Bowen Yi

Recent News

• 9 April 2024 NSERC has funded our group with a 5-year Discovery Grant to explore nonlinear estimation. (A scalable framework for nonlinear observer design in robotic systems, 2024 - 2029.)
• 18 Sept 2024 Our paper, On IMU preintegration: A nonlinear observer viewpoint and its applications, has been accepted to Systems & Control Letters.
• 14 Sept 2024 Our paper, PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees, has been accepted to IEEE Transactions on Automatic Control as Full paper.
• 13 Sept 2024 Our paper, Simultaneous position-and-stiffness control of underactuated antagonistic tendon-driven continuum robots, has been accepted to IEEE Transactions on Automation Science and Engineering.
• 24 July 2024 Our paper, Control contraction metrics on Lie groups, has been accepted to IEEE Conferece on Decision and Control.
• 15 June 2024 Our survey paper on stiffening approaches for continuum robots has been accepted to Robotics and Computer-Integrated Manufacturing.
• 21 Apr 2024 Our paper, Stability analysis of trajectories on manifolds with applications to observers and controller design, has been accepted to IEEE Transactions on Automatic Control.
• 29 Jan 2024 Our paper, A novel model for layer jamming-based continuum robots, has been accepted to IEEE International Conference on Robotics and Automation (ICRA). See you in Yokohama.
• 19 Sept 2023 Our paper, On the equivalence of contraction and Koopman approaches for nonlinear stability and control, has been accepted to IEEE Transactions on Automatic Control as Full Paper.
• 5 Aug 2023 Our paper, entitled Identifiability implies robust, globally exponentially convergent on-line parameter estimation, has been accepted to International Journal of Control.
• 27 July 2023 Our paper, entitled Enhancing prescribed performance of tracking control of using monotone tube boundaries, has been accepted to Automatica.
• 16 July 2023 Our pre-conference workshop, Modern Adaptive Control and Estimation: From Theory to Application, has been accepted to IEEE Conference on Decision and Control.
• 7 Apr 2023 Our paper, entitled Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design, has been accepted to IEEE Trans. on Automatic Control.
• 12 Dec 2022 Our paper, entitled On the equivalence of contraction and Koopman approaches for nonlinear stability and control, has been conditionally accepted to IEEE Transactions on Automatic Control as a Full Paper.
• 06 Aug 2022 Our paper, entitled Globally convergent visual-feature range estimation with biased inertial measurements, has been accepted to Automatica.
• 24 July 2022 The paper, entitiled Composite adaptive control for anti-unwinding attitude maneuvers: An exponential stability result without persistent excitation collaborating with Dr. Xiaodong Shao, was accepted by IEEE Trans. on Aerospace and Electronic Systems.
• 10 March 2022 Our paper, entitled Generation of new exciting regressors for consistent on-line estimation of unknown parameters, was accepted by IEEE Transactions on Automatic Control.
• 06 Feb 2022 Our paper, entitled Conditions for convergence of dynamic regressor extension and mixing parameter estimators using LTI filters, was accepted by IEEE Transactions on Automatic Control.
• 01 Feb 2022 Our paper, entitled Learning stable Koopman embeddings, was accepted by American Control Conference.
• 11 Jan 2022 Our paper, entitled A constructive procedure for orbital stabilization of a class of underactuated mechancial systems, has been accepted by IEEE Transactions on Control Systems Technology.
• 18 Sept 2021 Our paper, entitled Reduced-order nonlinear observers via contraction analysis and convex optimization, has been accepted by IEEE Transactions on Automatic Control as a Full paper.