Louis Whitcomb — accepted AI-conference papers

2026

Nullspace Adaptive Velocity Controller for Ground Vehicles: Theory and Experimental Evaluation

Allan Elsberry, Jeremy Dawkins, Louis Whitcomb

ICRA 2026poster

We report a novel stable Model-Based Adaptive Velocity Tracking Controller (AVTC) for ground vehicles capable of asymptotically exactly tracking longitudinal and yaw reference velocities and simultaneously adaptively identifying unknown plant parameters and actuator parameters. The reported AVTC is …

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2018

Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results

Andrew Spielvogel, Louis Whitcomb

RSS 2018poster

This paper reports an adaptive sensor bias estimator and attitude observer operating directly on SO(3) for true-North gyrocompass systems that utilize six-degree of freedom inertial measurement units (IMUs) with three-axis accelerometers and three-axis gyroscopes (without magnetometers). Most presen…

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