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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.

Posts

Jul 9, 2024
The Indefinite Orthogonal Group O(1,2)
May 5, 2024
The 2D Special Linear Group SL(2)
Mar 12, 2024
The 2D Special Euclidean Group SE(2)
Feb 12, 2024
The Non-Zero Quaternions as a Lie Group
Oct 11, 2022
The Unscented Transform
Jul 26, 2022
The Lie-Theoretic Exponential is Not Surjective in General
May 5, 2022
EqVIO Paper and Code
May 7, 2021
Presentation for CDC 2020
Mar 17, 2021
Ardupilot Conference Presentation: EqF VIO
Jun 1, 2020
A New Paper Accepted at IFAC
Sep 26, 2019
GIFT: General Invariant Feature Tracker