Numerical Gradient Algorithms for Eigenvalue and Singular Value Calculations. - John B. Moore; Robert E. Mahony; Uwe Helmke (SIAM J. Matrix Anal. Appl., 1994)

Locally C1 interpolation of functions on an arbitrary simplex mesh using a simple feed-forward perceptron. - Robert E. Mahony; John B. Moore; Lane Dailey (ICNN, 1995)

A Forward Backward Algorithm for ML State and Sequence Estimation. - Gary D. Brushe; Robert E. Mahony; John B. Moore (ISSPA, 1996)

Hybrid Algorithms For Maximum Likelihood And Maximum A Posterior Sequence Estimation. - Robert E. Mahony; Gary D. Brushe; John B. Moore (ISSPA, 1996)

Interleaved Pulse Train Spectrum Estimation. - Robert Orsi; John B. Moore; Robert E. Mahony (ISSPA, 1996)

Output stabilization of square nonlinear systems. - Robert E. Mahony; Iven Mareels; Georges Bastin; Guy Campion (Autom., 1997)

A Soft Output Hybrid Algorithm for ML/MAP Sequence Estimation. - Gary D. Brushe; Robert E. Mahony; John B. Moore (IEEE Trans. Inf. Theory, 1998)

Non-smooth time-varying control for Lyapunov stabilization of the posture of the unicycle mobile robots. - Robert E. Mahony (ECC, 1999)

An energy based approach to the regulation of a model helicopter near to hover. - Robert E. Mahony; Rogelio Lozano (ECC, 1999)

Spectrum estimation of interleaved pulse trains. - Robert Orsi; John B. Moore; Robert E. Mahony (IEEE Trans. Signal Process., 1999)

Visual servoing of a class of under-actuated dynamic rigid-body systems. - Tarek Hamel; Robert E. Mahony (CDC, 2000)

An almost linear biped. - Mark W. Spong; Rogelio Lozano; Robert E. Mahony (CDC, 2000)

(Almost) Exact Path Tracking Control for an Autonomous Helicopter in Hover Manoeuvres. - Robert E. Mahony; Rogelio Lozano (ICRA, 2000)

Identification of linear time-varying systems using a modified least-squares algorithm. - Rogelio Lozano; Dimitrios Dimogianopoulos; Robert E. Mahony (Autom., 2000)

Lumpable hidden Markov models-model reduction and reduced complexity filtering. - Langford B. White; Robert E. Mahony; Gary D. Brushe (IEEE Trans. Autom. Control., 2000)

Visual Servoing For A Scale Model Autonomous Helicopter. - Abdelhamid Chriette; Tarek Hamel; Robert E. Mahony (ICRA, 2001)

Visual servoing using linear features for under-actuated rigid body dynamics. - Robert E. Mahony; Tarek Hamel (IROS, 2001)

Adaptive Compensation of Aerodynamic Effects during Takeoff and Landing Manoeuvres for a Scale Model Autonomous Helicopter. - Robert E. Mahony; Tarek Hamel (Eur. J. Control, 2001)

Prior Knowledge and Preferential Structures in Gradient Descent Learning Algorithms. - Robert E. Mahony; Robert C. Williamson (J. Mach. Learn. Res., 2001)

Visual servo control using homography estimation for the stabilization of an X4-flyer. - David Suter; Tarek Hamel; Robert E. Mahony (CDC, 2002)

Control of a Quadrotor Helicopter using Visual Feedback. - Erdinç Altug; James P. Ostrowski; Robert E. Mahony (ICRA, 2002)

Visual Servo Trajectory Tracking for a Four Rotor VTOL Aerial Vehicle. - Tarek Hamel; Robert E. Mahony; Abdelhamid Chriette (ICRA, 2002)

A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator. - Robert E. Mahony; Tarek Hamel; François Chaumette (ICRA, 2002)

Choice of image features for depth-axis control in image based visual servo control. - Robert E. Mahony; Peter Corke; François Chaumette (IROS, 2002)

The Geometry of the Newton Method on Non-Compact Lie Groups. - Robert E. Mahony; Jonathan H. Manton (J. Glob. Optim., 2002)

A Grassmann-Rayleigh Quotient Iteration for Computing Invariant Subspaces. - Pierre-Antoine Absil; Robert E. Mahony; Rodolphe Sepulchre; Paul Van Dooren (SIAM Rev., 2002)

Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach. - Tarek Hamel; Robert E. Mahony (IEEE Trans. Robotics Autom., 2002)

A Newton algorithm for invariant subspace computation with large basins of attraction. - Pierre-Antoine Absil; Rodolphe Sepulchre; Paul Van Dooren; Robert E. Mahony (CDC, 2003)

Forwarding control of scale model autonomous helicopter: a Lyapunov control design. - Fredric Mazenc; Robert E. Mahony; Rogelio Lozano (CDC, 2003)

A bearing-only control law for stable docking of unicycles. - Ran Wei; Robert E. Mahony; David Austin (IROS, 2003)

The geometry of weighted low-rank approximations. - Jonathan H. Manton; Robert E. Mahony; Yingbo Hua (IEEE Trans. Signal Process., 2003)

Pure 2D Visual Servo Control for a Class of Under-actuated Dynamic Systems. - Tarek Hamel; Robert E. Mahony (ICRA, 2004)

Cubically Convergent Iterations for Invariant Subspace Computation. - Pierre-Antoine Absil; Rodolphe Sepulchre; Paul Van Dooren; Robert E. Mahony (SIAM J. Matrix Anal. Appl., 2004)

Adaptive depth estimation in image based visual servo control of dynamic systems. - Robert E. Mahony; Arved von Brasch; Peter Corke; Tarek Hamel (CDC/ECC, 2005)

Complementary filter design on the special orthogonal group SO(3). - Robert E. Mahony; Tarek Hamel; Jean Michel Pflimlin (CDC/ECC, 2005)

Integrator Backstepping using Barrier Functions for Systems with Multiple State Constraints. - Khoi B. Ngo; Robert E. Mahony; Zhong-Ping Jiang (CDC/ECC, 2005)

Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks. - Ran Wei; David Austin; Robert E. Mahony (Int. J. Intell. Syst. Technol. Appl., 2005)

Convergence of the Iterates of Descent Methods for Analytic Cost Functions. - Pierre-Antoine Absil; Robert E. Mahony; Ben Andrews (SIAM J. Optim., 2005)

Image-based visual servo control of aerial robotic systems using linear image features. - Robert E. Mahony; Tarek Hamel (IEEE Trans. Robotics, 2005)

Adaptive filtering and image based visual servo control of a ducted fan flying robot. - Florent Le Bras; Robert E. Mahony; Tarek Hamel; Paolo Binetti (CDC, 2006)

Attitude Estimation on SO[3] based on Direct Inertial Measurements. - Tarek Hamel; Robert E. Mahony (ICRA, 2006)

Bounded Torque Control for Robot Manipulators Subject to Joint Velocity Constraints. - Khoi B. Ngo; Robert E. Mahony (ICRA, 2006)

A Hierarchical Control Strategy for the Autonomous Navigation of a Ducted Fan Flying Robot. - Jean Michel Pflimlin; Tarek Hamel; Philippe Souères; Robert E. Mahony (ICRA, 2006)

Stability and performance of image based visual servo control using first order spherical image moments. - Odile Bourquardez; Robert E. Mahony; Tarek Hamel; François Chaumette (IROS, 2006)

Visual servoing of a VTOL vehicle using virtual states. - Florent Le Bras; Tarek Hamel; Robert E. Mahony (CDC, 2007)

Attitude control of rigid body dynamics from biased IMU measurements. - Paul E. I. Pounds; Tarek Hamel; Robert E. Mahony (CDC, 2007)

Super-Resolution of Speed Signs in Video Sequences. - Faisal Mufti; Robert E. Mahony; Jonghyuk Kim (DICTA, 2007)

Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV. - Thibault Cheviron; Tarek Hamel; Robert E. Mahony; Grant Baldwin (ICRA, 2007)

A practical Visual Servo Control for a Unmanned Aerial Vehicle. - Nicolas Guenard; Tarek Hamel; Robert E. Mahony (ICRA, 2007)

Image based visual servo control for a class of aerial robotic systems. - Tarek Hamel; Robert E. Mahony (Autom., 2007)

Optimization Algorithms on Matrix Manifolds. - Pierre-Antoine Absil; Robert E. Mahony; Rodolphe Sepulchre (Princeton University Press, 2008)

Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback. - Robert E. Mahony; Muhammad Atif; Jochen Trumpf (CDC, 2008)

A complementary filter for attitude estimation of a fixed-wing UAV. - Mark Euston; Paul William Coote; Robert E. Mahony; Jonghyuk Kim; Tarek Hamel (IROS, 2008)

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow. - Bruno Hérissé; François-Xavier Russotto; Tarek Hamel; Robert E. Mahony (IROS, 2008)

Spatio-Temporal RANSAC for Robust Estimation of Ground Plane in Video Range Images for Automotive Applications. - Faisal Mufti; Robert E. Mahony; Jochen Heinzmann (ITSC, 2008)

Nonlinear Complementary Filters on the Special Orthogonal Group. - Robert E. Mahony; Tarek Hamel; Jean Michel Pflimlin (IEEE Trans. Autom. Control., 2008)

A Practical Visual Servo Control for an Unmanned Aerial Vehicle. - Nicolas Guenard; Tarek Hamel; Robert E. Mahony (IEEE Trans. Robotics, 2008)

A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence. - Chris McCarthy; Nick Barnes; Robert E. Mahony (IEEE Trans. Robotics, 2008)

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. - Sylvain Bertrand; Tarek Hamel; Hélène Piet-Lahanier; Robert E. Mahony (CDC, 2009)

Image-based visual servo control for circular trajectories for a fixed-wing aircraft. - Florent Le Bras; Tarek Hamel; Robert E. Mahony (CDC, 2009)

Near-optimal deterministic filtering on the unit circle. - Paul William Coote; Jochen Trumpf; Robert E. Mahony; Jan C. Willems (CDC, 2009)

Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study. - Robert E. Mahony; Tarek Hamel; Jochen Trumpf; Christian Lageman (CDC, 2009)

Nonlinear Image-Based Visual Servo controller for automatic landing guidance of a fixed-wing aircraft. - Florent Le Bras; Tarek Hamel; Christian Barat; Robert E. Mahony (ECC, 2009)

Gradient-Like Observers on Semidirect Products. - Christian Lageman; Jochen Trumpf; Robert E. Mahony (ECC, 2009)

Observers for systems with invariant outputs. - Christian Lageman; Jochen Trumpf; Robert E. Mahony (ECC, 2009)

A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements. - Grant Baldwin; Robert E. Mahony; Jochen Trumpf (ICRA, 2009)

A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow. - Bruno Hérissé; Tarek Hamel; Robert E. Mahony; François-Xavier Russotto (ICRA, 2009)

A new framework for force feedback teleoperation of robotic vehicles based on optical flow. - Robert E. Mahony; Felix Schill; Peter I. Corke; Yoong Siang Oh (ICRA, 2009)

Dynamic estimation of homography transformations on the special linear group for visual servo control. - Ezio Malis; Tarek Hamel; Robert E. Mahony; Pascal Morin (ICRA, 2009)

Design principles of large quadrotors for practical applications. - Paul E. I. Pounds; Robert E. Mahony (ICRA, 2009)

Sensing and Control on the Sphere. - Peter I. Corke; Robert E. Mahony (ISRR, 2009)

Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements. - Felix Schill; Robert E. Mahony; Peter I. Corke (ISRR, 2009)

Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle. - Odile Bourquardez; Robert E. Mahony; Nicolas Guenard; François Chaumette; Tarek Hamel; Laurent Eck (IEEE Trans. Robotics, 2009)

Near-optimal deterministic attitude filtering. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (CDC, 2010)

A general optical flow based terrain-following strategy for a VTOL UAV using multiple views. - Bruno Hérissé; Sophie Oustrieres; Tarek Hamel; Robert E. Mahony; François-Xavier Russotto (ICRA, 2010)

A novel approach to haptic tele-operation of aerial robot vehicles. - Stefano Stramigioli; Robert E. Mahony; Peter Corke (ICRA, 2010)

The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow. - Bruno Hérissé; Tarek Hamel; Robert E. Mahony; François-Xavier Russotto (IROS, 2010)

Radiometric Range Image Filtering for Time-of-flight Cameras. - Faisal Mufti; Robert E. Mahony (VISAPP (1), 2010)

A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow. - Bruno Hérissé; Tarek Hamel; Robert E. Mahony; François-Xavier Russotto (Auton. Robots, 2010)

Gradient-Like Observers for Invariant Dynamics on a Lie Group. - Christian Lageman; Jochen Trumpf; Robert E. Mahony (IEEE Trans. Autom. Control., 2010)

Minimum-energy filtering on the unit circle. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (AuCC, 2011)

Specularity Detection Using Time-of-Flight Cameras. - Faisal Mufti; Robert E. Mahony (CAIP (2), 2011)

Homography estimation on the Special Linear group based on direct point correspondence. - Tarek Hamel; Robert E. Mahony; Jochen Trumpf; Pascal Morin; Minh-Duc Hua (CDC/ECC, 2011)

Observer design on the Special Euclidean group SE(3). - Minh-Duc Hua; Mohammad Zamani; Jochen Trumpf; Robert E. Mahony; Tarek Hamel (CDC/ECC, 2011)

Vision based control of aerial robotic vehicles using the port Hamiltonian framework. - Robert E. Mahony; Stefano Stramigioli; Jochen Trumpf (CDC/ECC, 2011)

Shadow Segmentation Using Time-of-Flight Cameras. - Faisal Mufti; Robert E. Mahony (ICIAP (1), 2011)

A visual servoing model for generalised cameras: Case study of non-overlapping cameras. - Andrew I. Comport; Robert E. Mahony; Fabien Spindler (ICRA, 2011)

Aerial SLAM with a single camera using visual expectation. - Michael Milford; Felix Schill; Peter Corke; Robert E. Mahony; Gordon F. Wyeth (ICRA, 2011)

Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems. - Robert E. Mahony (ISRR, 2011)

Near-Optimal Deterministic Filtering on the Rotation Group. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (IEEE Trans. Autom. Control., 2011)

A second order minimum-energy filter on the special orthogonal group. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (ACC, 2012)

Nonlinear complementary filters on the special linear group. - Robert E. Mahony; Tarek Hamel; Pascal Morin; Ezio Malis (Int. J. Control, 2012)

A port-Hamiltonian approach to image-based visual servo control for dynamic systems. - Robert E. Mahony; Stefano Stramigioli (Int. J. Robotics Res., 2012)

Aerial Robotics and the Quadrotor [From the Guest Editors]. - Robert E. Mahony; Vijay Kumar 001 (IEEE Robotics Autom. Mag., 2012)

Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor. - Robert E. Mahony; Vijay Kumar 001; Peter Corke (IEEE Robotics Autom. Mag., 2012)

Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation. - Faisal Mufti; Robert E. Mahony; Jochen Heinzmann (Robotics Auton. Syst., 2012)

Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements. - Jochen Trumpf; Robert E. Mahony; Tarek Hamel; Christian Lageman (IEEE Trans. Autom. Control., 2012)

Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow. - Bruno Hérissé; Tarek Hamel; Robert E. Mahony; François-Xavier Russotto (IEEE Trans. Robotics, 2012)

Bias estimation for invariant systems on Lie groups with homogeneous outputs. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony; Christian Lageman (CDC, 2013)

Second-order-optimal filters on Lie groups. - Alessandro Saccon; Jochen Trumpf; Robert E. Mahony; A. Pedro Aguiar (CDC, 2013)

A port-Hamiltonian approach to formation control using bearing measurements and range observers. - Geoff Stacey; Robert E. Mahony (CDC, 2013)

A bondgraph approach to formation control using relative state measurements. - Geoff Stacey; Robert E. Mahony; Peter Corke (ECC, 2013)

An Extrinsic Look at the Riemannian Hessian. - Pierre-Antoine Absil; Robert E. Mahony; Jochen Trumpf (GSI, 2013)

Representation of vehicle dynamics in haptic teleoperation of aerial robots. - Xiaolei Hou; Robert E. Mahony; Felix Schill (ICRA, 2013)

Image-based visual navigation for mobile robots. - Liam O'Sullivan; Peter Corke; Robert E. Mahony (ICRA, 2013)

Visuo-inertial fusion for homography-based filtering and estimation. - Alexandre Eudes; Pascal Morin; Robert E. Mahony; Tarek Hamel (IROS, 2013)

Dynamic kinesthetic boundary for haptic teleoperation of aerial robotic vehicles. - Xiaolei Hou; Robert E. Mahony (IROS, 2013)

Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications. - Abeje Y. Mersha; Xiaolei Hou; Robert E. Mahony; Stefano Stramigioli; Peter Corke; Raffaella Carloni (IROS, 2013)

Observers for Kinematic Systems with Symmetry. - Robert E. Mahony; Jochen Trumpf; Tarek Hamel (NOLCOS, 2013)

Minimum-Energy Filtering for Attitude Estimation. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (IEEE Trans. Autom. Control., 2013)

Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle. - Guillaume Allibert; Dinuka M. W. Abeywardena; Moses Bangura; Robert E. Mahony (CCA, 2014)

On the distance to optimality of the geometric approximate minimum-energy attitude filter. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (ACC, 2014)

Velocity aided attitude estimation on SO(3) with sensor delay. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony; Tarek Hamel (CDC, 2014)

Aerodynamic power control for multirotor aerial vehicles. - Moses Bangura; Hyon Lim; H. Jin Kim; Robert E. Mahony (ICRA, 2014)

An intuitive multimodal haptic interface for teleoperation of aerial robots. - Xiaolei Hou; Robert E. Mahony (ICRA, 2014)

Approach maneuvers for autonomous landing using visual servo control. - Florent Le Bras; Tarek Hamel; Robert E. Mahony; Christian Barat; Julien Thadasack (IEEE Trans. Aerosp. Electron. Syst., 2014)

Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles. - Minh-Duc Hua; Guillaume Jacques Joseph Ducard; Tarek Hamel; Robert E. Mahony; Konrad Rudin (IEEE Trans. Control. Syst. Technol., 2014)

Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony; Tarek Hamel (ACC, 2015)

Adding an integrator for output regulation of systems with matrix Lie-group states. - Robert E. Mahony; Tarek Hamel; Lorenzo Marconi 001 (ACC, 2015)

Observer design for position and velocity bias estimation from a single direction output. - Florent Le Bras; Tarek Hamel; Robert E. Mahony; Claude Samson (CDC, 2015)

Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space. - Minh-Duc Hua; Tarek Hamel; Robert E. Mahony; Jochen Trumpf (CDC, 2015)

State estimation for nonlinear systems with delayed output measurements. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony (CDC, 2015)

Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony; Christian Lageman (Autom., 2015)

Nonlinear Attitude Filtering: A Comparison Study. - Mohammad Zamani; Jochen Trumpf; Robert E. Mahony (CoRR, 2015)

Output regulation on the Special Euclidean Group SE(3). - Simone De Marco; Lorenzo Marconi 001; Tarek Hamel; Robert E. Mahony (CDC, 2016)

Velocity aided attitude estimation for aerial robotic vehicles using latent rotation scaling. - Guillaume Allibert; Robert E. Mahony; Moses Bangura (ICRA, 2016)

State estimation for invariant systems on Lie groups with delayed output measurements. - Alireza Khosravian; Jochen Trumpf; Robert E. Mahony; Tarek Hamel (Autom., 2016)

Feature-based Recursive Observer Design for Homography Estimation. - Minh-Duc Hua; Jochen Trumpf; Tarek Hamel; Robert E. Mahony; Pascal Morin (CoRR, 2016)

Output Regulation for Systems on Matrix Lie-group. - Simone De Marco; Lorenzo Marconi 001; Tarek Hamel; Robert E. Mahony (CoRR, 2016)

A Filter Formulation for Computing Real Time Optical Flow. - Juan David Adarve; Robert E. Mahony (IEEE Robotics Autom. Lett., 2016)

Second-Order-Optimal Minimum-Energy Filters on Lie Groups. - Alessandro Saccon; Jochen Trumpf; Robert E. Mahony; A. Pedro Aguiar (IEEE Trans. Autom. Control., 2016)

A Passivity-Based Approach to Formation Control Using Partial Measurements of Relative Position. - Geoff Stacey; Robert E. Mahony (IEEE Trans. Autom. Control., 2016)

Dynamic Kinesthetic Boundary for Haptic Teleoperation of VTOL Aerial Robots in Complex Environments. - Xiaolei Hou; Robert E. Mahony (IEEE Trans. Syst. Man Cybern. Syst., 2016)

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots. - Xiaolei Hou; Robert E. Mahony; Felix Schill (IEEE Trans. Syst. Man Cybern. Syst., 2016)

Modeling and Control of Aerial Robots. - Robert E. Mahony; Randal W. Beard; Vijay Kumar 001 (Springer Handbook of Robotics, 2nd Ed., 2016)

Explicit complementary observer design on Special Linear Group SL(3) for homography estimation using conic correspondences. - Minh-Duc Hua; Tarek Hamel; Robert E. Mahony; Guillaume Allibert (CDC, 2017)

A geometric nonlinear observer for simultaneous localisation and mapping. - Robert E. Mahony; Tarek Hamel (CDC, 2017)

A discrete-time attitude observer on SO(3) for vision and GPS fusion. - Alireza Khosravian; Tat-Jun Chin; Ian D. Reid 001; Robert E. Mahony (ICRA, 2017)

3D tracking of water hazards with polarized stereo cameras. - Chuong V. Nguyen; Michael Milford; Robert E. Mahony (ICRA, 2017)

Exploring the effect of meta-structural information on the global consistency of SLAM. - Mina Henein; Montiel Abello; Viorela Ila; Robert E. Mahony (IROS, 2017)

Spherepix: A Data Structure for Spherical Image Processing. - Juan David Adarve; Robert E. Mahony (IEEE Robotics Autom. Lett., 2017)

Thrust Control for Multirotor Aerial Vehicles. - Moses Bangura; Robert E. Mahony (IEEE Trans. Robotics, 2017)

Calibrating Light-Field Cameras Using Plenoptic Disc Features. - Sean G. P. O'Brien; Jochen Trumpf; Viorela Ila; Robert E. Mahony (3DV, 2018)

Continuous-Time Intensity Estimation Using Event Cameras. - Cedric Scheerlinck; Nick Barnes; Robert E. Mahony (ACCV (5), 2018)

A Geometric Observer for Scene Reconstruction Using Plenoptic Cameras. - Sean G. P. O'Brien; Jochen Trumpf; Viorela Ila; Robert E. Mahony (CDC, 2018)

On the structure of kinematic systems with complete symmetry. - Jochen Trumpf; Robert E. Mahony; Tarek Hamel (CDC, 2018)

Vision Based Forward Sensitive Reactive Control for a Quadrotor VTOL. - Jean-Luc Stevens; Robert E. Mahony (IROS, 2018)

Output regulation for systems on matrix Lie-groups. - Simone De Marco; Lorenzo Marconi 001; Robert E. Mahony; Tarek Hamel (Autom., 2018)

Simultaneous Localization and Mapping with Dynamic Rigid Objects. - Mina Henein; Gerard Kennedy; Viorela Ila; Robert E. Mahony (CoRR, 2018)

Computing Spatial Image Convolutions for Event Cameras. - Cedric Scheerlinck; Nick Barnes; Robert E. Mahony (CoRR, 2018)

The Role of Symmetry in Rigidity Analysis: A Tool for Network Localization and Formation Control. - Geoff Stacey; Robert E. Mahony (IEEE Trans. Autom. Control., 2018)

Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements. - Moses Bangura; Xiaolei Hou; Guillaume Allibert; Robert E. Mahony; Nathan Michael (IEEE Trans. Robotics, 2018)

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

A novel passivity-based trajectory tracking control for conservative mechanical systems. - Robert E. Mahony (CDC, 2019)

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

CED: Color Event Camera Dataset. - Cedric Scheerlinck; Henri Rebecq; Timo Stoffregen; Nick Barnes; Robert E. Mahony; Davide Scaramuzza 001 (CVPR Workshops, 2019)

Waypoint Planning for Autonomous Aerial Inspection of Large-Scale Solar Farms. - Ehab Salahat; Charles-Alexis Asselineau; Joe Coventry; Robert E. Mahony (IECON, 2019)

Learning Real-time Closed Loop Robotic Reaching from Monocular Vision by Exploiting A Control Lyapunov Function Structure. - Zheyu Zhuang; Jürgen Leitner; Robert E. Mahony (IROS, 2019)

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

Asynchronous Spatial Image Convolutions for Event Cameras. - Cedric Scheerlinck; Nick Barnes; Robert E. Mahony (IEEE Robotics Autom. Lett., 2019)

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

A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle. - Jack Henderson; Mohammad Zamani; Robert E. Mahony; Jochen Trumpf (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)

Network-based structure flow estimation. - Shu Liu; Nick Barnes; Robert E. Mahony; Haolei Ye (DICTA, 2020)

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. - Frank Dellaert; David M. Rosen; Jing Wu; Robert E. Mahony; Luca Carlone (ECCV (6), 2020)

Reducing the Sim-to-Real Gap for Event Cameras. - Timo Stoffregen; Cedric Scheerlinck; Davide Scaramuzza 001; Tom Drummond; Nick Barnes; Lindsay Kleeman; Robert E. Mahony (ECCV (27), 2020)

Dynamic SLAM: The Need For Speed. - Mina Henein; Jun Zhang; Robert E. Mahony; Viorela Ila (ICRA, 2020)

LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision. - Zheyu Zhuang; Xin Yu 002; Robert E. Mahony (ICRA, 2020)

Robust Ego and Object 6-DoF Motion Estimation and Tracking. - Jun Zhang; Mina Henein; Robert E. Mahony; Viorela Ila (IROS, 2020)

Fast Image Reconstruction with an Event Camera. - Cedric Scheerlinck; Henri Rebecq; Daniel Gehrig; Nick Barnes; Robert E. Mahony; Davide Scaramuzza 001 (WACV, 2020)

Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization. - Minh-Duc Hua; Jochen Trumpf; Tarek Hamel; Robert E. Mahony; Pascal Morin (Autom., 2020)

How to Train Your Event Camera Neural Network. - Timo Stoffregen; Cedric Scheerlinck; Davide Scaramuzza 001; Tom Drummond; Nick Barnes; Lindsay Kleeman; Robert E. Mahony (CoRR, 2020)

Equivariant Filter Design for Kinematic Systems on Lie Groups. - Robert E. Mahony; Jochen Trumpf (CoRR, 2020)

VDO-SLAM: A Visual Dynamic Object-aware SLAM System. - Jun Zhang; Mina Henein; Robert E. Mahony; Viorela Ila (CoRR, 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)

Equivariant Systems Theory and Observer Design. - 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 Asynchronous Kalman Filter for Hybrid Event Cameras. - Ziwei Wang 002; Yonhon Ng; Cedric Scheerlinck; Robert E. Mahony (ICCV, 2021)

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

End-to-end Multi-Instance Robotic Reaching from Monocular Vision. - Zheyu Zhuang; Xin Yu 002; Robert E. Mahony (ICRA, 2021)

A General Approach to State Refinement. - Gerard Kennedy; Jin Gao; Zheyu Zhuang; Xin Yu 002; Robert E. Mahony (IROS, 2021)

Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception. - Ziwei Wang 002; Liyuan Pan; Yonhon Ng; Zheyu Zhuang; Robert E. Mahony (IROS, 2021)

An homogeneous space geometry for simultaneous localisation and mapping. - Robert E. Mahony; Tarek Hamel; Jochen Trumpf (Annu. Rev. Control., 2021)

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

Iterative Optimisation with an Innovation CNN for Pose Refinement. - Gerard Kennedy; Zheyu Zhuang; Xin Yu 002; Robert E. Mahony (CoRR, 2021)

Inertial Collaborative Localisation for Autonomous Vehicles using a Minimum Energy Filter. - Jack Henderson; Mohammad Zamani; Robert E. Mahony; Jochen Trumpf (CoRR, 2021)

Homography Estimation of a Moving Planar Scene From Direct Point Correspondence. - Simone De Marco; Minh-Duc Hua; Robert E. Mahony; Tarek Hamel (IEEE Trans. Control. Syst. Technol., 2021)

Homography-based Riccati observer design for camera pose estimation. - Tarek Bouazza; Tarek Hamel; Minh-Duc Hua; Robert E. Mahony (CDC, 2022)

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

Asynchronous Kalman Filter for Event-Based Star Tracking. - Yonhon Ng; Yasir Latif; Tat-Jun Chin; Robert E. Mahony (ECCV Workshops (1), 2022)

A Linear Comb Filter for Event Flicker Removal. - Ziwei Wang 002; Dingran Yuan; Yonhon Ng; Robert E. Mahony (ICRA, 2022)

Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. - Alessandro Fornasier; Yonhon Ng; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2022)

Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras. - Ziwei Wang 002; Yonhon Ng; Jack Henderson; Robert E. Mahony (IROS, 2022)

GoferBot: A Visual Guided Human-Robot Collaborative Assembly System. - Zheyu Zhuang; Yizhak Ben-Shabat; Jiahao Zhang; Stephen Gould; Robert E. Mahony (IROS, 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)

Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. - Alessandro Fornasier; Yonhon Ng; Christian Brommer; Christoph Böhm 004; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 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)

High Frequency, High Accuracy Pointing onboard Nanosats using Neuromorphic Event Sensing and Piezoelectric Actuation. - Yasir Latif; Peter Anastasiou; Yonhon Ng; Zebb Prime; Tien-Fu Lu; Matthew Tetlow; Robert E. Mahony; Tat-Jun Chin (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)

Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements. - Ningbo Li; Pablo Borja 001; Jacquelien M. A. Scherpen; Arjan van der Schaft; Robert E. Mahony (IEEE Trans. Autom. Control., 2023)

Robot navigation through cluttered environments: A Lyapunov based control design approach. - Philipp Braun; Tarek Hamel; Robert E. Mahony (CDC, 2024)

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)

Real-time Structure Flow. - Juan David Adarve; 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)

Exploiting Polar Symmetry in Designing Equivariant Observers for Vision-Based Motion Estimation. - Tarek Bouazza; Robert E. Mahony; Tarek Hamel (IEEE Control. Syst. Lett., 2024)

A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. - Yixiao Ge; Pieter van Goor; Robert E. Mahony (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)

An Asynchronous Linear Filter Architecture for Hybrid Event-Frame Cameras. - Ziwei Wang 002; Yonhon Ng; Cedric Scheerlinck; Robert E. Mahony (IEEE Trans. Pattern Anal. Mach. Intell., 2024)

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

Equivariant IMU Preintegration With Biases: A Galilean Group Approach. - Giulio Delama; Alessandro Fornasier; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2025)

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

Asynchronous Multi-Object Tracking with an Event Camera. - Angus Apps; Ziwei Wang 002; Vladimir Perejogin; Timothy Molloy; 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)