Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with large range of applications. This paper presents novel approach to VSLAM by lifting the observer design Lie group V SLAMn(3) on which system output equivariant. The perspective gained from this analysis facilitates non-linear almost semi-globally asymptotically stable error dynamics. Simulations are pr...

In the past few decades, Transit-Oriented Development (TOD) has emerged as a popular and in uential planning concept in the United States. Physical design is an important aspect of making TOD projects work as it is a crucial means of coordinating relatively intensive land uses and multiple transportation modes. is paper analyzes seven American TOD projects in terms of urban design and conclude...

This paper examines the theory of the Phillips curve, focusing on the distinction between “formation” of inflation expectations and “incorporation” of inflation expectations. Phillips curve theory has largely focused on the former. Explaining the Phillips curve by reference to expectation formation keeps Phillips curve theory in the policy orbit of natural rate thinking where there is no welfar...