Professor Robert Mahony
Academic Staff
ANU College of Engineering, Computing and Cybernetics
T:
+61 2 6125 8613
Areas of expertise
- Automation And Control Engineering 091302
- Avionics 090105
- Navigation And Position Fixing 090904
- Control Systems, Robotics And Automation 090602
- Computer Vision 080104
- Adaptive Agents And Intelligent Robotics 080101
- Artificial Intelligence And Image Processing 0801
- Calculus Of Variations, Systems Theory And Control Theory 010203
- Aircraft Performance And Flight Control Systems 090104
- Optimisation 010303
Biography
Robert Mahony is a Professor in the Research School of Engineering at the Australian National University. He received a PhD in 1995 (systems engineering) and a BSc in 1989 (applied mathematics and geology) both from the Australian National University. He worked as a marine seismic geophysicist and an industrial research scientist before completing a postdoctoral fellowship in France and a Logan Fellowship at Monash University in Australia. He has held his post at ANU since 2001. His research interests are in non-linear control theory with applications in robotics, geometric optimisation techniques and systems theory.
Publications
- Trumpf, J, Mahony, R & Hamel, T 2019, 'On the structure of kinematic systems with complete symmetry', 57th IEEE Conference on Decision and Control, CDC 2018, IEEE, Piscataway, United States, pp. 1276-1280.
- O'Brien, S, Trumpf, J, Ila, V et al 2019, 'A Geometric Observer for Scene Reconstruction Using Plenoptic Cameras', 57th IEEE Conference on Decision and Control, CDC 2018, IEEE, Piscataway, United States, pp. 557-564pp.
- Bangura, M, Hou, X, Allibert, G et al. 2018, 'Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements', IEEE Transactions on Robotics, vol. 34, no. 6, pp. 1490-1501pp.
- O'Brien, S, Trumpf, J, Ila, V et al 2018, 'Calibrating light-field cameras using plenoptic disc features', 6th International Conference on 3D Vision, 3DV 2018, ed. Aquifi Agisoft, IEEE, USA, pp. 286-294pp.
- de Marco, S, Marconi, L, Mahony, R et al 2018, 'Output regulation for systems on matrix Lie-groups', Automatica, vol. 87, pp. 8-16pp.
- Chirikjian, G, Mahony, R, Ruan, S et al 2018, 'Pose changes from a different point of view', Journal of Mechanisms and Robotics, vol. 10, no. 2, pp. 1-12.
- Stacey, G & Mahony, R 2018, 'The Role of Symmetry in Rigidity Analysis: A Tool for Network Localisation and Formation Control', IEEE Transactions on Automatic Control, vol. 63, no. 5, pp. 1313 - 1328.
- Mahony, R & Hamel, T 2017, 'A geometric nonlinear observer for simultaneous localisation and mapping', 56th IEEE Annual Conference on Decision and Control, CDC 2017, IEEE, United States, pp. 2408-2415.
- Adarve Bermudez, J & Mahony, R 2017, 'Spherepix: A Data Structure for Spherical Image Processing', IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 483-490pp.
- Chirikjian, G, Mahony, R, Ruan, S et al 2017, 'Pose changes from a different point of view', ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, American Society of Mechanical Engineers, United States, pp. -.
- Hua, M, Mahony, R, Hamel, T et al 2017, 'Explicit complementary observer design on Special Linear Group SL(3) for homography estimation using conic correspondences', 56th IEEE Annual Conference on Decision and Control, CDC 2017, IEEE, United States, pp. 2434-2441pp.
- Bangura, M & Mahony, R 2017, 'Thrust Control for Multirotor Aerial Vehicles', IEEE Transactions on Robotics, vol. 33, no. 2, pp. 390-405pp.
- Le Bras, F, Hamel, T, Mahony, R et al 2017, 'Observers for position estimation using bearing and biased velocity information', Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017, ed. T I Fossen K Y Pettersen & H Nijmeijer, Springer International Publishing AG, Switzerland, pp. 3-23.
- Khosravian, A, Chin, T, Reid, I et al 2017, 'A Discrete-Time Attitude Observer on SO(3) for Vision and GPS Fusion', IEEE International Conference on Robotics and Automation, ICRA 2017, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 5688-5695pp.
- Nguyen, C, Milford, M & Mahony, R 2017, '3D tracking of water hazards with polarized stereo cameras ', IEEE International Conference on Robotics and Automation, ICRA 2017, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 5251-5257pp.
- Mahony, R 2017, 'Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems', in Henrik I. ChristensenOussama Khatib (ed.), Robotics Research: The 15th International Symposium ISRR, Springer International Publishing Switzerland, Cham, Switzerland. pp. 129-146.
- de Marco, S, Marconi, L, Hamel, T et al. 2016, 'Output Regulation on the Special Euclidean Group SE(3)', IEEE Conference on Decision and Control, CDC 2016, ed. Alessandro Astolfi, IEEE, USA, pp. 4734-4739pp.
- Hou, X, Mahony, R & Schill, F 2016, 'Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots', IEEE Transactions on Systems, Man and Cybernetics. Part A: Systems and Humans, vol. 46, no. 10, pp. 1352-1363.
- Hou, X & Mahony, R 2016, 'Dynamic Kinesthetic Boundary for Haptic Teleoperation of VTOL Aerial Robots in Complex Environments', IEEE Transactions on Systems, Man and Cybernetics. Part A: Systems and Humans, vol. 46, no. 5, pp. 694-705pp.
- Khosravian, A, Trumpf, J, Mahony, R et al 2016, 'State estimation for invariant systems on Lie groups with delayed output measurements', Automatica, vol. 68, pp. 254-265.
- Stacey, G & Mahony, R 2016, 'A Passivity-Based Approach to Formation Control Using Partial Measurements of Relative Position', IEEE Transactions on Automatic Control, vol. 61, no. 2, pp. 538-543.
- Adarve Bermudez, J & Mahony, R 2016, 'A Filter Formulation for Computing Real Time Optical Flow', IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1192-1199.
- Stacey, G, Mahony, R & Trumpf, J 2016, 'Generalised Rigidity and Path-Rigidity for Agent Formations', 22nd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2016), ed. Georgiou, Tryphon T, University of Minnesota Press, Minneapolis.
- Allibert, G, Mahony, R & Bangura, M 2016, 'Velocity aided attitude estimation for aerial robotic vehicles using latent rotation scaling', 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, IEEE Robotics and Automation Society, TBC, pp. 1538-1543.
- Saccon, A, Trumpf, J, Mahony, R et al 2016, 'Second-order-optimal minimum-energy filters on Lie groups', IEEE Transactions on Automatic Control, vol. 61, no. 10, pp. 2906-2919.
- Hou, X, Wang, X & Mahony, R 2016, 'Haptics-aided path planning and virtual fixture based dynamic kinesthetic boundary for bilateral teleoperation of VTOL aerial robots', Chinese Control Conference, CCC 2016, ed. Chen J.Zhao Q.Chen J, IEEE, TBC, pp. 4705-4710.
- Le Bras, F, Hamel, T, Mahony, R et al 2015, 'Observer design for position and velocity bias estimation from a single direction output', 54th Conference on Decision and Control, CDC 2015, ed. C J Christopher and A Grastien, IEEE, Online, pp. 7648-7653.
- Hua, M, Hamel, T, Mahony, R et al 2015, 'Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space', 54th Conference on Decision and Control, CDC 2015, ed. C J Christopher and A Grastien, IEEE, Online, pp. 2139-2145.
- Khosravian Hemami, A, Trumpf, J, Mahony, R et al 2015, 'Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs', Automatica, vol. 55, pp. 19-26.
- Khosravian Hemami, A, Trumpf, J & Mahony, R 2015, 'State estimation for nonlinear systems with delayed output measurements', 54th Conference on Decision and Control, CDC 2015, ed. C J Christopher and A Grastien, IEEE, Online, pp. 6330-6335.
- Khosravian Hemami, A, Trumpf, J, Mahony, R et al. 2015, 'Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements', ACC 2015 - American Control Conference, IEEE, Piscataway, New Jersey, US, pp. 3199-3205.
- Mahony, R, Hamel, T & Marconi, L 2015, 'Adding an integrator for output regulation of systems with matrix Lie-group states', ACC 2015 - American Control Conference, IEEE, Piscataway, New Jersey, US, pp. 4010-4015.
- Polok, L, Lui, V, Ila, V et al 2015, 'The Effect of Different Parameterisations in Incremental Structure from Motion', 2015 Australasian Conference on Robotics and Automation, ACRA 2015, Australasian Robotics and Automation Association, Sydney, Australia, pp. 9pp.
- Bangura, M, Kuipers, F, Allibert, G et al 2015, 'Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors', 2015 Australasian Conference on Robotics and Automation, ACRA 2015, Australasian Robotics and Automation Association, Sydney, Australia, pp. 10pp.
- Allibert, G, Abeywardena, D, Bangura, M et al 2014, 'Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle', IEEE Conference on Control Applications, CCA 2014, IEEE, Online, pp. 978-983.
- Hua, M, Ducard, G, Hamel, T et al 2014, 'Implementation of a nonlinear attitude estimator for aerial robotic vehicles', IEEE Transactions on Control Systems Technology, vol. 22, no. 1, pp. 201-213.
- Rosa, L, Hamel, T, Mahony, R et al 2014, 'Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments', World Congress of the International Federation of Automatic Control (IFAC 2014), ed. Boje, Edward; Xia, Xiaohua, International Federation of Automatic Control (IFAC), Online, pp. 3176-3183.
- Le Bras, F, Hamel, T, Mahony, R et al 2014, 'Approach maneuvers for autonomous landing using visual servo control', IEEE Transactions on Aerospace and Electronic Systems, vol. 50, no. 2, pp. 1051-1065.
- Bangura, M & Mahony, R 2014, 'Real-time Model Predictive Control for Quadrotors', World Congress of the International Federation of Automatic Control (IFAC 2014), ed. Boje, Edward; Xia, Xiaohua, International Federation of Automatic Control (IFAC), Online, pp. 1-8.
- Khosravian Hemami, A, Trumpf, J, Mahony, R et al 2014, 'Velocity aided attitude estimation on SO(3) with sensor delay', 53rd IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway, New Jersey, US, pp. 114-120.
- Hou, X & Mahony, R 2014, 'An intuitive multimodal haptic interface for teleoperation of aerial robots', IEEE International Conference on Robotics and Automation ICRA 2014, IEEE, USA, pp. 838-845.
- Zamani, M, Trumpf, J & Mahony, R 2014, 'On the distance to optimality of the geometric approximate minimum-energy attitude filter', ACC 2014 - American Control Conference, IEEE, Piscataway, New Jersey, US, pp. 4943-4948.
- Bangura, M, Lim, H, Kim, H et al 2014, 'Aerodynamic power control for multirotor aerial vehicles', IEEE International Conference on Robotics and Automation ICRA 2014, IEEE, USA, pp. 529 - 536.
- Gowthaman Srilakshmi, S, Hou, X & Mahony, R 2014, 'A Vibrotactile Feedback User Interface for Haptic Teleoperation of Aerial Robots', Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Australia, pp. 1-8.
- Adarve Bermudez, J, Austin, D & Mahony, R 2014, 'A filtering approach for computation of real-time dense optical-flow for robotic applications', Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Australia, pp. 1-10.
- Bangura, M, Mahony, R, Lim, H et al 2014, 'An open-source implementation of a unit quaternion based attitude and trajectory tracking for quadrotors', Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Australia, pp. 1-10.
- Adarve Bermudez, J, Austin, D & Mahony, R 2014, 'A filtering approach for computation of real-time dense optical-flow for robotic applications', Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Australia, pp. 1-10.
- Stacey, G & Mahony, R 2013, 'A port-hamiltonian approach to formation control using bearing measurements and range observers', 52nd IEEE Conference on Decision and Control, CDC 2013, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 7641-7646.
- Eudes, A, Morin, P, Mahony, R et al 2013, 'Visuo-inertial fusion for homography-based filtering and estimation', 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, IEEE, Tokyo, pp. 5186-5192.
- Khosravian Hemami, A, Trumpf, J, Mahony, R et al 2013, 'Bias Estimation for Invariant Systems on Lie Groups with Homogeneous Outputs', 52nd IEEE Conference on Decision and Control, CDC 2013, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 4454-4460.
- Zamani, M, Trumpf, J & Mahony, R 2013, 'Minimum-energy filtering for attitude estimation', IEEE Transactions on Automatic Control, vol. 58, no. 11, pp. 2917-2921.
- Saccon, A, Trumpf, J, Mahony, R et al 2013, 'Second-Order-Optimal Filters on Lie groups', 52nd IEEE Conference on Decision and Control, CDC 2013, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 4434 - 4441.
- Mahony, R, Trumpf, J & Hamel, T 2013, 'Observers for kinematic systems with symmetry', 9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013, Conference Organising Committee, Toulouse, pp. 617-633.
- Hou, X, Mahony, R & Schill, F 2013, 'Representation of vehicle dynamics in haptic teleoperation of aerial robots', IEEE International Conference on Robotics and Automation, ICRA 2013, IEEE, Karlsruhe, pp. 1485-1491.
- Mersha, A, Hou, X, Mahony, R et al 2013, 'Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications', 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, IEEE, Tokyo, pp. 4951-4957.
- Hou, X & Mahony, R 2013, 'Dynamic kinesthetic boundary for haptic teleoperation of aerial robotic vehicles', 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, IEEE, Tokyo, pp. 4945-4950.
- Stacey, G, Mahony, R & Corke, P 2013, 'A bondgraph approach to formation control using relative state measurements', European Control Conference, ECC 2013, EUCA, TBC, pp. 1262-1267.
- O'Sullivan, L, Corke, P & Mahony, R 2013, 'Image-based visual navigation for mobile robots', IEEE International Conference on Robotics and Automation, ICRA 2013, IEEE, Karlsruhe, pp. 5277-5283.
- Absil, P, Mahony, R & Trumpf, J 2013, 'An extrinsic look at the Riemannian Hessian', 1st International SEE Conference on Geometric Science of Information, GSI 2013, Conference Organising Committee, Paris.
- Herisse, B, Hamel, T, Mahony, R et al 2012, 'Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow', IEEE Transactions on Robotics, vol. 28, no. 1, pp. 77-89.
- Mahony, R, Kumar, V & Corke, P 2012, 'Multirotor Aerial Vehicles Modeling, Estimation, and Control of Quadrotor', IEEE Robotics and Automation Magazine, vol. 19, no. 3, pp. 20 - 32.
- Trumpf, J, Mahony, R, Hamel, T et al 2012, 'Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements', IEEE Transactions on Automatic Control, vol. 57, no. 11, pp. 2789-2800.
- Bangura, M & Mahony, R 2012, 'Nonlinear Dynamic Modeling for High Performance Control of a Quadrotor', Australasian Conference on Robotics and Automation (ACRA 2012), Australian Robotics and Automation Association, Wellington, pp. 1-10.
- Zamani, M, Trumpf, J & Mahony, R 2012, 'Minimum-Energy Pose Filtering on the Special Euclidean Group', 20th International Symposium on Mathematical Theory of Networks and Systems, MTNS 2012, Conference Organising Committee, Australia, pp. 1-8.
- Mahony, R & Stramigioli, S 2012, 'A port-Hamiltonian approach to image-based visual servo control for dynamic systems', The International Journal of Robotics Research, vol. 31, no. 11, pp. 1303-1319.
- Zamani, M, Trumpf, J & Mahony, R 2012, 'A Second Order Minimum-Energy Filter on the Special Orthogonal Group', ACC 2012 - American Control Conference, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 1895-1900.
- Mahony, R & Kumar, V, eds, 2012, Aerial Robotics and the Quadrotor.
- Zamani, M, Hua, M, Trumpf, J et al. 2012, 'Minimum-Energy Filtering on the Unit Circle Using Velocity Measurements with Bias and Vectorial state Measurements', 2nd Australian Control Conference (AUCC 2012), Engineers Australia, USA, pp. 283-288.
- Mufti, F, Mahony, R & Heinzmann, J 2012, 'Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation', Robotics and Autonomous Systems, vol. 60, no. 1, pp. 16-28.
- Adarve, JD, Li, W, Mahony, R et al 2012, 'Towards an Efficient and Robust Optic Flow Algorithm for Robotic Applications', Australasian Conference on Robotics and Automation (ACRA 2012), Australian Robotics and Automation Association, Wellington, pp. 1-9.
- Mahony, R., Hamel, T., Morin, P., & Malis, E. 2012, 'Nonlinear complementary filters on the special linear group', International Journal of Control, vol. 85, no. 10, pp. 1557-1573.
- Mahony, R., Hamel, T., Morin, P., & Malis, E. 2012, 'Nonlinear complementary filters on the special linear group', International Journal of Control, vol. 85, no. 10, pp. 1557-1573.
- Mufti, F, Mahony, R & Heinzmann, J 2011, '4D Ground Plane Estimation Algorithm for Advanced Driver Assistance Systems', in Marcello Chiaberge (ed.), New Trends and Developments in Automotive System Engineering, InTech Open Access Publisher, Unknown, pp. 433-448.
- Mufti, F & Mahony, R 2011, 'Statistical analysis of signal measurement in time-of-flight cameras', ISPRS Journal of Photogrammetry and Remote Sensing, vol. 66, no. 5, pp. 720-731.
- Comport, A, Mahony, R & Spindler, F 2011, 'A visual serving model for generalised cameras: Case study of non-overlapping cameras', IEEE International Conference on Robotics and Automation ICRA 2011, IEEE Robotics and Automation Society, Piscataway USA, pp. 5683 - 5688.
- Schill, F, Mahony, R & Corke, P 2011, 'Estimating ego-motion in panoramic image sequences with inertial measurements', International Symposium on Robotics Research (ISRR 2011), Springer, USA, pp. 87-101.
- Corke, P & Mahony, R 2011, 'Sensing and control on the sphere', International Symposium on Robotics Research (ISRR 2011), Springer, USA, pp. 71-85.
- Mahony, R, Euston, M, Kim, J et al 2011, 'A non-linear observer for attitude estimation of a fixed-wing unmanned aerial vehicle without GPS measurements', Transactions of the Institute of Measurement and Control, vol. 33, no. 6, pp. 699-717.
- Zamani, M, Trumpf, J & Mahony, R 2011, 'Minimum-Energy Filtering on the Unit Circle', Australian Control Conference (AUCC 2011), Engineers Australia, Australia, pp. 236-241.
- Mufti, F & Mahony, R 2011, 'Shadow Segmentation Using Time-of-Flight cameras', Lecture Notes in Computer Science (LNCS), vol. 6978/2011, pp. 78-87.
- Milford, M, Schill, F, Corke, P et al 2011, 'Aerial SLAM with a Single Camera Using Visual Expectation', IEEE International Conference on Robotics and Automation ICRA 2011, IEEE Robotics and Automation Society, Piscataway USA, pp. 2506-2512.
- Mufti, F & Mahony, R 2011, 'Specularity Detection Using Time-of-Flight Cameras', Lecture Notes in Computer Science (LNCS), vol. 6855, no. 2, pp. 196-203.
- Mufti, F & Mahony, R 2011, 'Radiometric Range Image Filtering for Time-of-flight Cameras', International Conference on Computer Vision Theory and Applications (VISAPP 2010), ed. Paul Richard, INSPEC, France, pp. 143-152.
- Zamani, M, Trumpf, J & Mahony, R 2011, 'Near-optimal deterministic filtering on the rotation group', IEEE Transactions on Automatic Control, vol. 56, no. 6, pp. 1411-1414.
- Hamel, T, Mahony, R, Trumpf, J et al 2011, 'Homography estimation on the Special Linear Group based on direct point correspondence', 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 7902-7908.
- Hua, M, Zamani, M, Trumpf, J et al. 2011, 'Observer design on the Special Euclidean group SE(3)', 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 8169-8175.
- Mahony, R, Stramigioli, S & Trumpf, J 2011, 'Vision based control of aerial robotic vehicles using the port Hamiltonian framework', 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 3526-3532.
- Mahony, R 2011, 'Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems', International Symposium on Robotics Research (ISRR 2011), Springer, USA, pp. 1-16.
- Hua, M, Rudin, K, Ducard, G et al 2011, 'Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation', IFAC World Congress 2011, ed. S. Bittanti, A. Cenedese, S. Zampieri, International Federation of Automatic Control (IFAC), Unknown, pp. 2972-2978.
- Le Bras, F, Hamel, T, Mahony, R et al 2011, 'Output feedback observation and control for visual servoing of VTOL UAVs', International Journal of Robust and Nonlinear Control, vol. 21, no. 9, pp. 1008-1030.
- Lageman, C, Trumpf, J & Mahony, R 2010, 'Gradient-Like Observers for Invariant Dynamics on a Lie Group', IEEE Transactions on Automatic Control, vol. 55, no. 2, pp. 367-377.
- Zamani, M, Trumpf, J & Mahony, R 2010, 'Near-Optimal Deterministic Attitude Filtering', IEEE Conference on Decision and Control 2010, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 6511-6516.
- Slatyer, E, Mahony, R & Corke, P 2010, 'Terrain Following using Wide Field Optic Flow', Australasian Conference on Robotics and Automation (ACRA 2010), ed. Gordon Wyeth and Ben Upcroft, Australian Robotics and Automation Association, Brisbane Australia, pp. 1-9.
- Pounds, P, Mahony, R & Corke, P 2010, 'Modelling and control of a large quadrotor robot', Control Engineering Practice, vol. 18, no. 7, pp. 691-699.
- Herisse, B, Hamel, T, Mahony, R et al 2010, 'The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), ed. Conference Program Committee, IEEE Robotics and Automation Society, USA, pp. 1600-1605.
- Schill, F, Hou, X & Mahony, R 2010, 'Admittance mode framework for haptic teleoperation of hovering vehicles with unlimited workspace', Australasian Conference on Robotics and Automation (ACRA 2010), ed. Gordon Wyeth and Ben Upcroft, Australian Robotics and Automation Association, Brisbane Australia, pp. 1-9.
- Malis, E, Hamel, T, Mahony, R et al 2010, 'Estimation of homography dynamics on the special linear group', Lecture Notes in Control and Information Sciences: Control of Uncertain Systems: Modelling, Approximation, and Design, vol. 401, pp. 133-150.
- Trumpf, J, Mahony, R & Stramigioli, S 2010, 'Error models for nonlinear observers', International Symposium on Mathematical Theory of Networks and Systems (MTNS 2010), ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 1123-1127.
- Trumpf, J & Mahony, R 2010, 'A Converse Liapunov Theorem for Uniformly Locally Exponentially Stable Systems Admitting Caratheodory Solutions', IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010), ed. Conference Program Committee, International Federation of Automatic Control (IFAC), Bologna Italy, pp. 1374-1378.
- Herisse, B, Hamel, T, Mahony, R et al 2010, 'A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow', Autonomous Robots, vol. 29, no. 3-4, pp. 381-399.
- Stramigioli, S, Mahony, R & Corke, P 2010, 'A Novel Approach to Haptic Tele-operation of Aerial Robot Vehicles', IEEE International Conference on Robotics and Automation ICRA 2010, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 5302-5308.
- Herisse, B, Oustrieres, S, Hamel, T et al 2010, 'A general optical flow based terrain-following strategy for a VTOL UAV using multiple views', IEEE International Conference on Robotics and Automation ICRA 2010, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 3341-3348.
- Mufti, F & Mahony, R 2009, 'Statistical analysis of measurement processes for time-of-flight cameras', Videometrics, Range Imaging, and Applications X, SPIE - The International Society for Optical Engineering, San Diego, CA.
- Mahony, R, Hamel, T, Trumpf, J et al 2009, 'Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study', IEEE Conference on Decision and Control and Chinese Control Conference 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 6407-6412.
- Lageman, C, Trumpf, J & Mahony, R 2009, 'Observers for systems with invariant outputs', European Control Conference (ECC 2009), ed. Conference Program Committee, IEEE Xplore, Budapest Hungary, pp. 4587-4592.
- Guenard, N, Moreau, V, Hamel, T et al 2008, 'Synthesis of a controller allowing the stabilization of the speed of a type X4-Flyer drone via pitch and yaw correction [Synthse d'un contrleur permettant la stabilisation de vitesse d'un drone de type X4-Flyer via la correction d'assiette]', Journal Europeen des Systemes Automatisée, vol. 42, no. 1, pp. 117-138.
- Baldwin, G, Mahony, R & Trumpf, J 2007, 'Complementary filter design on the Special Euclidean group SE(3)', 9th European Control Conference (ECC 2007), IEEE Xplore, Kos, Greece, pp. 3763-3770.
- Mahony, R 2007, 'High performance control for trajectory tracking of symmetric VTOL vehicles with significant aerodynamic effects', 9th European Control Conference (ECC 2007), IEEE Xplore, Kos, Greece, pp. 3399-3406.
- Hamel, T, Mahony, R & Tayebi, A 2010, 'Introduction to the special issue on aerial robotics', Control Engineering Practice, vol. 18, no. 7, pp. 677-678.
- Lageman, C, Trumpf, J & Mahony, R 2009, 'Observers for Systems with Invariant Outputs', European Control Conference (ECC 2009), ed. Conference Program Committee, IEEE Xplore, Budapest Hungary, pp. 4587-4592.
- Mahony, R, Schill, F, Corke, P et al 2009, 'A New Framework for Force Feedback Teleoperation of Robotic Vehicles based on Optical Flow', IEEE International Conference on Robotics and Automation ICRA 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Kobe, Japan, pp. 1079-1085.
- Malis, E, Hamel, T, Mahony, R et al 2009, 'Dynamic estimation of homography transformations on the special linear group for visual servo control', IEEE International Conference on Robotics and Automation ICRA 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Kobe, Japan, pp. 1498-1503.
- Le Bras, F, Hamel, T, Barat, C et al 2009, 'Nonlinear Image-Based Visual Servo controller for automatic landing guidance of a fixed-wing Aircraft', European Control Conference (ECC 2009), ed. Conference Program Committee, IEEE Xplore, Budapest Hungary.
- Le Bras, F, Hamel, T & Mahony, R 2009, 'Image-Based Visual Servo Control for Circular Trajectories for a Fixed-Wing Aircraft', IEEE Conference on Decision and Control and Chinese Control Conference 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 3430-3435.
- Herisse, B, Hamel, T, Mahony, R et al 2009, 'A nonlinear terrain-following controller for a VTOL Unmanned Aerial Vehicle using translational optical flow', IEEE International Conference on Robotics and Automation ICRA 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Kobe, Japan, pp. 3251-3257.
- Bertrand, S, Hamel, T, Piet-Lahanier, H et al 2009, 'Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback', IEEE Conference on Decision and Control and Chinese Control Conference 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 2972-2977.
- Bourquardez, O, Mahony, R, Guenard, N et al 2009, 'Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle', IEEE Transactions on Robotics, vol. 25, no. 3, pp. 743-749.
- Coote, P, Trumpf, J, Mahony, R et al 2009, 'Near-optimal deterministic filtering on the unit circle', IEEE Conference on Decision and Control and Chinese Control Conference 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 5490-5495.
- Baldwin, G, Mahony, R & Trumpf, J 2009, 'A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements', IEEE International Conference on Robotics and Automation ICRA 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Kobe, Japan, pp. 2237-2242.
- Mahony, R, Hamel, T, Trumpf, J et al 2009, 'Nonlinear attitude observers on SO(3) for complementary and reciprocal measurements: a theoretical study', IEEE Conference on Decision and Control and Chinese Control Conference 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Piscataway USA, pp. 6407-6412.
- Pounds, P, Mahony, R & Corke, P 2009, 'Design of a Static Thruster for Microair Vehicle Rotorcraft', Journal of Aerospace Engineering (Institution of Mechanical Engineers: Proceedings Part G), vol. 22, no. 1, pp. 85-94.
- Pounds, P & Mahony, R 2009, 'Design Principles of Large Quadrotors for Practical Applications', IEEE International Conference on Robotics and Automation ICRA 2009, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Kobe, Japan, pp. 3265-3270.
- Lageman, C, Trumpf, J & Mahony, R 2009, 'Gradient-Like Observers on Semidirect Products', European Control Conference (ECC 2009), ed. Conference Program Committee, IEEE Xplore, Budapest Hungary, pp. 3973-3977.
- Absil, P, Mahony, R & Sepulchre, R 2008, Optimization Algorithms on Matrix Manifolds, Princeton University Press, New Jersey, USA.
- McCarthy, C, Barnes, N & Mahony, R 2008, 'A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence', IEEE Transactions on Robotics, vol. 24, no. 4, pp. 832-842.
- Guenard, N, Moreau, v, Mahony, R et al 2008, 'Synthese d'un controler permettant la stabilisation de la vitesse d'un drone de type X4-Flyer via une correction d'assiette', Journal Europeen des Systemes Automatisée, vol. 42, no. 1, pp. 117-138.
- Mahony, R, Hamel, T & Pflimlin, J 2008, 'Non-linear complementary filters on the special orthogonal group', IEEE Transactions on Automatic Control, vol. 53, no. 5, pp. 1203 -1218.
- Mahony, R, Le Bras, F, Hamel, T et al 2008, 'Dynamic Image Based Visual Servo Control For An Aerial Robot: Theory and Experiments', International Journal of Optomechatronics, vol. 2, no. 3, pp. 296-325.
- Bourquardez, O, Guenard, N, Hamel, T et al 2008, 'Kinematic Visual Servo Controls of an X4-flyer: Practical Study', Mediterranean Conference on Intelligent Systems and Automation (CISA 2008), ed. Arioui, Hichem; Merzouki, Rochdi; Abbassi, Hadj A., Springer, USA, p. 6.
- Mahony, R, Herisse, B, Russotto, F et al 2008, 'Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using Optical Flow', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Nice France, pp. 801-806.
- Lageman, C, Mahony, R & Trumpf, J 2008, 'State observers for invariant dynamics on a Lie group', International Symposium on Mathematical Theory of Networks and Systems (MTNS 2008), ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), New York, p. 5.
- Mufti, F, Mahony, R & Heinzmann, J 2008, 'Spatio-Temporal RANSAC for Robust Estimation of Ground Plane in Video Range Images for Automotive Applications', IEEE International Conference on Intelligent Transportation Systems (ITSC 2008), ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), China, pp. 1142-1148.
- Mahony, R, Atif, M & Trumpf, J 2008, 'Controlling the longitudinal dynamics of a vehicle using sensor based haptic feedback', IEEE Conference on Decision and Control 2008, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), US, pp. 3457-3462.
- Mahony, R, Sepulchre, R & Absil, P 2008, 'Continuous-time subspace flows related to the symmetric eigenproblem', Pacific Journal of Optimization, vol. 4, no. 2, pp. 179-194.
- Schill, F, Mahony, R, Corke, P et al 2008, 'Virtual Force Feedback teleoperation of the insectBot using optical flow', Australasian Conference on Robotics and Automation (ACRA 2008), ed. Jonghyuk Kim and Robert Mahony, Australian Robotics and Automation Association, Australia, p. 9.
- Euston, M, Coote, P, Mahony, R et al 2008, 'A Complementary filter for attitude Estimation of a fixed-Wing UAV', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Nice France, pp. 340-345.
- Mahony, R, Corke, P & Hamel, T 2008, 'Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features', Journal of Dynamical Systems, Measurement and Control, vol. 130, no. 1, p. 12.
- Le Bras, F, Mahony, R & Hamel, T 2008, 'Output based Observation and Control for Visual Servoing of VTOL UAV's', International Federation of Automatic Control World Congress (SYSID 2008), ed. Conference Program Committee, Elsevier, Korea, p. 6.
- Guenard, N, Hamel, T & Mahony, R 2008, 'A Practical Visual Servo Control for an Unmanned Aerial Vehicle', IEEE Transactions on Robotics, vol. 24, no. 2, pp. 331-341.
- Le Bras, F, Hamel, T & Mahony, R 2007, 'Nonlinear observer-based visual control of a VTOL UAV', 9th European Control Conference (ECC 2007), IEEE Xplore, Kos, Greece, p. 8.
- Wood, R, Mahony, R & Cazzolato, B 2007, 'High performance control for trajectory tracking of symmetric VTOL vehicles with significant aerodynamic effects', 9th European Control Conference (ECC 2007), IEEE Xplore, Kos, Greece, p. 9.
- Baldwin, G, Mahony, R, Trumpf, J et al 2007, 'Complementary filter design on the Special Euclidean group SE(3)', 9th European Control Conference (ECC 2007), IEEE Xplore, Kos, Greece, pp. 3763-3770.
- Hamel, T & Mahony, R 2007, 'Image based visual servo control for a class of aerial robotic systems', Automatica, vol. 43, pp. 1975-1983.
- Pounds, P, Mahony, R & Corke, P 2007, 'System Identification and Control of an Aerobot Drive System', Information, Decision and Control Conference 2007, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), Adelaide, pp. 154-159.
- Mahony, R & Hamel, T 2007, 'Robust Nonlinear Observers for Attitude Estimation of Mini UAVs', in Valavanis, Kimon P. (ed.), Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy, Springer, Berlin, p. 34.
- Cheviron, T, Hamel, T, Mahony, R et al 2007, 'Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV', IEEE International Conference on Robotics and Automation ICRA 2007, IEEE, Rome Italy, pp. 2010-2016.
- Mufti, F, Mahony, R & Kim, J 2007, 'Super-Resolution of Speed Signs in Video Sequences', Digital Image Computing: Techniques and Applications (DICTA 2007), ed. Murk J Bottema, Anthony Maeder, Nick Redding, Anton van den Hengel, Institute of Electrical and Electronics Engineers (IEEE Inc), Australia, pp. 278-285.
- Le Bras, F, Hamel, T & Mahony, R 2007, 'Visual Servoing of a VTOL Vehicle using Virtual States', IEEE Conference on Decision and Control 2007, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 6442-6447.
- Guenard, N, Hamel, T & Mahony, R 2007, 'A practical Visual Servo Control for a Unmanned Aerial Vehicle', IEEE International Conference on Robotics and Automation ICRA 2007, IEEE, Rome Italy, pp. 1342-1348.
- Pounds, P, Hamel, T & Mahony, R 2007, 'Attitude Control of Rigid Body Dynamics From Biased IMU Measurements', IEEE Conference on Decision and Control 2007, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 4620-4625.
- Trumpf, J, Manton, J & Mahony, R 2006, 'Curvature based updates for optimization problems on a hypersurface', International Symposium on Mathematical Theory of Networks and Systems (MTNS 2006), ed. Conference Program Committee, Conference Organising Committee, Kyoto, Japan, pp. 1408-1411.
- Guenard, N, Hamel, T, Moreau, v et al 2006, 'Design of a Controller allowed the intuitve control of an X-flyer', International IFAC Symposium on Robot Control (SYROCO 2006), ed. Bruno Siciliano, International Federation of Automatic Control (IFAC), ITALY, pp. 1-6.
- Pflimlin, J, Soueres, P, Hamel, T et al 2006, 'Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind', International IFAC Symposium on Robot Control (SYROCO 2006), ed. Bruno Siciliano, International Federation of Automatic Control (IFAC), ITALY.
- Hamel, T & Mahony, R 2006, 'Attitude estimation on SO(3) based on direct inertial measurements', IEEE International Conference on Robotics and Automation ICRA 2006, Institute of Electrical and Electronics Engineers (IEEE Inc), New York, pp. 2170-2175.
- Ngo, K & Mahony, R 2006, 'Bounded torque control for robot manipulators subject to joint velocity constraints', IEEE International Conference on Robotics and Automation ICRA 2006, Institute of Electrical and Electronics Engineers (IEEE Inc), New York, pp. 7 - 12.
- Pflimlin, J, Hamel, T, Soueres, P et al 2006, 'A hierarchical control strategy for autonomous navigation of a ducted fan flying robot', IEEE International Conference on Robotics and Automation ICRA 2006, Institute of Electrical and Electronics Engineers (IEEE Inc), New York, pp. 2491-2496.
- Le Bras, F, Mahony, R, Hamel, T et al 2006, 'Adaptive filtering and image based visual servo control of a ducted fan flying robot', IEEE Conference on Decision and Control 2006, ed. Conference Program Committee, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 1751-1757.
- Mahony, R, Hamel, T & Cha, S 2006, 'A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles', Australasian Conference on Robotics and Automation (ACRA 2006), Australian Robotics and Automation Association, Auckland New Zealand, pp. 1-10.
- Pounds, P, Mahony, R & Corke, P 2006, 'Modelling and control of a quad-rotor robot', Australasian Conference on Robotics and Automation (ACRA 2006), Australian Robotics and Automation Association, Auckland New Zealand, pp. 1-10.
- Mahony, R, Von Brasch, A, Corke, P et al 2005, 'Adaptive depth estimation in image based visual servo control of dynamic systems', 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC 2005, ed. F. Allgower, E.W. Bai, L.Basanez, G. De Nicolao, S. Dormido, D. Henrion, B.H. Ko, Institute of Electrical and Electronics Engineers (IEEE Inc), United States, pp. 5372-5378.
- Mahony, R & Hamel, T 2005, 'Image-Based Visual Servo Control of Aerial Robotic Systems Using Linear Image Features', IEEE Transactions on Robotics, vol. 21, no. 2, pp. 227-239.
- Ngo, K, Mahony, R & Jiang, Z 2005, 'Integrator Backstepping using Barrier Function for Systems with Multiple State Constraints', 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC 2005, ed. F. Allgower, E.W. Bai, L.Basanez, G. De Nicolao, S. Dormido, D. Henrion, B.H. Ko, Institute of Electrical and Electronics Engineers (IEEE Inc), United States, pp. 8306-8312.
- Wei, R, Austin, D & Mahony, R 2005, 'Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks', International Journal of Intelligent Systems Technologies and Applications, vol. 1, no. 1-2, pp. 174-190.
- Mahony, R, Hamel, T & Pflimlin, J 2005, 'Complementary filter design on the special orthogonal group SO(3)', 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC 2005, ed. F. Allgower, E.W. Bai, L.Basanez, G. De Nicolao, S. Dormido, D. Henrion, B.H. Ko, Institute of Electrical and Electronics Engineers (IEEE Inc), United States, pp. 1477-1483.
- Absil, P, Mahony, R & Andrews, B 2005, 'Convergence of the iterates of descent methods for analytic cost functions', SIAM Journal on Optimization, vol. 16, no. 2, pp. 531-547.
- Ngo, K & Mahony, R 2005, 'Passivity-based Control of Robot Manipulators Subject to Constraints', Australasian Conference on Robotics and Automation (ACRA 2005), ed. Claude Sammut, Australian Robotics and Automation Association, Sydney, Australia, pp. 1-7.
- Pounds, P & Mahony, R 2005, 'Small-scale Aeroelastic Rotor Simulation, Design and Fabrication', Australasian Conference on Robotics and Automation (ACRA 2005), ed. Claude Sammut, Australian Robotics and Automation Association, Sydney, Australia, p. 8.
- Ngo, K, Mahony, R & Jiang, Z 2004, 'Integrator Backstepping Design for Motion Systems with Velocity Constraint', ASCC 2004 - 5th Asian Control Conference, ed. Michael Cantoni, Institute of Electrical and Electronics Engineers (IEEE Inc), Australia, pp. 141-146.
- Mahony, R & Hamel, T 2004, 'Robust trajectory tracking for a scale model autonomous helicopter', International Journal of Robust and Nonlinear Control, vol. 14, no. 12, pp. 1035-1059.
- Absil, P, Sepulchre, R, Van Dooren, P et al 2004, 'Cubically Convergent Iterations for Invariant Subspace Computation', SIAM Journal on Matrix Analysis and Applications, vol. 26, no. 1, pp. 70-96.
- Absil, P, Mahony, R & Sepulchre, R 2004, 'Riemannian Geometry of Grassmann Manifolds with a View on Algorithmic Computation', Acta Applicandae Mathematicae, vol. 80, no. 2, pp. 199-220.
- Hamel, T & Mahony, R 2004, 'Pure 2D Visual Servo control for a class of under-actuated dynamic systems', IEEE International Conference on Robotics and Automation ICRA 2004, ed. Max Meng, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 2229-2235.
- Pounds, P, Mahony, R, Gresham, J et al 2004, 'Towards Dynamically-Favourable Quad-Rotor Aerial Robots', Australasian Conference on Robotics and Automation (ACRA 2004), ed. Nick Barnes, David Austin, Australian Robotics and Automation Association, Canberra, p. 10.
- Wei, R, Austin, D & Mahony, R 2004, 'Docking of a Mobile Robot Using Visual Bearings', Australasian Conference on Robotics and Automation (ACRA 2004), ed. Nick Barnes, David Austin, Australian Robotics and Automation Association, Canberra, p. 10.
- Wei, R, Mahony, R & Austin, D 2003, 'A Bearing-Only Control Law for Stable Docking of Unicycles', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), ed. C. S. George Lee, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 3793-3798.
- Manton, J, Mahony, R & Hua, Y 2003, 'The Geometry of Weighted Low-Rank Approximations', IEEE Transactions on Signal Processing, vol. 51, no. 2, pp. 500-514.
- Mazenc, F, Mahony, R & Lozano, R 2003, 'Forwarding control of scale model autonomous helicopter: A Lyapunov control design', IEEE Conference on Decision and Control 2003, ed. Frank Lewis, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 3960-3965.
- Mahony, R & Absil, P 2003, 'The continuous-time Rayleigh quotient flow on the sphere', Linear Algebra and its Applications, vol. 368, pp. 343-357.
- Absil, P, Sepulchre, R, Van Dooren, P et al 2003, 'A Newton algorithm for invariant subspace computation with large basins of attraction', IEEE Conference on Decision and Control 2003, ed. Frank Lewis, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 2352-2357.
- Madden, C & Mahony, R 2003, 'An Ordered List Approach to Real-Time Line Detection Based on the Hough Transform', Australasian Conference on Robotics and Automation (ACRA 2003), ed. Jonathan Roberts, Gordon Wyeth, Australian Robotics and Automation Association, Australia, p. 37.
- Pounds, P, Mahony, R, Hynes, P et al 2002, 'Design of a four-rotor aerial robot', Australasian Conference on Robotics and Automation (ACRA 2002), ed. Werner Friedrich and Patrick Lim, Australian Robotics and Automation Association, Auckland, pp. 145-150.
- Absil, P, Mahony, R & Sepulchre, R 2002, 'The continuous-time Rayleigh quotient flow on the Grassmann manifold', International Symposium on Mathemetical Theory of Networks and Systems (MTNS 2002), ed. David Gilliam, Conference Organising Committee, http://www.nd.edu/~mtns/talksalph.htm, pp. on web.
- Hamel, T, Mahony, R & Chriette, A 2002, 'Visual servo trajectory tracking for a four rotor VTOL aerial vehicle', IEEE International Conference on Robotics and Automation ICRA 2002, ed. William R. Hamel, Anthony A. Maciejewski, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 2781-2786.
- Mahony, R, Hamel, T & Chaumette, F 2002, 'A decoupled image space approach to visual servo control of a robotic manipulator', IEEE International Conference on Robotics and Automation ICRA 2002, ed. William R. Hamel, Anthony A. Maciejewski, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 3781-3786.
- Altug, E, Ostrowski, J & Mahony, R 2002, 'Control of a quadrotor helicopter using visual feedback', IEEE International Conference on Robotics and Automation ICRA 2002, ed. William R. Hamel, Anthony A. Maciejewski, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 72-77.
- Suter, D, Hamel, T & Mahony, R 2002, 'Visual servo control using homography estimation for the stabilization of an X4-flyer', IEEE Conference on Decision and Control 2002, ed. Douglas A Lawrence, Institute of Electrical and Electronics Engineers (IEEE Inc), New York, pp. 2872-2877.
- Manton, J & Mahony, R 2002, 'On the computational complexity of non-linear projections and its relevance to signal processing', Workshop on Open Problems in Systems Theory, ed. V Blondell, A Megretski, Conference Organising Committee, http://www.inma.ucl.ac.be/~blondel/op/, pp. 69-72.
- Absil, P, Mahony, R, Sepulchre, R et al 2002, 'A Grassmann-Rayleigh Quotient Iteration for Computing Invariant Subspaces', SIAM Review, vol. 44, no. 1, pp. 57-73.
- Mahony, R & Manton, J 2002, 'The Geometry of the Newton Method on Non-Compact Lie Groups', Journal of Global Optimization, vol. 23, no. 3, pp. 309-327.
- Hamel, T & Mahony, R 2002, 'Visual Servoing of an Under-Actuated Dynamic Rigid-Body System: An Image-Based Approach', IEEE Transactions on Robotics and Automation, vol. 18, no. 2, pp. 187-198.
- Mahony, R, Corke, P & Chaumette, F 2002, 'Choice of image features for depth-axis control in image based visual servo control', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), ed. Roland Siegwart and Christian Laugier, Institute of Electrical and Electronics Engineers (IEEE Inc), USA, pp. 390-395.
- Orr, M, Lithgow, B, Mahony, R et al 2002, 'A novel dual adaptive approach to speech processing', in T. Wysocki, M. Darnell, and B. Honary (ed.), Advanced signal processing for communication systems, Springer, Boston.
- Lee, S, Mahony, R & Kim, I 2002, 'Model reference adaptive control using non-Eucidean gradient descent', International Journal of Control, Automation and Systems, vol. 4 (4), pp. 330-340.
- Mahony, R & Lozano, R 2001, 'Lagrange helicopter model', in I Fantoni, R Lozano (ed.), Non-linear control for underactuated mechanical systems, Springer, United Kingdom, pp. 225-254.
- Mahony, R & Lozano, R 2001, 'Generalized forgetting functions for on-line least squares identification of time-varying systems', International Journal of Adaptive Control and Signal Processing, vol. 15, no. 4, pp. 191-210.
- Mahony, R & Hamel, T 2001, 'Adaptive compensation of aerodynamic effects during takeoff and landing manoeuvres for a scale model autonomous helicopter', European Journal of Control, vol. 7, no. 1.
- Mahony, R, Hamel, T, Lozano, R et al 2001, 'Newtonian helicopter model', in I Fantoni, R Lozano (ed.), Non-linear control for underactuated mechanical systems, Springer, United Kingdom, pp. 255-279.
- Lozano, R, Dimogianopoulos, D & Mahony, R 2001, 'Identification recursif des systemes a parametres variant dans le temps', in C Foulard (ed.), Identification et commande adaptative, Hermes Science Publications, Paris, pp. 163-183.
- Mahony, R & Williamson, R 2001, 'Prior Knowledge and Preferential Structures in Gradient Descent Learning Algorithms', Journal of Machine Learning Research, vol. 1, no. 9, pp. 311-355.
- White, L, Mahony, R & Brushe, G 2000, 'Lumpable Hidden Markov Models - Model Reduction and Reduced Complexity Filtering', IEEE Transactions on Automatic Control, vol. 45, no. 12, pp. 2297-2306.
