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- Robert E. Mahony, Tarek Hamel, Jean Michel Pflimlin
- IEEE Transactions on Automatic Control
- 2008

This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by… (More)

- Robert E. Mahony, Vijay Kumar, Peter I. Corke
- IEEE Robotics & Automation Magazine
- 2012

This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.

- Pierre-Antoine Absil, Robert E. Mahony, B. Andrews
- SIAM Journal on Optimization
- 2005

In the early eighties Lojasiewicz [Loj84] proved that a bounded solution of a gradient flow for an analytic cost function converges to a well-defined limit point. In this paper, we show that the… (More)

- Erdinç Altug, James P. Ostrowski, Robert E. Mahony
- ICRA
- 2002

We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose… (More)

- Tarek Hamel, Robert E. Mahony
- IEEE Trans. Robotics and Automation
- 2002

A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to “eye-in-hand” systems where the camera is… (More)

- Tarek Hamel, Robert E. Mahony
- Proceedings 2006 IEEE International Conference on…
- 2006

This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear… (More)

- Mark Euston, Paul William Coote, Robert E. Mahony, Jonghyuk Kim, Tarek Hamel
- 2008 IEEE/RSJ International Conference on…
- 2008

This paper considers the question of using a nonlinear complementary filter for attitude estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a low-cost inertial… (More)

- Jonathan H. Manton, Robert E. Mahony, Yingbo Hua
- IEEE Trans. Signal Processing
- 2003

The low-rank approximation problem is to approximate optimally, with respect to some norm, a matrix by one of the same dimension but smaller rank. It is known that under the Frobenius norm, the best… (More)

- Nicolas Guenard, Tarek Hamel, Robert E. Mahony
- IEEE Transactions on Robotics
- 2008

An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target… (More)