Selected talks & slides

A selection of research talks and slides on estimation, navigation, and control.

Selected recent talks

2026

• Observer design for inertial navigation systems with stability guarantees — IEEE Conference on Control Technology and Applications (CCTA), Vancouver, Canada, August 2026.
• Pitot-Aided Attitude and Air-Velocity Estimation with Almost Global Asymptotic Stability Guarantees — CCTA, Vancouver, Canada, August 2026.

2025

• Advances on Aided Inertial Navigation: A Modern Treatment Using Lie-Group Theoretical Methods — Workshop on Advances in Control Theory and Applications of Complex Systems, Dalian University of Technology, Dalian, China, December 2025.
• Attitude Estimation Using Scalar Measurements — IEEE Conference on Decision and Control (CDC), Rio de Janeiro, Brazil, December 2025.
• Geometric Approach for Pose and Velocity Estimation Using IMU and Inertial/Body-Frame Measurements — CDC, Rio de Janeiro, Brazil, December 2025.

Available slides

2024

• Real-Time Sensor-Based Feedback Control for Obstacle Avoidance in Unknown Environments — ACC 2024 PDF
• State Estimation for Linear Systems with Quadratic Outputs — ACC 2024 PDF

2023

• Reciprocal Safety Velocity Cones for Decentralized Collision Avoidance in Multi-Agent Systems — IFAC 2023 PDF

Workshop material

• Application: Pose Estimation — Workshop on Geometric Observers on Manifolds and Lie-Groups, ECC, June 25, 2024 PDF

Earlier slides and posters (2017–2021)

2021

• Nonlinear Estimation for Position-Aided Inertial Navigation Systems — CDC 2021 PDF
• Navigation in Unknown Environments Using Safety Velocity Cones — ACC 2021 PDF

2019

• Position, Velocity, Attitude and Gyro-Bias Estimation from IMU and Position Information — ECC 2019 PDF
• A Hybrid Controller for Obstacle Avoidance in an n-Dimensional Euclidean Space — ECC 2019 PDF

2018 and 2017

• Hybrid Constrained Estimation for Linear Time-Varying Systems — CDC 2018 PDF
• Hybrid Control and Estimation for Systems with Constraints — Nice seminar, 2018 PDF
• Poster at Western University, 2018 PDF
• Poster at Western University, 2017 PDF

For current results, see the publication list. Research demonstrations are available on the projects page.