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ORCIDRobert E. Mahony
- > Home > Persons > Robert E. Mahony
Publications
- 2025
[j66]Pieter van Goor
, Tarek Hamel, Robert E. Mahony:
Synchronous observer design for Inertial Navigation Systems with almost-global convergence. Autom. 177: 112328 (2025)- [i71]Yixiao Ge, Arthur Pearce, Pieter van Goor, Robert E. Mahony:
Equivariant Filter Design for Range-only SLAM. CoRR abs/2503.03973 (2025) - [i69]Pieter van Goor, Robert E. Mahony:
Synchronous Models and Fundamental Systems in Observer Design. CoRR abs/2505.19517 (2025) - [i68]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
The Geometry of Extended Kalman Filters on Manifolds with Affine Connection. CoRR abs/2506.05728 (2025) - [i67]Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann:
Maximum-likelihood reprojections for reliable Koopman-based predictions and bifurcation analysis of parametric dynamical systems. CoRR abs/2506.17817 (2025) - [i66]Yixiao Ge, Giulio Delama, Martin Scheiber, Alessandro Fornasier, Pieter van Goor, Stephan Weiss, Robert E. Mahony:
The Difference between the Left and Right Invariant Extended Kalman Filter. CoRR abs/2507.04568 (2025) - 2024
- [j64]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. IEEE Control. Syst. Lett. 8: 844-849 (2024) - [j62]Pieter van Goor, Punjaya Wickramasinghe, Matthew Hampsey, Robert E. Mahony:
Constructive synchronous observer design for inertial navigation with delayed GNSS measurements. Eur. J. Control 80: 101047 (2024) - [j61]Tomas Lopes de Oliveira, Pieter van Goor, Tarek Hamel, Robert E. Mahony, Claude Samson:
Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment. Eur. J. Control 80: 101070 (2024) - [j59]Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss:
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. IEEE Robotics Autom. Lett. 9(1): 731-738 (2024) - [j58]Ziwei Wang, Timothy Molloy, Pieter van Goor, Robert E. Mahony:
Asynchronous Blob Tracker for Event Cameras. IEEE Trans. Robotics 40: 4750-4767 (2024) - [c138]Matthew Hampsey, Pieter van Goor, Robert E. Mahony:
Spatial group error and synchrony for tracking control of left-invariant kinematic systems on Lie groups. CDC 2024: 709-716 - [c137]Pieter van Goor, Robert E. Mahony:
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry. CDC 2024: 8710-8716 - [c135]Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert E. Mahony, Stephan Weiss:
An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. ICRA 2024: 11956-11962 - [i64]Matthew Hampsey, Pieter van Goor, Ravi Banavar, Robert E. Mahony:
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups. CoRR abs/2401.16725 (2024) - [i62]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. CoRR abs/2403.16411 (2024) - [i60]Yixiao Ge, Behzad Zamani, Pieter van Goor, Jochen Trumpf, Robert E. Mahony:
Geometric Data Fusion for Collaborative Attitude Estimation. CoRR abs/2407.13176 (2024) - [i59]Pieter van Goor, Robert E. Mahony:
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry. CoRR abs/2409.08623 (2024) - 2023
- [j57]Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Observers for Second-Order Systems on Matrix Lie Groups. IEEE Trans. Autom. Control. 68(4): 2468-2474 (2023) - [j56]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF). IEEE Trans. Autom. Control. 68(6): 3501-3512 (2023) - [j54]Pieter van Goor, Robert E. Mahony:
EqVIO: An Equivariant Filter for Visual-Inertial Odometry. IEEE Trans. Robotics 39(5): 3567-3585 (2023) - [c134]Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann:
Reprojection Methods for Koopman-Based Modelling and Prediction. CDC 2023: 315-321 - [c133]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Note on the Extended Kalman Filter on a Manifold. CDC 2023: 7687-7694 - [c132]Tarek Bouazza, Katrina Ashton, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Equivariant Filter for Feature-Based Homography Estimation for General Camera Motion. CDC 2023: 8463-8470 - [i57]Tarek Bouazza, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Nonlinear constructive observer design for direct homography estimation. CoRR abs/2303.05900 (2023) - [i55]Ziwei Wang, Timothy Molloy, Pieter van Goor, Robert E. Mahony:
Event Blob Tracking: An Asynchronous Real-Time Algorithm. CoRR abs/2307.10593 (2023) - [i54]Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann:
Reprojection methods for Koopman-based modelling and prediction. CoRR abs/2307.16188 (2023) - [i53]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Constructive Equivariant Observer Design for Inertial Navigation. CoRR abs/2308.11124 (2023) - [i50]Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss:
Equivariant Symmetries for Inertial Navigation Systems. CoRR abs/2309.03765 (2023) - [i49]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Note on the Extended Kalman Filter on a Manifold. CoRR abs/2309.06008 (2023) - [i48]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence. CoRR abs/2311.02234 (2023) - [i47]Matthew Hampsey, Pieter van Goor, Robert E. Mahony:
Exploiting spatial group error and synchrony for a unicycle tracking controller. CoRR abs/2311.03007 (2023) - [i46]Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss:
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation. CoRR abs/2311.11649 (2023) - 2022
- [j53]Robert E. Mahony, Pieter van Goor, Tarek Hamel:
Observer Design for Nonlinear Systems with Equivariance. Annu. Rev. Control. Robotics Auton. Syst. 5: 221-252 (2022) - [c131]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
Equivariant Filter Design for Discrete-time Systems. CDC 2022: 1243-1250 - [i44]Pieter van Goor, Robert E. Mahony:
EqVIO: An Equivariant Filter for Visual Inertial Odometry. CoRR abs/2205.01980 (2022) - [i42]Matthew Hampsey, Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors. CoRR abs/2207.04782 (2022) - [i40]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude. CoRR abs/2209.03564 (2022) - [i39]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
Equivariant Filter Design for Discrete-time systems. CoRR abs/2209.04965 (2022) - [i37]Hiya Gada, Pieter van Goor, Ravi Banavar, Robert E. Mahony:
Equivariant Filters are Equivariant. CoRR abs/2210.13728 (2022) - [i36]Matthew Hampsey, Pieter van Goor, Robert E. Mahony:
Tracking control on homogeneous spaces: the Equivariant Regulator (EqR). CoRR abs/2211.07045 (2022) - 2021
- [j50]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
Constructive observer design for Visual Simultaneous Localisation and Mapping. Autom. 132: 109803 (2021) - [c124]Pieter van Goor, Robert E. Mahony:
Autonomous Error and Constructive Observer Design for Group Affine Systems. CDC 2021: 4730-4737 - [c121]Pieter van Goor, Robert E. Mahony:
An Equivariant Filter for Visual Inertial Odometry. ICRA 2021: 14432-14438 - [i34]Pieter van Goor, Robert E. Mahony:
An Equivariant Filter for Visual Inertial Odometry. CoRR abs/2104.03532 (2021) - [i32]Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Attitude Observation for Second Order Attitude Kinematics. CoRR abs/2104.06596 (2021) - [i31]Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups. CoRR abs/2105.04797 (2021) - [i30]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces. CoRR abs/2107.05193 (2021) - [i28]Robert E. Mahony, Pieter van Goor, Tarek Hamel:
Observer Design for Nonlinear Systems with Equivariance. CoRR abs/2108.09387 (2021) - 2020
- [c118]Robert E. Mahony, Pieter van Goor, Mina Henein, Ryan Pike, Jun Zhang, Yonhon Ng:
Equivariant Visual Odometry in the Wild. CDC 2020: 1314-1319 - [c116]Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups. CDC 2020: 4194-4199 - [c115]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces. CDC 2020: 5401-5408 - [i21]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance. CoRR abs/2005.14347 (2020) - [i20]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
Constructive Observer Design for Visual Simultaneous Localisation and Mapping. CoRR abs/2006.05053 (2020) - [i15]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF). CoRR abs/2010.14666 (2020) - [i13]Ziwei Wang, Yonhon Ng, Pieter van Goor, Robert E. Mahony:
Event Camera Calibration of Per-pixel Biased Contrast Threshold. CoRR abs/2012.09378 (2020) - 2019
- [c107]Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Attitude Observation for Second Order Attitude Kinematics. CDC 2019: 2536-2542 - [c106]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
A Geometric Observer Design for Visual Localisation and Mapping. CDC 2019: 2543-2549 - [i12]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
An Equivariant Observer Design for Visual Localisation and Mapping. CoRR abs/1904.02452 (2019)
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