Collections of notes and slides. Sensor Calibration Observability Analysis (Last updated: October 22nd, 2025) View PDF Lie Groups in Robot Navigation (Last updated: October 22nd, 2025) View PDF Getting things straight with Mahalanobis distance (Last updated: August 17th, 2023) View PDF Derivation of Semidefinite Relaxations of Quadratically Constrained Quadratic Programs (Last updated: February 4th, 2025) View PDF Monte Carlo Filtering Methods (A modified version of this was presented at the 2024 Montreal Robotics Summer School. Last updated: February 4th, 2025) View PDF