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Charles Champagne Cossette

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Journal Articles

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2024
[j9]
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  - journals/ijrr/CossetteSSF24
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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes:
Decentralized state estimation: An approach using pseudomeasurements and preintegration. Int. J. Robotics Res. 43(10): 1573-1593 (2024)
[j8]
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Angad Bajwa, Charles Champagne Cossette, Mohammed Ayman Shalaby, James Richard Forbes:
DIVE: Deep Inertial-Only Velocity Aided Estimation for Quadrotors. IEEE Robotics Autom. Lett. 9(4): 3728-3734 (2024)
[j7]
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Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Reducing Two-Way Ranging Variance by Signal-Timing Optimization. IEEE Trans. Aerosp. Electron. Syst. 60(3): 3718-3724 (2024)
[j6]
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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Multi-robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. IEEE Trans. Robotics 40: 2410-2429 (2024)
2021
[j5]
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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jerome Le Ny:
Relative Position Estimation Between Two UWB Devices With IMUs. IEEE Robotics Autom. Lett. 6(3): 4313-4320 (2021)
[j4]
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Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Cascaded Filtering Using the Sigma Point Transformation. IEEE Robotics Autom. Lett. 6(3): 4758-4765 (2021)
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Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements. IEEE Robotics Autom. Lett. 6(3): 4955-4961 (2021)
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Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes:
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. IEEE Robotics Autom. Lett. 6(4): 8387-8393 (2021)
2020
[j1]
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Charles Champagne Cossette, Alex Walsh, James Richard Forbes:
The Complex-Step Derivative Approximation on Matrix Lie Groups. IEEE Robotics Autom. Lett. 5(2): 906-913 (2020)

Conference and Workshop Papers

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2024
[c6]
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  - conf/ccta/AhmedSCNF24
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Syed S. Ahmed, Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. CCTA 2024: 375-381
2023
[c5]
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  - conf/icra/ShalabyCFN23
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Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements. ICRA 2023: 4128-4134
[c4]
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Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes:
Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. IROS 2023: 5251-5257
[c3]
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Charles Champagne Cossette, Mitchell R. Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes:
navlie: A Python Package for State Estimation on Lie Groups. IROS 2023: 5282-5287
2022
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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jérôme Le Ny, James Richard Forbes:
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements. IROS 2022: 2431-2437
2021
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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes:
Localization with Directional Coordinates. IROS 2021: 2253-2258

Informal and Other Publications

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2024
[i17]
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  - journals/corr/abs-2402-08566
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Syed S. Ahmed, Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities. CoRR abs/2402.08566 (2024)
2023
[i16]
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  - journals/corr/abs-2304-03837
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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers. CoRR abs/2304.03837 (2023)
[i15]
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  - journals/corr/abs-2304-04036
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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, James Richard Forbes:
On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration. CoRR abs/2304.04036 (2023)
[i14]
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  - journals/corr/abs-2309-02394
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Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes:
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection. CoRR abs/2309.02394 (2023)
[i13]
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  - journals/corr/abs-2309-05518
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Frederike Dümbgen, Mohammed Ayman Shalaby, Connor Holmes, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny, Timothy D. Barfoot:
STAR-loc: Dataset for STereo And Range-based localization. CoRR abs/2309.05518 (2023)
[i12]
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  - journals/corr/abs-2310-08686
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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints. CoRR abs/2310.08686 (2023)
[i11]
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  - journals/corr/abs-2310-15774
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Charles Champagne Cossette, Mitchell R. Cohen, Vassili Korotkine, Arturo Del Castillo Bernal, Mohammed Ayman Shalaby, James Richard Forbes:
navlie: A Python Package for State Estimation on Lie Groups. CoRR abs/2310.15774 (2023)
2022
[i10]
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  - journals/corr/abs-2202-01134
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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Ultra-Wideband Teach and Repeat. CoRR abs/2202.01134 (2022)
[i9]
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  - journals/corr/abs-2205-14263
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Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jerome Le Ny, James Richard Forbes:
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements. CoRR abs/2205.14263 (2022)
[i8]
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  - journals/corr/abs-2207-07993
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Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements. CoRR abs/2207.07993 (2022)
[i7]
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  - journals/corr/abs-2210-05888
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Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements. CoRR abs/2210.05888 (2022)
[i6]
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  - journals/corr/abs-2211-00538
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Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny:
Reducing Two-Way Ranging Variance by Signal-Timing Optimization. CoRR abs/2211.00538 (2022)
2021
[i5]
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  - journals/corr/abs-2103-04249
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Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes:
Cascaded Filtering Using the Sigma Point Transformation (Extended Version). CoRR abs/2103.04249 (2021)
[i4]
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  - journals/corr/abs-2104-10730
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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jérôme Le Ny:
Relative Position Estimation Between Two UWB Devices with IMUs. CoRR abs/2104.10730 (2021)
[i3]
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  - journals/corr/abs-2105-02744
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Charles Champagne Cossette, Alex Walsh, James Richard Forbes:
The Complex-Step Derivative Approximation on Matrix Lie Groups. CoRR abs/2105.02744 (2021)
[i2]
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  - journals/corr/abs-2109-04868
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Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby, James Richard Forbes:
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes. CoRR abs/2109.04868 (2021)
[i1]
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  - journals/corr/abs-2109-09229
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Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes:
Localization with Directional Coordinates. CoRR abs/2109.09229 (2021)

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