Carré

dr. P.C.H. van Goor (Pieter)

Researcher
EEMCS-EE-RAM
Carré C3710
p.c.h.vangoor@utwente.nl
+31534891298
Business card

I am currently a postdoctoral research fellow with the Robotics and Mechatronics (RAM) group at the university of Twente, supervised by Antonio Franchi and supported by the Marie Sklodowska-Curie Action of the European Research Council. Prior to this, I worked as a research fellow in the Systems Theory and Robotics (STR) group at the Australian National University (ANU) on the development of equivariant systems theory and applications to problems in robotics and control. I completed my Bachelor of Engineering (Research & Development) (Honours) and Bachelor of Science at ANU in 2018, majoring in Mechatronics and Mathematics respectively. My PhD was awarded in 2023, in which I studied equivariant observer design and its application to problems in visual spatial awareness under the supervision of Robert Mahony at the ANU.

Expertise

  • Mathematics

    • Matrix Lie Group
    • Lie Group
    • Parallel Transport

  • Engineering

    • Extended Kalman Filter
    • Filter Design
    • Inertial Navigation System
    • Measurement System

  • Computer Science

    • State Estimation

Organisations

Publications

2024

Constructive synchronous observer design for inertial navigation with delayed GNSS measurements (2024)European journal of control, 80(Part A). Article 101047. Goor, P. v., Wickramasinghe, P., Hampsey, M. & Mahony, R.https://doi.org/10.1016/j.ejcon.2024.101047Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment (2024)European journal of control, 80(Part A). Article 101070. Oliveira, T. L. d., Goor, P. v., Hamel, T., Mahony, R. & Samson, C.https://doi.org/10.1016/j.ejcon.2024.101070Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry (2024)[Working paper › Preprint]. ArXiv.org. van Goor, P. & Mahony, R.https://doi.org/10.48550/arXiv.2409.08623Geometric Data Fusion for Collaborative Attitude Estimation (2024)[Working paper › Preprint]. ArXiv.org. Ge, Y., Zamani, B., van Goor, P., Trumpf, J. & Mahony, R.https://doi.org/10.48550/arXiv.2407.13176A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups (2024)[Working paper › Preprint]. ArXiv.org. Ge, Y., van Goor, P. & Mahony, R.https://doi.org/10.48550/arXiv.2403.16411Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups (2024)[Working paper › Preprint]. ArXiv.org. Hampsey, M., van Goor, P., Banavar, R. & Mahony, R.https://doi.org/10.48550/arXiv.2401.16725A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups (2024)IEEE Control Systems Letters, 8, 844-849. Ge, Y., Goor, P. v. & Mahony, R.https://doi.org/10.1109/LCSYS.2024.3405485MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation (2024)IEEE Robotics and automation letters, 9(1), 731-738. Fornasier, A., Goor, P. v., Allak, E., Mahony, R. & Weiss, S.https://doi.org/10.1109/LRA.2023.3335775

2023

EqVIO: An Equivariant Filter for Visual-Inertial Odometry (2023)IEEE transactions on robotics, 39(5), 3567-3585. Goor, P. v. & Mahony, R.https://doi.org/10.1109/TRO.2023.3289587Equivariant Filter (EqF) (2023)IEEE transactions on automatic control, 68(6), 3501-3512. Goor, P. v., Hamel, T. & Mahony, R.https://doi.org/10.1109/TAC.2022.3194094

Research profiles

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