Attitude synchronization control for multi-agent systems on unit quaternions. - Pieter van Goor; Zhiyong Sun; Changbin Brad Yu (ASCC, 2017)

A Geometric Observer Design for Visual Localisation and Mapping. - Pieter van Goor; Robert E. Mahony; Tarek Hamel; Jochen Trumpf (CDC, 2019)

Attitude Observation for Second Order Attitude Kinematics. - Yonhon Ng; Pieter van Goor; Robert E. Mahony; Tarek Hamel (CDC, 2019)

An Equivariant Observer Design for Visual Localisation and Mapping. - Pieter van Goor; Robert E. Mahony; Tarek Hamel; Jochen Trumpf (CoRR, 2019)

Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces. - Pieter van Goor; Tarek Hamel; Robert E. Mahony (CDC, 2020)

Equivariant Visual Odometry in the Wild. - Robert E. Mahony; Pieter van Goor; Mina Henein; Ryan Pike; Jun Zhang; Yonhon Ng (CDC, 2020)

Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups. - Yonhon Ng; Pieter van Goor; Tarek Hamel; Robert E. Mahony (CDC, 2020)

An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance. - Pieter van Goor; Robert E. Mahony; Tarek Hamel; Jochen Trumpf (CoRR, 2020)

Event Camera Calibration of Per-pixel Biased Contrast Threshold. - Ziwei Wang 002; Yonhon Ng; Pieter van Goor; Robert E. Mahony (CoRR, 2020)

Autonomous Error and Constructive Observer Design for Group Affine Systems. - Pieter van Goor; Robert E. Mahony (CDC, 2021)

An Equivariant Filter for Visual Inertial Odometry. - Pieter van Goor; Robert E. Mahony (ICRA, 2021)

Constructive observer design for Visual Simultaneous Localisation and Mapping. - Pieter van Goor; Robert E. Mahony; Tarek Hamel; Jochen Trumpf (Autom., 2021)

Equivariant Filter Design for Discrete-time Systems. - Yixiao Ge; Pieter van Goor; Robert E. Mahony (CDC, 2022)

Observer Design for Nonlinear Systems with Equivariance. - Robert E. Mahony; Pieter van Goor; Tarek Hamel (Annu. Rev. Control. Robotics Auton. Syst., 2022)

Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors. - Matthew Hampsey; Pieter van Goor; Tarek Hamel; Robert E. Mahony (CoRR, 2022)

Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude. - Pieter van Goor; Tarek Hamel; Robert E. Mahony (CoRR, 2022)

Equivariant Filters are Equivariant. - Hiya Gada; Pieter van Goor; Ravi Banavar 001; Robert E. Mahony (CoRR, 2022)

Tracking control on homogeneous spaces: the Equivariant Regulator (EqR). - Matthew Hampsey; Pieter van Goor; Robert E. Mahony (CoRR, 2022)

Equivariant Filter for Feature-Based Homography Estimation for General Camera Motion. - Tarek Bouazza; Katrina Ashton; Pieter van Goor; Robert E. Mahony; Tarek Hamel (CDC, 2023)

A Note on the Extended Kalman Filter on a Manifold. - Yixiao Ge; Pieter van Goor; Robert E. Mahony (CDC, 2023)

Reprojection Methods for Koopman-Based Modelling and Prediction. - Pieter van Goor; Robert E. Mahony; Manuel Schaller; Karl Worthmann (CDC, 2023)

Nonlinear constructive observer design for direct homography estimation. - Tarek Bouazza; Pieter van Goor; Robert E. Mahony; Tarek Hamel (CoRR, 2023)

Event Blob Tracking: An Asynchronous Real-Time Algorithm. - Ziwei Wang 002; Timothy Molloy; Pieter van Goor; Robert E. Mahony (CoRR, 2023)

Constructive Equivariant Observer Design for Inertial Navigation. - Pieter van Goor; Tarek Hamel; Robert E. Mahony (CoRR, 2023)

Equivariant Symmetries for Inertial Navigation Systems. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Robert E. Mahony; Stephan Weiss 002 (CoRR, 2023)

Exploiting spatial group error and synchrony for a unicycle tracking controller. - Matthew Hampsey; Pieter van Goor; Robert E. Mahony (CoRR, 2023)

Equivariant Observers for Second-Order Systems on Matrix Lie Groups. - Yonhon Ng; Pieter van Goor; Tarek Hamel; Robert E. Mahony (IEEE Trans. Autom. Control., 2023)

Equivariant Filter (EqF). - Pieter van Goor; Tarek Hamel; Robert E. Mahony (IEEE Trans. Autom. Control., 2023)

EqVIO: An Equivariant Filter for Visual-Inertial Odometry. - Pieter van Goor; Robert E. Mahony (IEEE Trans. Robotics, 2023)

Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry. - Pieter van Goor; Robert E. Mahony (CDC, 2024)

Spatial group error and synchrony for tracking control of left-invariant kinematic systems on Lie groups. - Matthew Hampsey; Pieter van Goor; Robert E. Mahony (CDC, 2024)

An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Martin Scheiber; Andrew Tridgell; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2024)

Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups. - Matthew Hampsey; Pieter van Goor; Ravi Banavar 001; Robert E. Mahony (CoRR, 2024)

Geometric Data Fusion for Collaborative Attitude Estimation. - Yixiao Ge; Behzad Zamani; Pieter van Goor; Jochen Trumpf; Robert E. Mahony (CoRR, 2024)

A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. - Yixiao Ge; Pieter van Goor; Robert E. Mahony (IEEE Control. Syst. Lett., 2024)

Unified Feedback Linearization for Nonlinear Systems With Dexterous and Energy-Saving Modes. - Mirko Mizzoni; Pieter van Goor; Antonio Franchi (IEEE Control. Syst. Lett., 2024)

Constructive synchronous observer design for inertial navigation with delayed GNSS measurements. - Pieter van Goor; Punjaya Wickramasinghe; Matthew Hampsey; Robert E. Mahony (Eur. J. Control, 2024)

Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment. - Tomas Lopes de Oliveira; Pieter van Goor; Tarek Hamel; Robert E. Mahony; Claude Samson (Eur. J. Control, 2024)

Asynchronous Blob Tracker for Event Cameras. - Ziwei Wang 002; Timothy Molloy; Pieter van Goor; Robert E. Mahony (IEEE Trans. Robotics, 2024)

MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. - Alessandro Fornasier; Pieter van Goor; Eren Allak; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2024)

Synchronous observer design for Inertial Navigation Systems with almost-global convergence. - Pieter van Goor; Tarek Hamel; Robert E. Mahony (Autom., 2025)

Equivariant Filter Design for Range-only SLAM. - Yixiao Ge; Arthur Pearce; Pieter van Goor; Robert E. Mahony (CoRR, 2025)

Synchronous Models and Fundamental Systems in Observer Design. - Pieter van Goor; Robert E. Mahony (CoRR, 2025)

The Geometry of Extended Kalman Filters on Manifolds with Affine Connection. - Yixiao Ge; Pieter van Goor; Robert E. Mahony (CoRR, 2025)

Maximum-likelihood reprojections for reliable Koopman-based predictions and bifurcation analysis of parametric dynamical systems. - Pieter van Goor; Robert E. Mahony; Manuel Schaller; Karl Worthmann (CoRR, 2025)

The Difference between the Left and Right Invariant Extended Kalman Filter. - Yixiao Ge; Giulio Delama; Martin Scheiber; Alessandro Fornasier; Pieter van Goor; Stephan Weiss 002; Robert E. Mahony (CoRR, 2025)