Books

[B1] K. Hüper and J. Trumpf, editors. Mathematical System Theory -- Festschrift in Honor of Uwe Helmke on the Occasion of his Sixtieth Birthday. CreateSpace, 2013. [ .pdf ]

Book chapters

[Ch4] M. Harandi, R. Hartley, M. Salzmann, and J. Trumpf. Dictionary learning on Grassmann manifolds. In H.Q. Minh and V. Murino, editors, Advances in Riemannian Geometry and Applications For Machine Learning, Computer Vision, Statistics, and Optimization, pages 145--172. Springer, 2016.
[Ch3] J. Trumpf. On state observers -- Take 2. In M.N. Belur, M.K. Camlibel, P. Rapisarda, and J.M.A. Scherpen, editors, Mathematical Control Theory II: Behavioral Systems and Robust Control, pages 231--242. Springer, 2015. [ .pdf ]
[Ch2] J. Trumpf. On state observers. In K. Hüper and J. Trumpf, editors, Mathematical System Theory -- Festschrift in Honor of Uwe Helmke on the Occasion of his Sixtieth Birthday, pages 421--435. CreateSpace, 2013. [ .pdf ]
[Ch1] U. Helmke and J. Trumpf. Conditioned invariant subspaces and the geometry of nilpotent matrices. In W.P. Dayawansa, A. Lindquist, and Y. Zhou, editors, New Directions and Applications in Control Theory, volume 321 of Lecture Notes in Control and Information Sciences, pages 123--164. Springer, 2005. [ DOI | .pdf ]

Journal papers

[J21] B.D.O. Anderson, G. Shi, and J. Trumpf. Convergence and state reconstruction of time-varying multi-agent systems from complete observability theory. IEEE Transactions on Automatic Control, 62:2519--2523, 2017. [ DOI | .pdf ]
[J20] J. Trumpf and H.L. Trentelman. A converse to the deterministic separation principle. Systems and Control Letters, 101:2--9, 2017. [ DOI | .pdf ]
[J19] A. Khosravian, J. Trumpf, R. Mahony, and T. Hamel. State estimation for invariant systems on Lie groups with delayed output measurements. Automatica, 68:254--265, 2016. [ DOI | .pdf ]
[J18] A. Saccon, J. Trumpf, R. Mahony, and A.P. Aguiar. Second-order-optimal minimum-energy filters on Lie groups. IEEE Transactions on Automatic Control, 61:2906--2919, 2016. [ DOI | .pdf ]
[J17] K. Aftab, R. Hartley, and J. Trumpf. Generalized Weiszfeld algorithms for Lq optimization. IEEE Transactions on Pattern Analysis and Machine Intelligence, 37:728--745, 2015. [ DOI | .pdf ]
[J16] K. Aftab, R. Hartley, and J. Trumpf. Lq-closest-point to affine subspaces using the generalized Weiszfeld algorithm. International Journal of Computer Vision, 114:1--15, 2015. [ DOI | .pdf ]
[J15] A. Khosravian, J. Trumpf, R. Mahony, and C. Lageman. Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs. Automatica, 55:19--26, 2015. [ DOI | .pdf ]
[J14] B. Nasihatkon, R. Hartley, and J. Trumpf. A generalized projective reconstruction theorem and depth constraints for projective factorization. International Journal of Computer Vision, 115:87--114, 2015. [ DOI | .pdf ]
[J13] I. Blumthaler and J. Trumpf. A new parametrization of linear observers. IEEE Transactions on Automatic Control, 59:1778--1788, 2014. [ DOI | .pdf ]
[J12] J. Trumpf, H.L. Trentelman, and J.C. Willems. Internal model principles for observers. IEEE Transactions on Automatic Control, 59:1737--1749, 2014. [ DOI | .pdf ]
[J11] R. Hartley, J. Trumpf, Y. Dai, and H. Li. Rotation averaging. International Journal of Computer Vision, 103:267--305, 2013. [ DOI | .pdf ]
[J10] M. Zamani, J. Trumpf, and R. Mahony. Minimum-energy filtering for attitude estimation. IEEE Transactions on Automatic Control, 58:2917--2921, 2013. [ DOI | .pdf ]
[J9] J. Trumpf, R. Mahony, T. Hamel, and C. Lageman. Analysis of non-linear attitude observers for time-varying reference measurements. IEEE Transactions on Automatic Control, 57:2789--2800, 2012. [ DOI | .pdf ]
[J8] M. Zamani, J. Trumpf, and R. Mahony. Near-optimal deterministic filtering on the rotation group. IEEE Transactions on Automatic Control, 56(6):1411--1414, 2011. [ DOI | .pdf ]
[J7] C. Lageman, J. Trumpf, and R. Mahony. Gradient-like observers for invariant dynamics on a Lie group. IEEE Transactions on Automatic Control, 55(2):367--377, 2010. [ DOI | .pdf ]
[J6] R. Somaraju and J. Trumpf. Degrees of freedom of a communication channel: using DOF singular values. IEEE Transactions on Information Theory, 56(4):1560--1573, 2010. [ DOI | .pdf ]
[J5] R. Hutchinson, R. Smarandache, and J. Trumpf. On superregular matrices and MDP convolutional codes. Linear Algebra and its Applications, 428(11--12):2585--2596, 2008. [ DOI | .pdf ]
[J4] J. Trumpf. Observers for linear time-varying systems. Linear Algebra and its Applications, 425(2--3):303--312, 2007. [ DOI | .pdf ]
[J3] P.A. Fuhrmann and J. Trumpf. On observability subspaces. International Journal of Control, 79(10):1157--1195, 2006. [ DOI | .pdf ]
[J2] R. Somaraju and J. Trumpf. Frequency, temperature and salinity variation of the permittivity of seawater. IEEE Transactions on Antennas and Propagation, 54(11):3441--3448, 2006. [ DOI | .pdf ]
[J1] J. Trumpf, U. Helmke, and P.A. Fuhrmann. Towards a compactification of the set of conditioned invariant subspaces. Systems and Control Letters, 48(2):101--111, 2003. [ DOI | .pdf ]

Conference papers

[C50] G.S. Chirikjian, R. Mahony, S. Ruan, and J. Trumpf. Pose changes from a different point of view. In Proceedings of the ASME International Design Engineering Technical Conferences (IDETC), to appear. Accepted for publication 05 April 2017.
[C49] M.-D. Hua, J. Trumpf, T. Hamel, R. Mahony, and P. Morin. Point and line feature-based observer design on SL(3) for homography estimation and its application to image stabilization. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), to appear. Accepted for publication 16 January 2017.
[C48] G. Stacey, R. Mahony, and J. Trumpf. Generalised rigidity and path-rigidity for agent formations. In Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS), pages 242--249, 2016. [ .pdf ]
[C47] M.-D. Hua, T. Hamel, R. Mahony, and J. Trumpf. Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space. In Proceedings of the 54th IEEE Conference on Decision and Control (CDC), pages 2139--2145, 2015. [ DOI | .pdf ]
[C46] A. Khosravian, J. Trumpf, and R. Mahony. State estimation for nonlinear systems with delayed output measurements. In Proceedings of the 54th IEEE Conference on Decision and Control (CDC), pages 6330--6335, 2015. [ DOI | .pdf ]
[C45] A. Khosravian, J. Trumpf, R. Mahony, and T. Hamel. Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements. In Proceedings of the American Control Conference (ACC), pages 3199--3205, 2015. [ DOI | .pdf ]
[C44] A. Khosravian, J. Trumpf, R. Mahony, and T. Hamel. Velocity aided attitude estimation on SO(3) with sensor delay. In Proceedings of the 53rd IEEE Conference on Decision and Control (CDC), pages 114--120, 2014. [ DOI | .pdf ]
[C43] B. Nasihatkon, R. Hartley, and J. Trumpf. On projective reconstruction in arbitrary dimensions. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages 477--484, 2014. [ DOI | .pdf ]
[C42] J. Trumpf. A note on duality of control and observation. In Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS), page 1527, 2014. [ .pdf ]
[C41] M. Zamani, J. Trumpf, and R. Mahony. On the distance to optimality of the geometric approximate minimum-energy attitude filter. In Proceedings of the American Control Conference (ACC), pages 4943--4948, 2014. [ DOI | .pdf ]
[C40] P.-A. Absil, R. Mahony, and J. Trumpf. An extrinsic look at the Riemannian hessian. In Proceedings of the SEE International Conference on Geometric Science of Information (GSI), pages 361--368, 2013. [ .pdf ]
[C39] A. Amirsadri, A. Bishop, J. Kim, J. Trumpf, and L. Petersson. Consistency analysis for data fusion: Determining when the unknown correlation can be ignored. In Proceedings of the International Conference on Control, Automation and Information Sciences (ICCAIS), pages 97--102, 2013. [ DOI | .pdf ]
[C38] A. Khosravian, J. Trumpf, R. Mahony, and C. Lageman. Bias estimation for invariant systems on Lie groups with homogeneous outputs. In Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), pages 4454--4460, 2013. [ DOI | .pdf ]
[C37] A. Kingston, A. Maniotis, T. Varslot, G. Myers, A. Sheppard, J. Trumpf, and R. Hartley. Geometric alignment of helical tomographic projection data using Pi-lines. In Proceedings of the 1st International Conference on Tomography of Materials and Structures (ICTMS), pages 101 -- 104, 2013. [ .pdf ]
[C36] R. Mahony, J. Trumpf, and T. Hamel. Observers for kinematic systems with symmetry. In Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS), pages 617--633, 2013. [ .pdf ]
[C35] A. Saccon, J. Trumpf, R. Mahony, and A.P. Aguiar. Second-order-optimal filters on Lie groups. In Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), pages 4434--4441, 2013. [ DOI | .pdf ]
[C34] A. Amirsadri, A. Bishop, J. Kim, J. Trumpf, and L. Petersson. A computationally efficient low-bandwidth method for very-large-scale mapping of road signs with multiple vehicles. In Proceedings of the 15th International Conference on Information Fusion, pages 1351--1358, 2012. [ .pdf ]
[C33] A. Amirsadri, J. Kim, L. Petersson, and J. Trumpf. Practical considerations in precise calibration of a low-cost MEMS IMU for road-mapping applications. In Proceedings of the 2012 American Control Conference (ACC), pages 881--888, 2012. [ DOI | .pdf ]
[C32] I. Blumthaler and J. Trumpf. A new parametrization of observers. In Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2012. Paper no. 99 (no pagination). [ .pdf ]
[C31] M. Zamani, M.-D. Hua, J. Trumpf, and R. Mahony. Minimum-energy filtering on the unit circle using velocity measurements with bias and vectorial state measurements. In Proceedings of the Australian Control Conference (AUCC), pages 280--285, 2012. [ .pdf ]
[C30] M. Zamani, J. Trumpf, and R. Mahony. Minimum-energy pose filtering on the special euclidean group. In Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2012. Paper no. 189 (no pagination). [ .pdf ]
[C29] M. Zamani, J. Trumpf, and R. Mahony. A second order minimum-energy filter on the special orthogonal group. In Proceedings of the American Control Conference (ACC), pages 1895--1900, 2012. [ DOI | .pdf ]
[C28] T. Hamel, R. Mahony, J. Trumpf, P. Morin, and M.-D. Hua. Homography estimation on the Special Linear Group based on direct point correspondence. In Proceedings of the 50th IEEE Conference on Decision and Control (CDC), pages 7902--7908, 2011. [ DOI | .pdf ]
[C27] R. Hartley, K. Aftab, and J. Trumpf. L1-rotation averaging using the Weiszfeld algorithm. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages 3041 -- 3048, 2011. [ DOI | .pdf ]
[C26] M.-D. Hua, M. Zamani, J. Trumpf, R. Mahony, and T. Hamel. Observer design on the Special Euclidean group SE(3). In Proceedings of the 50th IEEE Conference on Decision and Control (CDC), pages 8169--8175, 2011. [ DOI | .pdf ]
[C25] R. Mahony, S. Stramigioli, and J. Trumpf. Vision based control of aerial robotic vehicles using the port Hamiltonian framework. In Proceedings of the 50th IEEE Conference on Decision and Control (CDC), pages 3526--3532, 2011. [ DOI | .pdf ]
[C24] J. Trumpf, H.L. Trentelman, and J.C. Willems. An internal model principle for observers. In Proceedings of the 50th IEEE Conference on Decision and Control (CDC), pages 3992--3999, 2011. [ DOI | .pdf ]
[C23] M. Zamani, J. Trumpf, and R. Mahony. Minimum-energy filtering on the unit circle. In Proceedings of the Australian Control Conference (AUCC), pages 236--241, 2011. [ .pdf ]
[C22] R. Hartley, J. Trumpf, and Y. Dai. Rotation averaging and weak convexity. In Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems (MTNS), pages 2435--2442, 2010. [ .pdf ]
[C21] J. Trumpf and R. Mahony. A converse Liapunov theorem for uniformly locally exponentially stable systems admitting Carathèodory solutions. In Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), pages 1374--1378, 2010. [ .pdf ]
[C20] J. Trumpf, R. Mahony, and S. Stramigioli. Error models for nonlinear observers. In Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems (MTNS), pages 1123--1127, 2010. [ .pdf ]
[C19] M. Zamani, J. Trumpf, and R. Mahony. Near-optimal deterministic attitude filtering. In Proceedings of the 49th IEEE Conference on Decision and Control (CDC), pages 6511--6516, 2010. [ DOI | .pdf ]
[C18] G. Baldwin, R. Mahony, and J. Trumpf. A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2237--2242, 2009. [ DOI | .pdf ]
[C17] P. Coote, J. Trumpf, R. Mahony, and J.C. Willems. Near-optimal deterministic filtering on the unit circle. In Proceedings of the 48th IEEE Conference on Decision and Control (CDC), pages 5490--5495, 2009. [ DOI | .pdf ]
[C16] Y. Dai, J. Trumpf, H. Li, N. Barnes, and R. Hartley. Rotation averaging with application to camera-rig calibration. In Proceedings of the ninth Asian Conference on Computer Vision (ACCV), Part II, pages 335--346, 2009. [ DOI | .pdf ]
[C15] C. Lageman, J. Trumpf, and R. Mahony. Gradient-like observers on semidirect products. In Proceedings of the European Control Conference (ECC), pages 3973--3977, 2009. [ .pdf ]
[C14] C. Lageman, J. Trumpf, and R. Mahony. Observers for systems with invariant outputs. In Proceedings of the European Control Conference (ECC), pages 4587--4592, 2009. [ .pdf ]
[C13] R. Mahony, T. Hamel, J. Trumpf, and C. Lageman. Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study. In Proceedings of the 48th IEEE Conference on Decision and Control (CDC), pages 6407--6412, 2009. [ DOI | .pdf ]
[C12] P.Sunehag, J. Trumpf, S.V.N. Vishwanathan, and N. Schraudolph. Variable metric stochastic approximation theory. In Proceedings of the Twelfth International Conference on Artificial Intelligence and Statistics (AISTATS), pages 560--566, 2009. [ .pdf ]
[C11] D. Chik, J. Trumpf, and N.N. Schraudolph. Using a robust adaptive VAR model for motion prediction in 3D hand tracking. In Proceedings of the 8th IEEE International Conference on Automatic Face and Gesture Recognition (FG), 2008. Paper no. 164 (no pagination). [ DOI | .pdf ]
[C10] C. Lageman, R. Mahony, and J. Trumpf. State observers for invariant dynamics on a Lie group. In Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2008. 8 pages (no pagination). [ .pdf ]
[C9] R. Mahony, M. Atif, and J. Trumpf. Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback. In Proceedings of the 47th IEEE Conference on Decision and Control (CDC), pages 3457--3462, 2008. [ DOI | .pdf ]
[C8] G. Baldwin, R. Mahony, J. Trumpf, T. Hamel, and T. Cheviron. Complementary filter design on the Special Euclidean group SE(3). In Proceedings of the European Control Conference (ECC), pages 3763--3770, 2007. [ .pdf ]
[C7] D. Chik, J. Trumpf, and N.N. Schraudolph. 3D hand tracking in a stochastic approximation setting. In Proceedings of the 2nd workshop on Human Motion -- Understanding, Modeling, Capture and Animation, volume 4814 of Lecture Notes in Computer Science, pages 136--151. Springer, 2007. [ DOI | .pdf ]
[C6] J. Trumpf, J. Manton, and R. Mahony. Curvature based updates for optimization problems on a hypersurface. In Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS), pages 1408--1411, 2006. [ .pdf ]
[C5] F. Schill, U.R. Zimmer, and J. Trumpf. Towards optimal TDMA scheduling for robotic swarm communication. In Proceedings of the Conference Towards Autonomous Robotic Systems (TAROS), pages 197--203, 2005. [ .pdf ]
[C4] K. Hüper and J. Trumpf. Newton-like methods for numerical optimization on manifolds. In Conference Record of the Thirty-Eighth Asilomar Conference on Signals, Systems and Computers, volume 1, pages 136--139, 2004. [ DOI | .pdf ]
[C3] R. Hutchinson and J. Trumpf. On superregular matrices. In Proceedings of the 16th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2004. Paper no. MSC-152 (no pagination). [ .pdf ]
[C2] F. Schill, U.R. Zimmer, and J. Trumpf. Visible spectrum optical communication and distance sensing for underwater applications. In Proceedings of the Australasian Conference on Robotics and Automation (ACRA), 2004. 8 pages (no pagination). [ .pdf ]
[C1] J. Trumpf. Observers for linear time-varying systems. In Proceedings of the 16th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2004. Paper no. MSC-407 (no pagination). [ .pdf ]

Other publications

[O16] P.-A. Absil, J. Trumpf, R. Mahony, and B. Andrews. All roads lead to Newton: Feasible second-order methods for equality-constrained optimization. Technical Report UCL-INMA-2009.024, Université catholique de Louvain, Ingénierie mathématique, 2009. [ .pdf ]
[O15] C. Lageman, R. Mahony, J. Trumpf, and T. Hamel. Convergence of gradient-type observers for invariant systems on SO(n). Book of abstracts, SIAM Conference on Control and Its Applications, 2009. [ Abstract ]
[O14] K. Hüper and J. Trumpf. Invariance properties of Newton-type methods on reductive homogeneous spaces. Book of Abstracts, Ninth SIAM Conference on Optimization, 2008. [ Abstract ]
[O13] R. Somaraju and J. Trumpf. Generalized singular values. Book of Abstracts, The XIX-th International Workshop on on Operator Theory and its Applications (IWOTA), 2008. [ Abstract ]
[O12] J. Trumpf. Observers, invariance and autonomy. Book of abstracts, A workshop on linear systems theory: model reduction (LinSys), 2008. [ Slides | Abstract ]
[O11] P. Sunehag, J. Trumpf, N. Schraudolph, and L. Bottou. Convergence theory for stochastic quasi-Newton methods. Poster at The Snowbird Learning Workshop, 2007. [ .pdf ]
[O10] J. Trumpf. Applications of geometric optimisation techniques to engineering problems. Invited opening lecture, Optimization on manifolds: CDC 2007 pre-conference workshop, December 2007. [ Slides ]
[O9] J. Trumpf and J.C. Willems. An internal model principle for observers. Book of Abstracts, Characteristic Functions and Transfer Functions in Operator Theory and System Theory: a conference dedicated to Paul Fuhrmann on his 70th anniversary and to the memory of Moshe Livsic on his 90th anniversary, July 2007. [ Slides | Abstract ]
[O8] J. Trumpf. Applications of geometric optimisation techniques to engineering problems. Book of Abstracts, 50th Annual Meeting of the Australian Mathematical Society (AustMS), 2006. Invited keynote talk in Special Session “Variational Analysis and Optimization”. [ Slides | Abstract ]
[O7] J. Trumpf. Observers for linear systems. Book of Abstracts, Foundations of Computational Mathematics (FoCM), 2005. Invited talk in Workshop “Mathematical Control Theory and Applications”. [ Abstract ]
[O6] J. Trumpf and K. Hüper. Newton-type methods on Stiefel manifolds. Book of Abstracts, Eighth SIAM Conference on Optimization, 2005. [ Slides | Abstract ]
[O5] R. Hutchinson, J. Trumpf, and J. Rosenthal. Superregular matrices and their importance in convolutional coding theory. Book of Abstracts, 11th Conference of the International Linear Algebra Society (ILAS), 2004. [ Abstract ]
[O4] J. Manton and J. Trumpf. Transporting iterative algorithms from Euclidean space to manifolds. Book of Abstracts, 6th International Conference on Optimization: Techniques and Applications (ICOTA), 2004. [ Slides | Abstract ]
[O3] J. Trumpf. A Bruhat type decomposition of the set of conditioned invariant subspaces. Book of Abstracts, 11th Conference of the International Linear Algebra Society (ILAS), 2004. [ Slides | Abstract ]
[O2] J. Trumpf. On the geometry and parametrization of almost invariant subspaces and observer theory. PhD thesis, Universität Würzburg, Germany, 2002. [ .pdf | Abstract ]
[O1] J. Trumpf and U. Helmke. A manifold structure on the set of functional observers. Book of Abstracts, 15th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 2002. [ Slides | Abstract ]