Professor Jochen Trumpf
School of Engineering
ANU College of Engineering, Computing and Cybernetics
T:
+61 2 6125 8677
Areas of expertise
- Control Systems, Robotics And Automation 090602
- Calculus Of Variations, Systems Theory And Control Theory 010203
- Optimisation 010303
Biography
Research interests:
Control theory and observer theory, optimisation on manifolds with applications in robotics, computer vision and wireless communication.
Bio:
I completed my PhD in Mathematics at the University of Würzburg in 2002. Before joining the ANU in 2003 I spent a few months as a post-doc at the Ben-Gurion University of the Negev in Beer-Sheva, Israel and at the University of Notre Dame in South Bend, IN, USA.
Publications
- Mahony, R, Hamel, T & Trumpf, J 2021, 'An homogeneous space geometry for simultaneous localisation and mapping', Annual Reviews in Control, vol. 51, pp. 254-267.
- van Goor, P, Mahony, R, Hamel, T et al. 2021, 'Constructive observer design for Visual Simultaneous Localisation and Mapping', Automatica, vol. 132.
- Hua, M, Trumpf, J, Hamel, T et al. 2020, 'Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization', Automatica, vol. 115, pp. 1-10.
- Broad, E, Sheel, M, Lazar, S et al. 2020, Starting With SOAP: rapid deployment of contract tracing in a pandemic.
- Hua, M, Trumpf, J, Hamel, T et al. 2019, 'Feature-based recursive observer design for homography estimation and its application to image stabilization', Asian Journal of Control, vol. 21, no. 4, pp. 1443-1458.
- Chirikjian, G, Mahony, R, Ruan, S et al 2018, 'Pose changes from a different point of view', Journal of Mechanisms and Robotics, vol. 10, no. 2, pp. 1-12.
- Anderson, B, Shi, G & Trumpf, J 2017, 'Convergence and State Reconstruction of Time-Varying Multi-Agent Systems from Complete Observability Theory', IEEE Transactions on Automatic Control, vol. 62, no. 5, pp. 2519-2523pp.
- Trumpf, J & Trentelman, H 2017, 'A converse to the deterministic separation principle', Systems and Control Letters, vol. 101, pp. 2-9.
- Khosravian, A, Trumpf, J, Mahony, R et al 2016, 'State estimation for invariant systems on Lie groups with delayed output measurements', Automatica, vol. 68, pp. 254-265.
- Saccon, A, Trumpf, J, Mahony, R et al 2016, 'Second-order-optimal minimum-energy filters on Lie groups', IEEE Transactions on Automatic Control, vol. 61, no. 10, pp. 2906-2919.
- Aftab, K, Hartley, R & Trumpf, J 2015, 'Generalized weiszfeld algorithms for Lq optimization', IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 37, no. 4, pp. 728-745.
- Trumpf, J 2015, 'On state observers-Take 2', in Belur, M.N., Camlibel, M.K., Rapisarda, P., Scherpen, J.M.A (ed.), Mathematical Control Theory II, Springer, New York, pp. 231-242pp.
- Nasihatkon, B, Hartley, R & Trumpf, J 2015, 'A Generalized Projective Reconstruction Theorem and Depth Constraints for Projective Factorization', International Journal of Computer Vision, vol. 115, no. 2, pp. 87-114.
- Aftab, K, Hartley, R & Trumpf, J 2015, 'L-q-Closest-Point to Affine Subspaces Using the Generalized Weiszfeld Algorithm', International Journal of Computer Vision, vol. 114, no. 1, pp. 1-15pp.
- Khosravian Hemami, A, Trumpf, J, Mahony, R et al 2015, 'Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs', Automatica, vol. 55, pp. 19-26.
- Blumthaler, I & Trumpf, J 2014, 'A new parametrization of linear observers', IEEE Transactions on Automatic Control, vol. 59, no. 7, pp. 1778-1788.
- Trumpf, J, Trentelman, H & Willems, J 2014, 'Internal model principles for observers', IEEE Transactions on Automatic Control, vol. 59, no. 7, pp. 1737-1749.
- Zamani, M, Trumpf, J & Mahony, R 2013, 'Minimum-energy filtering for attitude estimation', IEEE Transactions on Automatic Control, vol. 58, no. 11, pp. 2917-2921.
- Hartley, R, Trumpf, J, Dai, Y et al 2013, 'Rotation averaging', International Journal of Computer Vision, vol. 103, no. 3, pp. 267-305.
- Hueper, K & Trumpf, J (eds.) 2013, Mathematical System Theory: Festschrift in Honor of Uwe Helmke on the Occasion of his Sixtieth Birthday, Printed by CreateSpace.
- Trumpf, J 2013, 'On state observers', in Knut Hueper, Jochen Trumpf (eds.), Mathematical System Theory: Festschrift in Honor of Uwe Helmke on the Occasion of his Sixtieth Birthday, Printed by CreateSpace, pp. 421-435.
Projects and Grants
Grants information is drawn from ARIES. To add or update Projects or Grants information please contact your College Research Office.
- LE230100058: National Facility for Electricity Grid Security and Resilience Research (Secondary Investigator)
- Variable topology distributed collaborative localisation and control: sub-contract (Secondary Investigator)
- Control of Network Systems with Signed Dynamical Interconnections (Secondary Investigator)
- Collaborative positioning algorithms for heterogeneous multi vehicle scenarios with equipment loans (Primary Investigator)
- Defence Staff PhD Agreement - Joyce Mau (Secondary Investigator)
