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)

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)

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