F. Le Bras, T. Hamel, R. Mahony, and A. Treil. Output feedback observation and control for visual servoing of VTOL UAVs. International Journal of Robust and Nonlinear Control, to appear. Published online 26 August 2010.
B. Herisse, T. Hamel, R. Mahony, and F.-X. Russotto. Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow. IEEE Transactions on Robotics, to appear. Conditionally accepted as Regular paper 5 January 2011. [ DOI ]
J.B. Moore, R.E. Mahony, and U. Helmke. Numerical gradient algorithms for eigenvalue and singular value calculations. SIAM Journal on Matrix Analysis and Applications, 15(3):881-902, 1994.
R.E. Mahony and U. Helmke. System assignment and pole placement for symmetric realisations. Journal of Mathematical Systems, Estimation and Control, 5(2):267-270, 1995.
G. Campion, G. Bastin, and R. Mahony. Smooth feedback posture stabilisation of a class of mobile robots. Polish Journal of Applied Mathematics and Computer Science, 5(2):263-276, 1995.
R.E. Mahony and I.M. Mareels. Global solutions for differential/algebraic systems and implications for Lyapunov direct stability methods. Journal of Mathematical Systems, Estimation and Control, 5(4):487-490, October 1995.
R.E. Mahony, I.M. Mareels, G. Bastin, and G. Campion. Static-state feedback laws for output regulation of non-linear systems. Control Engineering Practice, 4(7):1009-1014, 1996.
R.E. Mahony, U. Helmke, and J.B. Moore. Gradient algorithms for principal component analysis. Journal of the Australian Mathematical Society, series B, 37(4):430-450, 1996.
R.E. Mahony. The constrained Newton method on a Lie-group and the symmetric eigenvalue problem. Linear Algebra and its Applications, 248:67-89, 1996.
R.E. Mahony, I.M. Mareels, G. Bastin, and G. Campion. Output stabilization of square non-linear systems. Automatica, 33(8):1571-1577, 1997.
D. Nesic, I.M. Mareels, G. Bastin, and R. Mahony. Output dead-beat control for a class of planar polynomial systems. SIAM Journal on Control and Optimization, 36(1):253-272, 1998.
G. Brushe, R.E. Mahony, and J. Moore. A soft output algorithm for ML/MAP sequence estimation. IEEE Transactions on Information Theory, 44(7):3129-3134, 1998.
R.J. Orsi, J.B. Moore, and R.E. Mahony. Spectrum estimation of interleaved pulse trains. IEEE Transactions on Signal Processing, 47(6):1646-1653, 1999.
R.J. Orsi, R.E. Mahony, and J.B. Moore. A dynamical systems analysis of semidefinite programming with application to quadratic optimization with pure quadratic equality constraints. Applied Mathematics and Optimization, 40(2):191-210, 1999.
R. Lozano, D. Dimogianopoulos, and R. Mahony. Identification of linear time-varying systems using a modified least squares algorithm. Automatica, 36(7):1009-1015, 2000.
L. White, R. Mahony, and G. Brushe. Lumpable hidden markov models - Model reduction and reduced complexity filtering. IEEE Transactions on Automatic Control, 45(12):2297-2306, December 2000.
R. Mahony and R. Williamson. Prior knowledge and preferential structures in gradient descent learning algorithms. Journal of Machine Learning Research, 1:311-355, 2001.
R. Mahony and T. Hamel. Adaptive compensation of aerodynamic effects during takeoff and landing manoeuvres for a scale model autonomous helicopter. European Journal of Control, 7(1):43-58, 2001.
R. Mahony and R. Lozano. Generalized forgetting functions for on-line least squares identification of time-varying systems. International Journal of Adaptive Control and Signal Processing, 15(4):191-210, June 2001.
P.-A. Absil, R. Mahony, R. Sepulchre, and P. Van Dooren. A Grassmann-Rayleigh quotient iteration for computing invariant subspaces. SIAM Review, 44(1):57-73, 2002.
T. Hamel and R. Mahony. Visual servoing of an under-actuated dynamic rigid-body system: An image based approach. IEEE Transactions on Robotics and Automation, 18(2):187-198, April 2002.
R. Mahony and J. Manton. Geometry of the Newton method on non-compact Lie-groups. Journal of Global Optimization, 23(3):309-327, August 2002.
S.-H. Lee, R. Mahony, and I.-S. Kim. Model reference adaptive control using non-Euclidean gradient descent. International Journal of Control, Automation and Systems Engineering, 4(4):330-340, December 2002.
J.H. Manton, R. Mahony, and Y. Hua. The geometry of weighted low rank approximations. IEEE Transactions on Signal Processing, 51(2):500-514, 2003.
R. Mahony and P.-A. Absil. The continuous-time Rayleigh quotient flow on the sphere. Linear Algebra and its Applications, 368:343-357, 2003.
P.-A. Absil, R. Sepulchre, P. Van Dooren, and R. Mahony. Cubically convergent iterations for invariant subspace computation. SIAM Journal on Matrix Analysis and Applications, 26(1):70-96, 2004.
P.-A. Absil, R. Mahony, and R. Sepulchre. Riemannian geometry of Grassmann manifolds with a view on algorithmic computation. Acta Applicandae Mathematicae, 80(2):199-220, January 2004.
R. Mahony and T. Hamel. Robust trajectory tracking for a scale model autonomous helicopter. International Journal on Robust and Nonlinear Control, 14(12):1035-1059, August 2004.
R. Wei, D. Austin, and R. Mahony. Biomimetic applicaton of desert ant visual navigation for mobile robot docking with weighted landmarks. International Journal on Intelligent Systems Technologies and Applications, 1(1/2):174-190, 2005.
R. Mahony and T. Hamel. Image based visual servo control of aerial robotic systems using linear image features. IEEE Transactions on Robotics, 21(2):227-239, April 2005.
P.-A. Absil, R. Mahony, and B. Andrews. Convergence of the iterates of descent methods for analytic cost functions. SIAM Journal on Optimization, 16(2):531-547, December 2005.
T. Hamel and R. Mahony. Image based visual servo-control for a class of aerial robotic systems. Automatica, 43:1975-1983, 2007.
R. Mahony, P. Corke, and T. Hamel. Dynamic image-based visual servo control using centroid and optic flow features. Journal of Dynamical Systems, Measurement and Control, 130(1), January 2008. 12 pages (no pagination).
F. Le Bras, R. Mahony, T. Hamel, and P. Binetti. Dynamic image based visual servo control for an aerial robot: Theory and experiments. International Journal of Optomechatronics, 2(3):296-325, 2008.
P.-A. Absil, R. Sepulchre, and R. Mahony. Continuous-time subspace flows related to the symmetric eigenproblem. Pacific Journal of Optimization, 4(2):179-194, 2008.
N. Guenard, V. Moreau, T. Hamel, and R. Mahony. Synthèse d'un contrôler permettant la stabilisation de la vitesse d'un drone de type X4-flyer via une correction d'assiette. Journal Européen des Systèmes Automatisés, 42(1):117-138, February 2008.
N. Guenard, T. Hamel, and R. Mahony. A practical visual servo control for a unmanned aerial vehicle. IEEE Transactions on Robotics, 24(2):331-341, April 2008.
R. Mahony, T. Hamel, and J.-M. Pflimlin. Non-linear complementary filters on the special orthogonal group. IEEE Transactions on Automatic Control, 53(5):1203-1218, June 2008.
C. McCarthy, N. Barnes, and R. Mahony. A robust docking strategy for a mobile robot using flow field divergence. IEEE Transactions on Robotics, 24(4):832-842, August 2008.
P. Pounds, R. Mahony, and P. Corke. Design of a static thruster for micro air vehicle rotorcraft. ASCE Journal of Aerospace Engineering, 22(1):85-94, January 2009.
O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck. Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle. IEEE Transactions on Robotics, 25(3):743-749, June 2009.
C. Lageman, J. Trumpf, and R. Mahony. Gradient-like observers for invariant dynamics on a Lie group. IEEE Transactions on Automatic Control, 55(2):367-377, 2010.
B. Herisse, T. Hamel, R. Mahony, and F.-X. Russotto. A terrain-following control approach for a VTOL unmanned aerial vehicle using translational optical flow. Autonomous Robots, 29(3-4):381-391, 2010.
P. Pounds, R. Mahony, and P. Corke. Modelling and control of a large quadrotor robot. Control Engineering Practice, 18(7):691-699, February 2010. [ http ]
M. Zamani, J. Trumpf, and R. Mahony. Near-optimal deterministic attitude filtering. IEEE Transactions on Automatic Control, 56(6):1411-1414, 2011. 1. [ DOI ]
F. Mufti and R. Mahony. Statistical analysis of signal measurement in time-of-flight cameras. ISPRS Journal of Photogrammetry and Remote Sensing, 66(5):720 - 731, 2011. [ DOI | http ]
R. Mahony, M. Euston, J. Kim, P. Coote, and T. Hamel. A nonlinear observer for attitude estimation of a fixed-wing UAV without GPS measurements. Transactions of the Institute of Measurement and Control, 33(6):699-717, 2011. Published online 10 November 2010.
F. Mufti, R. Mahony, and 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. Online publication complete: 24-OCT-2011, DOI: 10.1016/j.robot.2011.08.009. [ DOI ]
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