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F. Le Bras, T. Hamel, and R. Mahony.
Output based observation and control for visual servoing of vtol
uav's.
In 17th IFAC World Congress, 2008. |
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F. Le Bras, T. Hamel, and R. Mahony.
Visual servoing of a vtol vehicle using virtual states.
In Proceedings of the 46th IEEE Conference on Decision and
Control, page FrC18.6, New Orleans, LA, USA., December 2007. |
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G. Baldwin, R. Mahony, J. Trumpf, T. Hamel, and T. Cheviron.
Complementary filter design on the special euclidean group se(3).
In European Control Conference (ECC 2007), Kos, Greece, 2007. |
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T. Cheviron, T. Hamel, R. Mahony, and G. Baldwin.
Robust nonlinear fusion of inertial and visual data for position,
velocity and attitude estimation of uav.
In IEEE International Conference on Robotics and Automation
(ICRA2007), 2007. |
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Mark Euston, Jonghyuk Kim, Robert Mahony, and Tarek Hamel.
A complementary filter for attitude estimation of a fixed-wing UAV
with a low-cost IMU.
In Proceedings of the Field and Service Robotics Conference,
2007. |
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Nicolas Guenard, Tarek Hamel, and Robert Mahony.
A practical visual servo control for a unmanned aerial vehicle.
In IEEE International Conference on Robotics and Automation
(ICRA2007), 2007.
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T Hamel, F. Le Bras, and R Mahony.
Virtual states based visual servoing of a vtol uav.
In Proceedings of the IEEE Conference on Decision and Control,
2007. |
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Florent Le Bras, Tarek Hamel, and Robert Mahony.
Nonlinear observer-based visual control of a VTOL UAV.
In Proceedings of the European Control Conference, 2007. |
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P. Pounds, T. Hamel, and R. Mahony.
Attitude control of rigid body dynamics from biased imu measurements.
In Proceedings of the IEEE Conference on Decision and Control,
2007. |
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P. Pounds, R. Mahony, and P. Corke.
Systems identification and control of an aerobot drive system.
In International Conference on Decision and Control, 2007. |
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Rohin Wood, Robert Mahony, and Ben Cazzolato.
High performance control for trajectory tracking of symmetric vtol
vehicles with significant aerodynamic effects.
In European Control Conference (ECC 2007), Kos, Greece, 2007. |
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P. Pounds, R. Mahony, and P. Corke.
Modelling and control of a quad-rotor robot.
In Proceedings of the Australasian Conference on Robotics and
Automation, Aucland, New Zealand., December 2006. [ .pdf ] |
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Nicolas Guenard, Tarek Hamel, Vincent Moreau, and Robert Mahony.
Design of a controller allowed the intuitive control of an x4-flyer.
In Proceedings of the 8th International IFAC Symposium on Robot
Control, SYROCO 2006, pages -, Bologna, Italy, September 2006.
International Federation of Automatic Control. |
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Jean Michel Pflimlin, Phillipe Souères, Tarek Hamel, and Robert Mahony.
Position control and attitude stabilization of a ducted fan VTOL
UAV in crosswind.
In Proceedings of the 8th International IFAC Symposium on Robot
Control, SYROCO 2006, pages -, Bologna, Italy, September 2006.
International Federation of Automatic Control. [ .pdf ] |
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Jochen Trumpf, Jonathan Manton, and Robert Mahony.
Curvature based updates for optimisation problems on a hypersurface.
In Proceedings of the 17th International Symposium on
Mathematical Theory of Networks and Systems, pages -, Kyoto, Japan, July
2006. |
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T. Hamel and R. Mahony.
Attitude estimation on SO(3) based on direct inertial
measurements.
In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006
IEEE International Conference on, pages 2170-2175, Orlando Fl., USA, April
2006. Institue of Electrical and Electronic Engineers. [ .pdf ] |
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Khoi Ngo and Robert Mahony.
Bounded torque control for robot manipulators subject to joint
velocity constraints.
In International Conference on Robotics and Automation,
ICRA2006, pages -, Orlando Fl., USA, April 2006. Institue of Electrical and
Electronic Engineers. |
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Florent Le Bras, Robert Mahony, Tarek Hamel, and Paolo Binetti.
Adaptive filtering and image based visual servo control of a ducted
fan flying robot.
In Proceedings of the 45th IEEE Conference on Decision and
Control (CDC2006), page WeIP10.1, 2006. [ .pdf ] |
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Robert Mahony, Sung-Han Cha, and Tarek Hamel.
A coupled estimation and control analysis for attitude stabilisation
of mini aerial vehicles.
In Proceedings of the Australasian Conference on Robotics and
Automation., 2006. [ .pdf ] |
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Jean-Michel Pflimlin, Tarek Hamel, Philippe Soueres, and Robert Mahony.
A hierarchical control strategy for the autonomous navigation of a
ducted fan flying robot.
In Proceedings IEEE International Conference on Robotics and
Automation (ICRA 2006), pages 2491-2496, Orlando Fl., USA, May 15-19, 2006.
Institue of Electrical and Electronic Engineers. [ .pdf ] |
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R. Mahony, A. von Brasch, P. Corke, and T. Hamel.
Adaptive depth estimation in image based visual servo control of
dynamic systems.
In Proceedings of the IEEE Conference on Decision and Control,
CDC05, Seville, Spain, December 2005. Institue of Electrical and
Electronic Engineers. |
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R. Mahony, T. Hamel, and Jean-Michel Pflimlin.
Complementary filter design on the special orthogonal group
SO(3).
In Proceedings of the IEEE Conference on Decision and Control,
CDC05, Seville, Spain, December 2005. Institue of Electrical and
Electronic Engineers. [ .pdf ] |
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K. Ngo and R. Mahony.
Passivity-based control for autonomous obstacle avoidance for robot
manipulators subject to joint position and joint rate constraints.
In Proceedings of the Australasian Conference on Robotics and
Automation, Sydney, Australia, December 2005. |
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Khoi B Ngo, Robert Mahony, and Zhong-Ping Jiang.
Integrator backstepping using barrier functions for systems with
multiple state constraints.
In Proceedings of the IEEE Conference on Decision and Control,
CDC05, Seville, Spain, December 2005. Institue of Electrical and
Electronic Engineers. |
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P. Pounds and R. Mahony.
Small-scale aeroelastic rotor simulation, design and fabrication.
In Proceedings of the Australasian Conference on Robotics and
Automation, Sydney, Australia, December 2005. |
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T. Hamel and R. Mahony.
Pure 2D visual servo control for a class of under-actuated dynamic
systems.
In Proceedings of the International Conference on Robotics and
Automation (ICRA'04), New Orleans, LA, U.S.A., 2004. [ .pdf ] |
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K. Ngo, R. Mahony, and Z.-P. Jiang.
Integrator backstepping design for motion systems with velocity
constraint.
In Proceedings of the Asian Systems and Control Conference,
Melbourne, VIC, Australia, 2004. |
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P. Pounds, J. Gresham, R. Mahony, J. Robert, and P. Corke.
Towards dynamically favourable quad-rotor aerial robots.
In Proceedings of the Australasian Conference on Robotics and
Automation, Canberra, ACT, Australia, 2004. |
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R. Wei, D. Austin, and R. Mahony.
Docking of a mobile robot using visual bearings.
In Proceedings of the Australasian Conference on Robotics and
Automation, Canberra, ACT, Australia, 2004. |
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C. Madden and R. Mahony.
An ordered list approach to real-time line detection based upon the
hough transform.
In Proceedings of the Australian Conference on Robotics and
Automation, Brisbane, Australia, December 2003. |
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P.-A. Absil, R. Sepulschre, P. van Dooren, and R. Mahony.
A Newton algorithm for invariant subspace computation with large
basins of attraction.
In Proceedings of the Conference on Decision and Control, Maui,
Hawaii, USA, 2003. |
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F. Mazenc, R. Lozano, and R. Mahony.
Forwarding control of scale model autonomous helicopter: A Lyapunov
control design.
In Proceedings of the Conference on Decision and Control, Maui,
Hawaii, USA, 2003. |
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R. Wei, R. Mahony, and D. Austin.
A bearing-only control law for stable docking of unicycles.
In Proceedings of the International Conference on Intelligent
Robotics and Systems, IROS2003, Las Vegas, Canifornia, USA, 2003. |
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P-A. Absil, R. Mahony, and R. Sepulchre.
The continuous-time Rayleigh quotient flow on the Grassmann
manifold.
In Proceedings of the Fifteenth International Symposium on
Mathematical Theory of Networks and Systems (MTNS 2002), University of Notre
dame, Canada, 2002. |
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E. Altug, J. Ostrowski, and R. Mahony.
Control of a quadrotor helicopter using visual feedback.
In Proceedings of the IEEE International Conference on Robotics
and Automation, ICRA2002, Washington DC, Virginia, USA, 2002. |
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T. Hamel, R. Mahony, and H. Chriette.
Visual servo trajectory tracking for a four rotor VTOL aerial
vehicle.
In Proceedings of the International Conference on Robotics and
Automation, ICRA2002, Washington DC, Virginia, USA, 2002. |
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T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski.
Dynamic modelling and configuration stabilization for an X4-flyer.
In Proceedings of the International Federation of Automatic
Control Symposium, IFAC 2002, Barcelona, Spain, 2002. |
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R. Mahony, P. Corke, and F. Chaumette.
Choice of image features for depth-axis control in image based visual
servo control.
In International Conference on Intelligent Robotics and Systems,
IROS-2002, Switzerland, 2002. |
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R. Mahony, T. Hamel, and F. Chaumette.
A decoupled image space approach to visual servoing for a robotic
manipulator.
In Proceedings of the International Conference on Robotics and
Automation, ICRA2002, Washington DC, Virginia, USA, 2002. |
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M. Nikpour, J. Manton, and R. Mahony.
Novel Newton algorithms for the complex symmetric eigenvalue
problem.
In Proceedings of the Information, Decision and Control
Symposium, IDC2002, Adelaide, Australia., 2002.
6 pages. |
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M. Orr, B. Lithgow, R., and Mahony.
Speech features found in a continuous high order statistical analysis
of speech.
In Proceedings of the 24th Annual International Conference of
the EMBS, Houston, Texas, USA, 2002.
4 pages. |
| [42] |
Duc-Son Pham, M. Orr, B. Lithgow, and R. Mahony.
A practical approach to real-time application of speaker recognition
using wavelets and linear algebra.
In Proceedings of the 6th International Symposium on DSP for
Communication Systems, DSPCS-2002, pages 139-143, Manly, NSW, Australia,
2002. |
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P. Pounds, R. Mahony, P. Hynes, and J. Roberts.
Design of a four-rotor aerial robot.
In Australasian Conference on Robotics and Automation
Conference, ACRA-2002, Auckland, New Zealand, 2002. |
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D. Suter, R. Mahony, and T. Hamel.
Visual servo control using homography estimation for the
stabilization of an x4-flyer.
In Conference on Decision and Control, CDC-2002, Las Vegas,
USA, 2002. |
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H. Chriette, T. Hamel, and R. Mahony.
Visual servoing techniques applied to control of an autonomous
helicopter.
In International Conference on Robotics and Automation,
ICRA2001, Seoul, Korea, 2001. |
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R. Mahony and T. Hamel.
Visual servoing using linear features for under-actuated rigid body
dynamics.
In Intelligent Robotics Symposium, IROS-2001, Maui, Hawaii,
USA, 2001. |
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P-A. Absil, R. Mahony, R. Sepulchre, and P. Van Dooren.
A Grassmann-Rayleigh Quotient Iteration for computing
invariant subspaces.
In Proceedings of the Conference on Decision and Control,
CDC'2000, pages 4241-4246, Sydney, N.S.W., Australia, 2000. |
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H. Chriette, R. Mahony, and T. Hamel.
Evaluation adaptative des forces aérodynamiques pour la commande
d'héicoptère de petite taille en mode de vol quasi-stationnaire.
In Conference Internationale Francophone d'Automatique,
CIFA2000, Lille, FRANCE, 2000. |
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T. Hamel and R. Mahony.
Robust visual servoing for under-actuated dynamic systems.
In Proceedings of the Conference on Decision and Control,
CDC'2000, pages 3933-3938, Sydney, N.S.W., Australia, 2000. |
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T. Hamel, R. Mahony, and H. Chriette.
Adaptive estimation of aerodynamic forces for hover control of a
reduced scale autonomous helicopter.
In Proceedings of IFAC Symposium on Robot Control, SYROCO2000,
pages 511-516, Vienna, Austria, 2000. |
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R. Mahony.
Connections between the Rayleigh quotient flow and the Newton
flow for determining a single Eigenvector.
In Proceedings of the Mathematical Theory of Networks and
Systems, MTNS 2000, pages 4241-4246, Perpignon, France, 2000. |
| [52] |
R. Mahony and T. Hamel.
Stable tracking control for unmanned aerial vehicles using
non-inertial measurements.
In Proceedings of the Conference on Decision and Control,
CDC'2000, pages 2971-2976, Sydney, N.S.W., Australia, 2000. |
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R. Mahony and T. Hamel.
Visual servoing of fully actuated mobile robots with significant
dynamics.
In Proceedings of IFAC Symposium on Robot Control, SYROCO2000,
pages 445-450, Vienna, Austria, 2000. |
| [54] |
R. Mahony and R. Lozano.
(Almost) exact path tracking control for an autonomous helicopter
in hover manoeuvres.
In Proceedings of the International Conference on Robotics and
Automation, ICRA2000, San Fransico, California, USA., 2000. |
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R. Mahony and R. Williamson.
Riemannian structure of some new gradient descent learning
algorithms.
In S. Haykin and J. Principe, editors, Proceedings of the IEEE
2000 Adaptive Systems for Signal Processing, Communication and Control
Symposium (AS-SPCC), pages 197-202. IEEE Press, New Jersey, ISBN
0-7803-5800-7, Lake Louise, Alberta, Canada, 2000. |
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M. Spong, R. Lozano, and R. Mahony.
An almost linear biped.
In Proceedings of the Conference on Decision and Control,
CDC'2000, pages 4803-4808, Sydney, N.S.W., Australia, 2000. |
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R. Mahony.
Non-smooth time-varying control for lyapunov stabilization of the
posture of the unicycle mobile robot.
In Proceedings of the European Control Conference, ECC'99,
Karlsruhe, Germany, 1999.
Session BM-4. |
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R. Mahony, T. Hamel, and A. Dzul.
Hover control via approximate lyapunov control for a model
helicopter.
In Proceedings of the 1999 Conference on Decision and Control,
Pheonix, Arizona, U.S.A., 1999. |
| [59] |
R. Mahony and R. Lozano.
An energy based approach to the regulation of a model helicopter near
to hover.
In Proceedings of the European Control Conference, ECC'99,
Karlsruhe, Germany, 1999.
Session BA-4. |
| [60] |
R. Lozano, D. Dimogianopoulos, and R. Mahony.
Identification of linear time-varying systems using a modified least
squares algorithm.
In Proceedings of the IFAC Congress on Adaptive Control and
Signal Processing, Edinburgh, United Kingdom, 1998.
Session 2, Friday afternoon. |
| [61] |
R. Mahony.
Convergence of gradient flows and gradient descent algorithms for
analytic cost functions.
In Proceedings of the Mathematical Theory of Networks and
Systems MTNS-98, pages 653-656. Il Poligrafo, Padova, Italy, 1998. |
| [62] |
R. Mahony and R. Lozano.
On-line least squares identification of time-varying linear systems
using forgetting functions.
In Proceedings of the Conference on Decision and Control,
CDC'98, Florida, U.S.A., 1998. |
| [63] |
Sang-Heon Lee and R. Mahony.
Incorporating the true plant dynamics in a non-linear adaptive design
for model reference adaptive control.
In Proceedings of the European Control Conference, ECC97, pages
Session WE-M-C5, 1997. |
| [64] |
Sang-Heon Lee and R. Mahony.
Speeding up adapation using non-euclidean gradient descent in model
reference adaptive control.
In Proceedings of the Asian Control Conference, ASCC97, pages
365-368, 1997. |
| [65] |
G. Brushe, R. Mahony, and J. Moore.
A forward-backward algorithm for maximum likelihood state and
sequence estimation.
In Proceedings of the International Symposium on Signal
Processing and its Applications, ISSPA'96, volume 1, pages 224-227, Gold
Coast, Australia, 1996. |
| [66] |
R. Mahony, G. Brushe, and J. Moore.
Hybrid algorithms for maximum likelihood and maximum a
posteriori sequence estimation.
In Proceedings of the International Symposium on Signal
Processing and its Applications, ISSPA'96, volume 2, pages 451-454, Gold
Coast, Australia, 1996. |
| [67] |
R. E. Mahony, G. Bastin, and G. Campion.
A note on the ouput stabilizability of non-linear systems.
In Mathematical Theory of Networks and Systems MTNS-96, 1996. |
| [68] |
R. E. Mahony, U. Helmke, A. D. B. Paice, and J. Moore.
Discrete dynamics of Oja's flow.
In Proceedings of the Seventh Australian Conference on Neural
Networks, ACNN-96, pages 28-32, Canberra, Australia, 1996. |
| [69] |
D. Nesic, I. Mareels, G. Bastin, and R. Mahony.
Stability of implicitely defined polynomial dynamics: the scalar
case.
In Mathematical Theory of Networks and Systems MTNS-96, 1996. |
| [70] |
R. Orsi and R. E. Mahony.
Internal stability issues in ouput stabilization for a class of
non-linear systems.
In Mathematical Theory of Networks and Systems MTNS-96, 1996. |
| [71] |
R. J. Orsi, J. B. Moore, and R. E. Mahony.
Interleaved pulse train spectrum estimation.
In Proceedings of the Fourth International Symposium on Signal
Processing and its Applications, ISSPA'96, volume 1, pages 125-128, Gold
Coast, Australia, 1996. |
| [72] |
R. Mahony, J. Moore, and L. Dailey.
Locally C1 interpolation of function on an arbitrary simplex
mesh using a simple feed-forward perceptron.
In Proceedings of the International Conference on Neural
Networks, page 68, Perth, Australia, 1995. |
| [73] |
R. E. Mahony, I. M. Mareels, G. Bastin, and G. Campion.
Non-linear feedback laws for output regulation of non-holonomic
systems.
In Proceedings of the IFAC Conference on System Structure and
Control, Nantes, France, 1995. |
| [74] |
D. Nesic, I. M. Mareels, G. Bastin, and R. Mahony.
nu step controllability of scalar polynomial systems.
In Proceedings of the 1995 European Control Conference, 1995. |
| [75] |
D. Nesic, I. M. Mareels, G. Bastin, and R. Mahony.
Necessary and sufficient conditions for output dead beat
controllability for a class of polynomial systems.
In Proceedings of the 1995 Conference on Decision and Control,
New Orleans, USA, 1995. |
| [76] |
R. E. Mahony, U. Helmke, and J. B. Moore.
Pole placement algorithms for symmetric realisations.
In Proceedings of IEEE Conference on Decision and Control, San
Antonio, U.S.A., 1993. |
| [77] |
R. E. Mahony and I. M. Mareels.
Global solutions for differential/algebraic systems and implications
for Lyapunov stability methods.
In Proceedings of the 12'th World Congress of the International
Federation of Automatic Control, Sydney, Australia, 1993. |
| [78] |
R. E. Mahony, I. M. Mareels, G. Campion, and G. Bastin.
Output regulation for systems linear in the input.
In Conference on Mathematical Theory of Networks and Systems,
Regensburg, Germany, 1993. |
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R. E. Mahony and J. B. Moore.
Recursive interior-point linear programming algorithm based on
Lie-Brockett flows.
In Proceedings of the International Conference on Optimisation:
Techniques and Applications, Singapore, 1992. |
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J. B. Moore, R. E. Mahony, and U. Helmke.
Recursive gradient algorithms for eigenvalue and singular value
decompositions.
In Proceedings of the American Control Conference, ACC'92,
Chicago, U.S.A., 1992. |