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Journal Articles
- 2024
[j8]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)- [j7]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) - [j6]Ziwei Wang, Timothy Molloy, Pieter van Goor, Robert E. Mahony:
Asynchronous Blob Tracker for Event Cameras. IEEE Trans. Robotics 40: 4750-4767 (2024) - 2023
- [j5]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) - [j4]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF). IEEE Trans. Autom. Control. 68(6): 3501-3512 (2023) - [j3]Pieter van Goor, Robert E. Mahony:
EqVIO: An Equivariant Filter for Visual-Inertial Odometry. IEEE Trans. Robotics 39(5): 3567-3585 (2023) - 2022
- [j2]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) - 2021
- [j1]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
Constructive observer design for Visual Simultaneous Localisation and Mapping. Autom. 132: 109803 (2021)
Conference and Workshop Papers
- 2024
- [c13]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 - 2023
- [c12]Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann:
Reprojection Methods for Koopman-Based Modelling and Prediction. CDC 2023: 315-321 - [c11]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Note on the Extended Kalman Filter on a Manifold. CDC 2023: 7687-7694 - [c10]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 - 2022
- [c9]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
Equivariant Filter Design for Discrete-time Systems. CDC 2022: 1243-1250 - 2021
- [c8]Pieter van Goor, Robert E. Mahony:
Autonomous Error and Constructive Observer Design for Group Affine Systems. CDC 2021: 4730-4737 - [c7]Pieter van Goor, Robert E. Mahony:
An Equivariant Filter for Visual Inertial Odometry. ICRA 2021: 14432-14438 - 2020
- [c6]Robert E. Mahony, Pieter van Goor, Mina Henein, Ryan Pike, Jun Zhang, Yonhon Ng:
Equivariant Visual Odometry in the Wild. CDC 2020: 1314-1319 - [c5]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 - [c4]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces. CDC 2020: 5401-5408 - 2019
- [c3]Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Attitude Observation for Second Order Attitude Kinematics. CDC 2019: 2536-2542 - [c2]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
A Geometric Observer Design for Visual Localisation and Mapping. CDC 2019: 2543-2549 - 2017
- [c1]Pieter van Goor, Zhiyong Sun, Changbin Brad Yu:
Attitude synchronization control for multi-agent systems on unit quaternions. ASCC 2017: 216-221
Informal and Other Publications
- 2024
- [i29]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) - [i28]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. CoRR abs/2403.16411 (2024) - [i27]Yixiao Ge, Behzad Zamani, Pieter van Goor, Jochen Trumpf, Robert E. Mahony:
Geometric Data Fusion for Collaborative Attitude Estimation. CoRR abs/2407.13176 (2024) - [i26]Pieter van Goor, Robert E. Mahony:
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry. CoRR abs/2409.08623 (2024) - 2023
- [i25]Tarek Bouazza, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Nonlinear constructive observer design for direct homography estimation. CoRR abs/2303.05900 (2023) - [i24]Ziwei Wang, Timothy Molloy, Pieter van Goor, Robert E. Mahony:
Event Blob Tracking: An Asynchronous Real-Time Algorithm. CoRR abs/2307.10593 (2023) - [i23]Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann:
Reprojection methods for Koopman-based modelling and prediction. CoRR abs/2307.16188 (2023) - [i22]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Constructive Equivariant Observer Design for Inertial Navigation. CoRR abs/2308.11124 (2023) - [i21]Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss:
Equivariant Symmetries for Inertial Navigation Systems. CoRR abs/2309.03765 (2023) - [i20]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
A Note on the Extended Kalman Filter on a Manifold. CoRR abs/2309.06008 (2023) - [i19]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence. CoRR abs/2311.02234 (2023) - [i18]Matthew Hampsey, Pieter van Goor, Robert E. Mahony:
Exploiting spatial group error and synchrony for a unicycle tracking controller. CoRR abs/2311.03007 (2023) - [i17]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
- [i16]Pieter van Goor, Robert E. Mahony:
EqVIO: An Equivariant Filter for Visual Inertial Odometry. CoRR abs/2205.01980 (2022) - [i15]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) - [i14]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude. CoRR abs/2209.03564 (2022) - [i13]Yixiao Ge, Pieter van Goor, Robert E. Mahony:
Equivariant Filter Design for Discrete-time systems. CoRR abs/2209.04965 (2022) - [i12]Hiya Gada, Pieter van Goor, Ravi Banavar, Robert E. Mahony:
Equivariant Filters are Equivariant. CoRR abs/2210.13728 (2022) - [i11]Matthew Hampsey, Pieter van Goor, Robert E. Mahony:
Tracking control on homogeneous spaces: the Equivariant Regulator (EqR). CoRR abs/2211.07045 (2022) - 2021
- [i10]Pieter van Goor, Robert E. Mahony:
An Equivariant Filter for Visual Inertial Odometry. CoRR abs/2104.03532 (2021) - [i9]Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel:
Attitude Observation for Second Order Attitude Kinematics. CoRR abs/2104.06596 (2021) - [i8]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) - [i7]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) - [i6]Robert E. Mahony, Pieter van Goor, Tarek Hamel:
Observer Design for Nonlinear Systems with Equivariance. CoRR abs/2108.09387 (2021) - 2020
- [i5]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) - [i4]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
Constructive Observer Design for Visual Simultaneous Localisation and Mapping. CoRR abs/2006.05053 (2020) - [i3]Pieter van Goor, Tarek Hamel, Robert E. Mahony:
Equivariant Filter (EqF). CoRR abs/2010.14666 (2020) - [i2]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
- [i1]Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf:
An Equivariant Observer Design for Visual Localisation and Mapping. CoRR abs/1904.02452 (2019)
Coauthor Index
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