Publications Preprints Matthew Hampsey, Pieter Van Goor, Ravi Banavar, and Robert Mahony. "Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups" arXiv:2401.16725. 2024 Matthew Hampsey, Pieter Van Goor, and Robert Mahony. "Exploiting spatial group error and synchrony for a unicycle tracking controller" arXiv:2311.03007. 2023 Pieter Van Goor, Tarek Hamel, and Robert Mahony. "Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence" arXiv:2311.02234. 2023 Ziwei Wang, Timothy Molloy, Pieter Van Goor, and Robert Mahony. "Event Blob Tracking: An Asynchronous Real-Time Algorithm" arXiv:2307.10593. 2023 Alessandro Fornasier, Yixiao Ge, Pieter Van Goor, Robert Mahony, and Stephan Weiss. "Equivariant Symmetries for Inertial Navigation Systems" arXiv:2309.03765. 2023 Ziwei Wang, Yonhon Ng, Pieter van Goor, and Robert Mahony. "Event Camera Calibration of Per-pixel Biased Contrast Threshold" arXiv preprint arXiv:2012.09378. 2020 Journal Publications Alessandro Fornasier, Pieter Van Goor, Eren Allak, Robert Mahony, and Stephan Weiss. "MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation" IEEE Robotics and Automation Letters. 2024 Yonhon Ng, Pieter Van Goor, Tarek Hamel, and Robert Mahony. "Equivariant Observers for Second Order Systems on Matrix Lie Groups" IEEE Transactions on Automatic Control. 2023 Pieter van Goor, and Robert Mahony. "EqVIO: An Equivariant Filter for Visual Inertial Odometry" IEEE Transactions on Robotics. 2023 Pieter van Goor, Tarek Hamel, and Robert Mahony. "Equivariant Filter (EqF)" IEEE Transactions on Automatic Control. 2023 Robert Mahony, Pieter van Goor, and Tarek Hamel. "Observer Design for Nonlinear Systems with Equivariance" Annual Review of Control, Robotics, and Autonomous Systems, Vol. 5. 2022 Pieter van Goor, Robert Mahony, Tarek Hamel, and Jochen Trumpf. "Constructive observer design for Visual Simultaneous Localisation and Mapping" Automatica. 2021 Conference Publications Pieter van Goor, Robert Mahony, Manuel Schaller, and Karl Worthmann. "Reprojection Methods for Koopman-Based Modelling and Prediction" 2023 62nd IEEE Conference on Decision and Control (CDC). 2023 Tarek Bouazza, Katrina Ashton, Pieter van Goor, and Robert Mahony. "Equivariant Filter for Feature-Based Homography Estimation for General Camera Motion" 2023 62nd IEEE Conference on Decision and Control (CDC). 2023 Matthew Hampsey, Pieter Van Goor, and Robert Mahony. "Tracking control on homogeneous spaces: the Equivariant Regulator (EqR)" 22nd IFAC World Congress. 2023 Hiya Gada, Pieter van Goor, Ravi Banavar, and Robert Mahony. "Equivariant Filters are Equivariant" 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022. 2023 Yixiao Ge, Pieter van Goor, and Robert Mahony. "Reprojection Methods for Koopman-Based Modelling and Prediction" 2023 62nd IEEE Conference on Decision and Control (CDC). 2023 Matthew Hampsey, Pieter van Goor, Tarek Hamel, and Robert Mahony. "Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors" 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022. 2023 Tarek Bouazza, Pieter Van Goor, Robert Mahony, and Tarek Hamel. "Nonlinear constructive observer design for direct homography estimation" 22nd IFAC World Congress. 2023 Pieter van Goor, Tarek Hamel, and Robert Mahony. "Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude" 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022. 2023 Pieter van Goor, Tarek Hamel, and Robert Mahony. "Constructive Equivariant Observer Design for Inertial Navigation" 22nd IFAC World Congress. 2023 Pieter van Goor, and Robert Mahony. "An equivariant filter for visual inertial odometry" 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021 Pieter van Goor, and Robert Mahony. "Autonomous Error and Constructive Observer Design for Group Affine Systems" 2021 60th IEEE Conference on Decision and Control (CDC). 2021 Pieter van Goor, Robert Mahony, and Tarek Hamel. "An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance" 2020 IFAC World Congress. 2020 Yonhon Ng, Pieter van Goor, and Robert Mahony. "Pose Observation for Second Order Pose Kinematics" 2020 IFAC World Congress. 2020 Robert Mahony, Pieter van Goor, Mina Henein, Ryan Pike, Jun Zhang, and Yonhon Ng. "Equivariant Visual Odometry in the Wild" 2020 59th IEEE conference on decision and control (CDC). 2020 Pieter van Goor, Tarek Hamel, and Robert Mahony. "Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces" 2020 59th IEEE Conference on Decision and Control (CDC). 2020 Pieter van Goor, Robert Mahony, Tarek Hamel, and Jochen Trumpf. "A Geometric Observer Design for Visual Localisation and Mapping" 2019 IEEE 58th Conference on Decision and Control (CDC). 2019 Yonhon Ng, Pieter van Goor, Robert Mahony, and Tarek Hamel. "Attitude Observation for Second Order Attitude Kinematics" 2019 IEEE 58th Conference on Decision and Control (CDC). 2019 Pieter van Goor, Zhiyong Sun, and Changbin Brad Yu. "Attitude and pose formation control for multiple 3D rigid bodies based on unit quaternion representation" 2018 37th Chinese Control Conference (CCC). 2018 Pieter van Goor, Zhiyong Sun, and Changbin Brad Yu. "Attitude synchronization control for multi-agent systems on unit quaternions" 2017 11th Asian Control Conference (ASCC). 2017