Robert E. Mahony

According to our database1, Robert E. Mahony authored at least 170 papers between 1995 and 2020.

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Awards

IEEE Fellow

IEEE Fellow 2017, "For contributions to control aspects of aerial robotics".

Timeline

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Bibliography

2020
Event Camera Calibration of Per-pixel Biased Contrast Threshold.
CoRR, 2020

An Asynchronous Kalman Filter for Hybrid Event Cameras.
CoRR, 2020

Equivariant Filter (EqF).
CoRR, 2020

Robust Ego and Object 6-DoF Motion Estimation and Tracking.
CoRR, 2020

Equivariant Systems Theory and Observer Design.
CoRR, 2020

Constructive Observer Design for Visual Simultaneous Localisation and Mapping.
CoRR, 2020

An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance.
CoRR, 2020

VDO-SLAM: A Visual Dynamic Object-aware SLAM System.
CoRR, 2020

Equivariant Filter Design for Kinematic Systems on Lie Groups.
CoRR, 2020

How to Train Your Event Camera Neural Network.
CoRR, 2020

Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization.
Autom., 2020

Fast Image Reconstruction with an Event Camera.
Proceedings of the IEEE Winter Conference on Applications of Computer Vision, 2020

LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Dynamic SLAM: The Need For Speed.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Reducing the Sim-to-Real Gap for Event Cameras.
Proceedings of the Computer Vision - ECCV 2020, 2020

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)<sup>n</sup>.
Proceedings of the Computer Vision - ECCV 2020, 2020

Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Equivariant Visual Odometry in the Wild.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

2019
Asynchronous Spatial Image Convolutions for Event Cameras.
IEEE Robotics Autom. Lett., 2019

An Equivariant Observer Design for Visual Localisation and Mapping.
CoRR, 2019

Learning Real-time Closed Loop Robotic Reaching from Monocular Vision by Exploiting A Control Lyapunov Function Structure.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Waypoint Planning for Autonomous Aerial Inspection of Large-Scale Solar Farms.
Proceedings of the IECON 2019, 2019

CED: Color Event Camera Dataset.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019

Attitude Observation for Second Order Attitude Kinematics.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

A novel passivity-based trajectory tracking control for conservative mechanical systems.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

A Geometric Observer Design for Visual Localisation and Mapping.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

2018
Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements.
IEEE Trans. Robotics, 2018

The Role of Symmetry in Rigidity Analysis: A Tool for Network Localization and Formation Control.
IEEE Trans. Autom. Control., 2018

Computing Spatial Image Convolutions for Event Cameras.
CoRR, 2018

Simultaneous Localization and Mapping with Dynamic Rigid Objects.
CoRR, 2018

Output regulation for systems on matrix Lie-groups.
Autom., 2018

Vision Based Forward Sensitive Reactive Control for a Quadrotor VTOL.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

On the structure of kinematic systems with complete symmetry.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

A Geometric Observer for Scene Reconstruction Using Plenoptic Cameras.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Homography estimation of a moving planar scene from direct point correspondence.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Continuous-Time Intensity Estimation Using Event Cameras.
Proceedings of the Computer Vision - ACCV 2018, 2018

Calibrating Light-Field Cameras Using Plenoptic Disc Features.
Proceedings of the 2018 International Conference on 3D Vision, 2018

2017
Thrust Control for Multirotor Aerial Vehicles.
IEEE Trans. Robotics, 2017

Spherepix: A Data Structure for Spherical Image Processing.
IEEE Robotics Autom. Lett., 2017

Exploring the effect of meta-structural information on the global consistency of SLAM.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

3D tracking of water hazards with polarized stereo cameras.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

A discrete-time attitude observer on SO(3) for vision and GPS fusion.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

A geometric nonlinear observer for simultaneous localisation and mapping.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Explicit complementary observer design on Special Linear Group SL(3) for homography estimation using conic correspondences.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016
Modeling and Control of Aerial Robots.
Proceedings of the Springer Handbook of Robotics, 2016

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots.
IEEE Trans. Syst. Man Cybern. Syst., 2016

Dynamic Kinesthetic Boundary for Haptic Teleoperation of VTOL Aerial Robots in Complex Environments.
IEEE Trans. Syst. Man Cybern. Syst., 2016

A Passivity-Based Approach to Formation Control Using Partial Measurements of Relative Position.
IEEE Trans. Autom. Control., 2016

Second-Order-Optimal Minimum-Energy Filters on Lie Groups.
IEEE Trans. Autom. Control., 2016

A Filter Formulation for Computing Real Time Optical Flow.
IEEE Robotics Autom. Lett., 2016

Output Regulation for Systems on Matrix Lie-group.
CoRR, 2016

Feature-based Recursive Observer Design for Homography Estimation.
CoRR, 2016

State estimation for invariant systems on Lie groups with delayed output measurements.
Autom., 2016

Velocity aided attitude estimation for aerial robotic vehicles using latent rotation scaling.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Output regulation on the Special Euclidean Group SE(3).
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015
Nonlinear Attitude Filtering: A Comparison Study.
CoRR, 2015

Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs.
Autom., 2015

State estimation for nonlinear systems with delayed output measurements.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Observer design for position and velocity bias estimation from a single direction output.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Adding an integrator for output regulation of systems with matrix Lie-group states.
Proceedings of the American Control Conference, 2015

Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements.
Proceedings of the American Control Conference, 2015

2014
Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles.
IEEE Trans. Control. Syst. Technol., 2014

Approach maneuvers for autonomous landing using visual servo control.
IEEE Trans. Aerosp. Electron. Syst., 2014

An intuitive multimodal haptic interface for teleoperation of aerial robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Aerodynamic power control for multirotor aerial vehicles.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Velocity aided attitude estimation on SO(3) with sensor delay.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

On the distance to optimality of the geometric approximate minimum-energy attitude filter.
Proceedings of the American Control Conference, 2014

Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle.
Proceedings of the 2014 IEEE Conference on Control Applications, 2014

2013
Minimum-Energy Filtering for Attitude Estimation.
IEEE Trans. Autom. Control., 2013

Observers for Kinematic Systems with Symmetry.
Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems, 2013

Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Dynamic kinesthetic boundary for haptic teleoperation of aerial robotic vehicles.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Visuo-inertial fusion for homography-based filtering and estimation.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Image-based visual navigation for mobile robots.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Representation of vehicle dynamics in haptic teleoperation of aerial robots.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

An Extrinsic Look at the Riemannian Hessian.
Proceedings of the Geometric Science of Information - First International Conference, 2013

A bondgraph approach to formation control using relative state measurements.
Proceedings of the European Control Conference, 2013

A port-Hamiltonian approach to formation control using bearing measurements and range observers.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Second-order-optimal filters on Lie groups.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Bias estimation for invariant systems on Lie groups with homogeneous outputs.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

2012
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow.
IEEE Trans. Robotics, 2012

Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements.
IEEE Trans. Autom. Control., 2012

Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation.
Robotics Auton. Syst., 2012

Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor.
IEEE Robotics Autom. Mag., 2012

Aerial Robotics and the Quadrotor [From the Guest Editors].
IEEE Robotics Autom. Mag., 2012

A port-Hamiltonian approach to image-based visual servo control for dynamic systems.
Int. J. Robotics Res., 2012

Nonlinear complementary filters on the special linear group.
Int. J. Control, 2012

A second order minimum-energy filter on the special orthogonal group.
Proceedings of the American Control Conference, 2012

2011
Near-Optimal Deterministic Filtering on the Rotation Group.
IEEE Trans. Autom. Control., 2011

Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems.
Proceedings of the Robotics Research, 2011

Aerial SLAM with a single camera using visual expectation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

A visual servoing model for generalised cameras: Case study of non-overlapping cameras.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Shadow Segmentation Using Time-of-Flight Cameras.
Proceedings of the Image Analysis and Processing - ICIAP 2011, 2011

Vision based control of aerial robotic vehicles using the port Hamiltonian framework.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Observer design on the Special Euclidean group SE(3).
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Homography estimation on the Special Linear group based on direct point correspondence.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Specularity Detection Using Time-of-Flight Cameras.
Proceedings of the Computer Analysis of Images and Patterns, 2011

Minimum-energy filtering on the unit circle.
Proceedings of the 2011 Australian Control Conference, 2011

2010
Gradient-Like Observers for Invariant Dynamics on a Lie Group.
IEEE Trans. Autom. Control., 2010

A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow.
Auton. Robots, 2010

Radiometric Range Image Filtering for Time-of-flight Cameras.
Proceedings of the VISAPP 2010 - Proceedings of the Fifth International Conference on Computer Vision Theory and Applications, Angers, France, May 17-21, 2010, 2010

The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A novel approach to haptic tele-operation of aerial robot vehicles.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A general optical flow based terrain-following strategy for a VTOL UAV using multiple views.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Near-optimal deterministic attitude filtering.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle.
IEEE Trans. Robotics, 2009

Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Sensing and Control on the Sphere.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Design principles of large quadrotors for practical applications.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Dynamic estimation of homography transformations on the special linear group for visual servo control.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A new framework for force feedback teleoperation of robotic vehicles based on optical flow.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Observers for systems with invariant outputs.
Proceedings of the European Control Conference, 2009

Gradient-Like Observers on Semidirect Products.
Proceedings of the European Control Conference, 2009

Nonlinear Image-Based Visual Servo controller for automatic landing guidance of a fixed-wing aircraft.
Proceedings of the European Control Conference, 2009

Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Near-optimal deterministic filtering on the unit circle.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Image-based visual servo control for circular trajectories for a fixed-wing aircraft.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

2008
A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence.
IEEE Trans. Robotics, 2008

A Practical Visual Servo Control for an Unmanned Aerial Vehicle.
IEEE Trans. Robotics, 2008

Nonlinear Complementary Filters on the Special Orthogonal Group.
IEEE Trans. Autom. Control., 2008

Spatio-Temporal RANSAC for Robust Estimation of Ground Plane in Video Range Images for Automotive Applications.
Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, 2008

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

A complementary filter for attitude estimation of a fixed-wing UAV.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Optimization Algorithms on Matrix Manifolds.
Princeton University Press, ISBN: 978-0-691-13298-3, 2008

2007
Image based visual servo control for a class of aerial robotic systems.
Autom., 2007

A practical Visual Servo Control for a Unmanned Aerial Vehicle.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Super-Resolution of Speed Signs in Video Sequences.
Proceedings of the International Conference on Digital Image Computing: Techniques and Applications, 2007

Attitude control of rigid body dynamics from biased IMU measurements.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Visual servoing of a VTOL vehicle using virtual states.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

2006
Stability and performance of image based visual servo control using first order spherical image moments.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Hierarchical Control Strategy for the Autonomous Navigation of a Ducted Fan Flying Robot.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Bounded Torque Control for Robot Manipulators Subject to Joint Velocity Constraints.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Attitude Estimation on SO[3] based on Direct Inertial Measurements.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Adaptive filtering and image based visual servo control of a ducted fan flying robot.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

2005
Image-based visual servo control of aerial robotic systems using linear image features.
IEEE Trans. Robotics, 2005

Convergence of the Iterates of Descent Methods for Analytic Cost Functions.
SIAM J. Optim., 2005

Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks.
Int. J. Intell. Syst. Technol. Appl., 2005

2004
Cubically Convergent Iterations for Invariant Subspace Computation.
SIAM J. Matrix Anal. Appl., 2004

Pure 2D Visual Servo Control for a Class of Under-actuated Dynamic Systems.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
The geometry of weighted low-rank approximations.
IEEE Trans. Signal Process., 2003

A bearing-only control law for stable docking of unicycles.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

2002
Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach.
IEEE Trans. Robotics Autom., 2002

A Grassmann-Rayleigh Quotient Iteration for Computing Invariant Subspaces.
SIAM Rev., 2002

The Geometry of the Newton Method on Non-Compact Lie Groups.
J. Glob. Optim., 2002

Choice of image features for depth-axis control in image based visual servo control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Visual Servo Trajectory Tracking for a Four Rotor VTOL Aerial Vehicle.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Control of a Quadrotor Helicopter using Visual Feedback.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Prior Knowledge and Preferential Structures in Gradient Descent Learning Algorithms.
J. Mach. Learn. Res., 2001

Adaptive Compensation of Aerodynamic Effects during Takeoff and Landing Manoeuvres for a Scale Model Autonomous Helicopter.
Eur. J. Control, 2001

Visual servoing using linear features for under-actuated rigid body dynamics.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Visual Servoing For A Scale Model Autonomous Helicopter.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
Lumpable hidden Markov models-model reduction and reduced complexity filtering.
IEEE Trans. Autom. Control., 2000

Identification of linear time-varying systems using a modified least-squares algorithm.
Autom., 2000

(Almost) Exact Path Tracking Control for an Autonomous Helicopter in Hover Manoeuvres.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Spectrum estimation of interleaved pulse trains.
IEEE Trans. Signal Process., 1999

1998
A Soft Output Hybrid Algorithm for ML/MAP Sequence Estimation.
IEEE Trans. Inf. Theory, 1998

1997
Output stabilization of square nonlinear systems.
Autom., 1997

1996
Interleaved Pulse Train Spectrum Estimation.
Proceedings of the Fourth International Symposium on Signal Processing and Its Applications, 1996

Hybrid Algorithms For Maximum Likelihood And Maximum A Posterior Sequence Estimation.
Proceedings of the Fourth International Symposium on Signal Processing and Its Applications, 1996

A Forward Backward Algorithm for ML State and Sequence Estimation.
Proceedings of the Fourth International Symposium on Signal Processing and Its Applications, 1996

1995
Locally C/sup 1/ interpolation of functions on an arbitrary simplex mesh using a simple feed-forward perceptron.
Proceedings of International Conference on Neural Networks (ICNN'95), Perth, WA, Australia, November 27, 1995


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