Expertises
Mathematics
- Matrix Lie Group
- Lie Group
- Parallel Transport
Engineering
- Extended Kalman Filter
- Filter Design
- Inertial Navigation System
- Measurement System
Computer Science
- State Estimation
Organisaties
Publicaties
2024
Constructive synchronous observer design for inertial navigation with delayed GNSS measurements (2024)European journal of control, 80(Part A). Article 101047. Goor, P. v., Wickramasinghe, P., Hampsey, M. & Mahony, R.https://doi.org/10.1016/j.ejcon.2024.101047Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment (2024)European journal of control, 80(Part A). Article 101070. Oliveira, T. L. d., Goor, P. v., Hamel, T., Mahony, R. & Samson, C.https://doi.org/10.1016/j.ejcon.2024.101070Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry (2024)[Working paper › Preprint]. ArXiv.org. van Goor, P. & Mahony, R.https://doi.org/10.48550/arXiv.2409.08623Geometric Data Fusion for Collaborative Attitude Estimation (2024)[Working paper › Preprint]. ArXiv.org. Ge, Y., Zamani, B., van Goor, P., Trumpf, J. & Mahony, R.https://doi.org/10.48550/arXiv.2407.13176A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups (2024)[Working paper › Preprint]. ArXiv.org. Ge, Y., van Goor, P. & Mahony, R.https://doi.org/10.48550/arXiv.2403.16411Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups (2024)[Working paper › Preprint]. ArXiv.org. Hampsey, M., van Goor, P., Banavar, R. & Mahony, R.https://doi.org/10.48550/arXiv.2401.16725A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups (2024)IEEE Control Systems Letters, 8, 844-849. Ge, Y., Goor, P. v. & Mahony, R.https://doi.org/10.1109/LCSYS.2024.3405485MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation (2024)IEEE Robotics and automation letters, 9(1), 731-738. Fornasier, A., Goor, P. v., Allak, E., Mahony, R. & Weiss, S.https://doi.org/10.1109/LRA.2023.3335775
2023
EqVIO: An Equivariant Filter for Visual-Inertial Odometry (2023)IEEE transactions on robotics, 39(5), 3567-3585. Goor, P. v. & Mahony, R.https://doi.org/10.1109/TRO.2023.3289587Equivariant Filter (EqF) (2023)IEEE transactions on automatic control, 68(6), 3501-3512. Goor, P. v., Hamel, T. & Mahony, R.https://doi.org/10.1109/TAC.2022.3194094
Onderzoeksprofielen
Adres
Universiteit Twente
Carré (gebouwnr. 15), kamer C3710
Hallenweg 23
7522 NH Enschede
Universiteit Twente
Carré C3710
Postbus 217
7500 AE Enschede
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