Parsimonious Mixtures of Skewed Bilinear Factor Analyzers

Mixture models which cluster skewed random matrices can often suffer from over-parameterization in the absence of performing dimension reduction. Even with the use of bilinear factor analyzers, further parameter reduction can be achieved by constraining parameters over clusters. In this manuscript propose a parsimonious family of 256 models for mixtures of skewed matrix variate bilinear factor analyzers, specifically in the case of the skew t distribution. An AECM algorithm for parameter estimation is discussed in detail. Further, extensive simulations are performed, and the method is considered in the case of the MNIST dataset and the Olivetti faces dataset.

ROScopter: A Multirotor Autopilot based on ROSflight 2.0

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.