Speaker Prof. Robert Mahony
System Theory and Robotics Group,
Australian National University, Australia
Date｜Time Feb 10 (Tuesday), 2026｜09:00
Zoom https://snu-ac-kr.zoom.us/j/8446301759?omn=86493022168
Abstract
Rigid-body or pose symmetry lies at the foundation of the spatial geometry that underlies classical robotics. Recent work has shown that there is an “extended pose” symmetry that has been demonstrated to provide significant benefits in inertial navigation problems. In this talk I show that the extended pose symmetry is itself a specialisation of the natural symmetry associated with Galilean space-time and show how this formalisation leads to a powerful modelling framework for studying inertial motion. The approach leads to applications in modelling systems in rotating Earth coordinates, fusing asynchronous measurements with time-offset, and even modelling kinematic chain manipulators.
Biography
Robert Mahony is a Professor in the Research School of Engineering at the Australian National University. He received his BSc in 1989 (applied mathematics and geology) and his PhD in 1995 (systems engineering) both from the Australian National University. He is a fellow of the Australian Academy of Science, a fellow of the Australian Academy of Technological Sciences and Engineering, and a fellow of the IEEE. His research interests are in non-linear systems theory with applications in robotics and computer vision. He is known for his work in aerial robotics, geometric observer design, matrix subspace optimisation, image based visual servo control, and event cameras
