int. J. Robotics Res., 2020)

Finite-Horizon LQR Control of Quadrotors on $SE_2(3)$. - Mitchell R. Cohen; Khairi Abdulrahim; James Richard Forbes (IEEE Robotics Autom. Lett., 2020)

Navigation and Control of Unconventional VTOL UAVs in Forward-Flight With Explicit Wind Velocity Estimation. - Mitchell R. Cohen; James Richard Forbes (IEEE Robotics Autom. Lett., 2020)

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

The Invariant Rauch-Tung-Striebel Smoother. - Niels van der Laan; Mitchell R. Cohen; Jonathan Arsenault; James Richard Forbes (IEEE Robotics Autom. Lett., 2020)

Deep Koopman Representation for Control over Images (DKRCI). - Philippe Laferrière; Samuel Laferrière; Steven Dahdah; James Richard Forbes; Liam Paull (CRV, 2021)

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation. - Natalia Pavlasek; Alex Walsh; James Richard Forbes (ICRA, 2021)

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

Map-Aided Train Navigation with IMU Measurements. - Marc-Antoine Lavoie; James Richard Forbes (IROS, 2021)

Linear Matrix Inequality Approaches to Koopman Operator Approximation. - Steven Dahdah; James Richard Forbes (CoRR, 2021)

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

Finite-Horizon LQR Control of Quadrotors on SE2(3). - Mitchell R. Cohen; Khairi Abdulrahim; James Richard Forbes (CoRR, 2021)

System Norm Regularization Methods for Koopman Operator Approximation. - Steven Dahdah; 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)

Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems. - Ken Lee; James Richard Forbes (Autom., 2022)

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

Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version). - Daniil Lisus; Mitchell R. Cohen; James Richard Forbes (CoRR, 2022)

Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon. - Faraaz Ahmed; Ludwik A. Sobiesiak; James Richard Forbes (IEEE Control. Syst. Lett., 2022)

Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. - Zi Cong Guo; Vassili Korotkine; James Richard Forbes; Timothy D. Barfoot (IEEE Robotics Autom. Lett., 2022)

Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems. - Thomas Hitchcox; James Richard Forbes (IEEE Robotics Autom. Lett., 2022)

Vectorial parameterizations of pose. - Timothy D. Barfoot; James Richard Forbes; Gabriele M. T. D'Eleuterio (Robotica, 2022)

System Identification and Two-Degree-of-Freedom Control of Nonlinear, Viscoelastic Tissues. - Amanda Bianco; Raphael Zonis; Anne-Marie Lauzon; James Richard Forbes; Gijs Ijpma (IEEE Trans. Biomed. Eng., 2022)

Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments. - Kyungmin Jung; Thomas Hitchcox; James Richard Forbes (ICRA, 2023)

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)

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended). - Thomas Hitchcox; James Richard Forbes (CoRR, 2023)

Closed-Loop Koopman Operator Approximation. - Steven Dahdah; James Richard Forbes (CoRR, 2023)

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

Adaptive Graduated Nonconvexity Loss. - Kyungmin Jung; Thomas Hitchcox; James Richard Forbes (CoRR, 2023)

Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning. - Amro Al-Baali; Thomas Hitchcox; 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)

Cascaded Model Predictive Control of a Tandem-Rotor Helicopter. - Faraaz Ahmed; Ludwik A. Sobiesiak; James Richard Forbes (IEEE Control. Syst. Lett., 2023)

Know What You Don't Know: Consistency in Sliding Window Filtering With Unobservable States Applied to Visual-Inertial SLAM. - Daniil Lisus; Mitchell R. Cohen; James Richard Forbes (IEEE Robotics Autom. Lett., 2023)

Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure. - Thomas Hitchcox; James Richard Forbes (IEEE Trans. Robotics, 2023)

System identification and simulation of soft tissue force feedback in a spine surgical simulator. - Harriet Violet Chorney; James Richard Forbes; Mark Driscoll (Comput. Biol. Medicine, 2023)

Bayesian Filtering for Homography Estimation. - Arturo Del Castillo Bernal; Philippe Decoste; James Richard Forbes (IEEE Robotics Autom. Lett., 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)

Synthesizing Control Laws from Data using Sum-of-Squares Optimization. - Jason J. Bramburger; Steven Dahdah; James Richard Forbes (CCTA, 2024)

Passivity-Based Gain-Scheduled Control with Scheduling Matrices. - Sepehr Moalemi; James Richard Forbes (CCTA, 2024)

Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations. - Syed Shabbir Ahmed; Mohammed Ayman Shalaby; Jerome Le Ny; James Richard Forbes (IROS, 2024)

Forward-Backward Extended DMD with an Asymptotic Stability Constraint. - Louis Lortie; Steven Dahdah; James Richard Forbes (CoRR, 2024)

Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics. - Zi Cong Guo; James Richard Forbes; Timothy D. Barfoot (CoRR, 2024)

Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator. - Steven Dahdah; James Richard Forbes (CoRR, 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)

Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping. - Thomas Hitchcox; James Richard Forbes (IEEE Robotics Autom. Lett., 2024)

Data-Driven Batch Localization and SLAM Using Koopman Linearization. - Zi Cong Guo; Frederike Dümbgen; James Richard Forbes; Timothy D. Barfoot (IEEE Trans. Robotics, 2024)

An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least-Squares Solutions. - Kyungmin Jung; Thomas Hitchcox; James Richard Forbes (IEEE Trans. Robotics, 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)

A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares. - Vassili Korotkine; Mitchell R. Cohen; James Richard Forbes (IEEE Robotics Autom. Lett., 2024)

Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach. - Sepehr Moalemi; James Richard Forbes (ACC, 2025)

Asymptotically stable data-driven koopman operator approximation with inputs using total extended DMD. - Louis Lortie; James Richard Forbes (Mach. Learn. Sci. Technol., 2025)

The Harmonic Exponential Filter for Nonparametric Estimation on Motion Groups. - Miguel A. Saavedra-Ruiz; Steven A. Parkison; Ria Arora; James Richard Forbes; Liam Paull (IEEE Robotics Autom. Lett., 2025)

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)

An SE(3) Noise Model for Range-Azimuth-Elevation Sensors. - Thomas Hitchcox; James Richard Forbes (CoRR, 2025)

Discretization of Linear Systems using the Matrix Exponential. - Steven Dahdah; James Richard Forbes (CoRR, 2025)

Matrix-Scheduling of QSR-Dissipative Systems. - Sepehr Moalemi; James Richard Forbes (IEEE Trans. Autom. Control., 2025)

Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations. - Vassili Korotkine; Mitchell R. Cohen; James Richard Forbes (IEEE Robotics Autom. Lett., 2025)