Robert E. Mahony

Robert E. Mahony, Stefano Stramigioli: A port-Hamiltonian approach to image-based visual servo control for dynamic systems. I. J. Robotic Res. 31(11): 1303-1319 (2012)

Robert E. Mahony, Vijay Kumar: Aerial Robotics and the Quadrotor [From the Guest Editors]. IEEE Robot. Automat. Mag. 19(3): 19 (2012)

Robert E. Mahony, Vijay Kumar, Peter Corke: Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor. IEEE Robot. Automat. Mag. 19(3): 20-32 (2012)

Faisal Mufti, Robert E. Mahony, Jochen Heinzmann: Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation. Robotics and Autonomous Systems 60(1): 16-28 (2012)

Jochen Trumpf, Robert E. Mahony, Tarek Hamel, Christian Lageman: Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements. IEEE Trans. Automat. Contr. 57(11): 2789-2800 (2012)

Bruno Hérissé, Tarek Hamel, Robert E. Mahony, François-Xavier Russotto: Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow. IEEE Transactions on Robotics 28(1): 77-89 (2012)

Mohammad Zamani, Jochen Trumpf, Robert E. Mahony: Near-Optimal Deterministic Filtering on the Rotation Group. IEEE Trans. Automat. Contr. 56(6): 1411-1414 (2011)

Faisal Mufti, Robert E. Mahony: Specularity Detection Using Time-of-Flight Cameras. CAIP (2) 2011: 196-203

Robert E. Mahony, Stefano Stramigioli, Jochen Trumpf: Vision based control of aerial robotic vehicles using the port Hamiltonian framework. CDC-ECE 2011: 3526-3532

Tarek Hamel, Robert E. Mahony, Jochen Trumpf, Pascal Morin, Minh-Duc Hua: Homography estimation on the Special Linear group based on direct point correspondence. CDC-ECE 2011: 7902-7908

Minh-Duc Hua, Mohammad Zamani, Jochen Trumpf, Robert E. Mahony, Tarek Hamel: Observer design on the Special Euclidean group SE(3). CDC-ECE 2011: 8169-8175

Faisal Mufti, Robert E. Mahony: Shadow Segmentation Using Time-of-Flight Cameras. ICIAP (1) 2011: 78-87

Michael Milford, Felix Schill, Peter Corke, Robert E. Mahony, Gordon Wyeth: Aerial SLAM with a single camera using visual expectation. ICRA 2011: 2506-2512

Andrew I. Comport, Robert E. Mahony, Fabien Spindler: A visual servoing model for generalised cameras: Case study of non-overlapping cameras. ICRA 2011: 5683-5688

Bruno Hérissé, Tarek Hamel, Robert E. Mahony, François-Xavier Russotto: A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow. Auton. Robots 29(3-4): 381-399 (2010)

Christian Lageman, Jochen Trumpf, Robert E. Mahony: Gradient-Like Observers for Invariant Dynamics on a Lie Group. IEEE Trans. Automat. Contr. 55(2): 367-377 (2010)

Mohammad Zamani, Jochen Trumpf, Robert E. Mahony: Near-optimal deterministic attitude filtering. CDC 2010: 6511-6516

Bruno Hérissé, Sophie Oustrieres, Tarek Hamel, Robert E. Mahony, François-Xavier Russotto: A general optical flow based terrain-following strategy for a VTOL UAV using multiple views. ICRA 2010: 3341-3348

Stefano Stramigioli, Robert E. Mahony, Peter Corke: A novel approach to haptic tele-operation of aerial robot vehicles. ICRA 2010: 5302-5308

Bruno Hérissé, Tarek Hamel, Robert E. Mahony, François-Xavier Russotto: The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow. IROS 2010: 1600-1605

Faisal Mufti, Robert E. Mahony: Radiometric Range Image Filtering for Time-of-flight Cameras. VISAPP (1) 2010: 143-152

Odile Bourquardez, Robert E. Mahony, Nicolas Guenard, François Chaumette, Tarek Hamel, Laurent Eck: Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle. IEEE Transactions on Robotics 25(3): 743-749 (2009)

Sylvain Bertrand, Tarek Hamel, Hélène Piet-Lahanier, Robert E. Mahony: Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. CDC 2009: 2972-2977

Florent Le Bras, Tarek Hamel, Robert E. Mahony: Image-based visual servo control for circular trajectories for a fixed-wing aircraft. CDC 2009: 3430-3435

Paul William Coote, Jochen Trumpf, Robert E. Mahony, Jan C. Willems: Near-optimal deterministic filtering on the unit circle. CDC 2009: 5490-5495

Robert E. Mahony, Tarek Hamel, Jochen Trumpf, Christian Lageman: Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study. CDC 2009: 6407-6412

Robert E. Mahony, Felix Schill, Peter I. Corke, Yoong Siang Oh: A new framework for force feedback teleoperation of robotic vehicles based on optical flow. ICRA 2009: 1079-1085

Ezio Malis, Tarek Hamel, Robert E. Mahony, Pascal Morin: Dynamic estimation of homography transformations on the special linear group for visual servo control. ICRA 2009: 1498-1503

Grant Baldwin, Robert E. Mahony, Jochen Trumpf: A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements. ICRA 2009: 2237-2242

Bruno Hérissé, Tarek Hamel, Robert E. Mahony, François-Xavier Russotto: A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow. ICRA 2009: 3251-3257

Paul E. I. Pounds, Robert E. Mahony: Design principles of large quadrotors for practical applications. ICRA 2009: 3265-3270

Peter I. Corke, Robert E. Mahony: Sensing and Control on the Sphere. ISRR 2009: 71-85

Felix Schill, Robert E. Mahony, Peter I. Corke: Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements. ISRR 2009: 87-101

Robert E. Mahony, Tarek Hamel, Jean Michel Pflimlin: Nonlinear Complementary Filters on the Special Orthogonal Group. IEEE Trans. Automat. Contr. 53(5): 1203-1218 (2008)

Nicolas Guenard, Tarek Hamel, Robert E. Mahony: A Practical Visual Servo Control for an Unmanned Aerial Vehicle. IEEE Transactions on Robotics 24(2): 331-340 (2008)

Chris McCarthy, Nick Barnes, Robert E. Mahony: A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence. IEEE Transactions on Robotics 24(4): 832-842 (2008)

Robert E. Mahony, Muhammad Atif, Jochen Trumpf: Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback. CDC 2008: 3457-3462

Mark Euston, Paul William Coote, Robert E. Mahony, Jonghyuk Kim, Tarek Hamel: A complementary filter for attitude estimation of a fixed-wing UAV. IROS 2008: 340-345

Bruno Hérissé, François-Xavier Russotto, Tarek Hamel, Robert E. Mahony: Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow. IROS 2008: 801-806

Tarek Hamel, Robert E. Mahony: Image based visual servo control for a class of aerial robotic systems. Automatica 43(11): 1975-1983 (2007)

Faisal Mufti, Robert E. Mahony, Jonghyuk Kim: Super-Resolution of Speed Signs in Video Sequences. DICTA 2007: 278-285

Nicolas Guenard, Tarek Hamel, Robert E. Mahony: A practical Visual Servo Control for a Unmanned Aerial Vehicle. ICRA 2007: 1342-1348

Thibault Cheviron, Tarek Hamel, Robert E. Mahony, Grant Baldwin: Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV. ICRA 2007: 2010-2016

Khoi B. Ngo, Robert E. Mahony: Bounded Torque Control for Robot Manipulators Subject to Joint Velocity Constraints. ICRA 2006: 7-12

Tarek Hamel, Robert E. Mahony: Attitude Estimation on SO[3] based on Direct Inertial Measurements. ICRA 2006: 2170-2175

Jean Michel Pflimlin, Tarek Hamel, Philippe Souères, Robert E. Mahony: A Hierarchical Control Strategy for the Autonomous Navigation of a Ducted Fan Flying Robot. ICRA 2006: 2491-2496

Odile Bourquardez, Robert E. Mahony, Tarek Hamel, François Chaumette: Stability and performance of image based visual servo control using first order spherical image moments. IROS 2006: 4304-4309

Ran Wei, David Austin, Robert E. Mahony: Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks. IJISTA 1(1/2): 174-190 (2005)

Robert E. Mahony, Tarek Hamel: Image-based visual servo control of aerial robotic systems using linear image features. IEEE Transactions on Robotics 21(2): 227-239 (2005)

Tarek Hamel, Robert E. Mahony: Pure 2D Visual Servo Control for a Class of Under-actuated Dynamic Systems. ICRA 2004: 2229-2235

Ran Wei, Robert E. Mahony, David Austin: A bearing-only control law for stable docking of unicycles. IROS 2003: 3793-3798

Tarek Hamel, Robert E. Mahony: Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach. IEEE Transactions on Robotics 18(2): 187-198 (2002)

Erdinç Altug, James P. Ostrowski, Robert E. Mahony: Control of a Quadrotor Helicopter using Visual Feedback. ICRA 2002: 72-77

Tarek Hamel, Robert E. Mahony, Abdelhamid Chriette: Visual Servo Trajectory Tracking for a Four Rotor VTOL Aerial Vehicle. ICRA 2002: 2781-2786

Robert E. Mahony, Tarek Hamel, François Chaumette: A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator. ICRA 2002: 3781-3786

Robert E. Mahony, Robert C. Williamson: Prior Knowledge and Preferential Structures in Gradient Descent Learning Algorithms. Journal of Machine Learning Research 1: 311-355 (2001)

Abdelhamid Chriette, Tarek Hamel, Robert E. Mahony: Visual Servoing For A Scale Model Autonomous Helicopter. ICRA 2001: 1701-1706

Rogelio Lozano, Dimitrios Dimogianopoulos, Robert E. Mahony: Identification of linear time-varying systems using a modified least-squares algorithm. Automatica 36(7): 1009-1015 (2000)

Robert E. Mahony, Rogelio Lozano: (Almost) Exact Path Tracking Control for an Autonomous Helicopter in Hover Manoeuvres. ICRA 2000: 1245-1250

Gary D. Brushe, Robert E. Mahony, John B. Moore: A Soft Output Hybrid Algorithm for ML/MAP Sequence Estimation. IEEE Transactions on Information Theory 44(7): 3129-3134 (1998)