Publications
Characterizing Marginalization and Incremental Operations on the Bayes tree. International Workshop on Algorithmic Foundations of Robotics (WAFR).
(789.57 KB)
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2020. 
Multimodal Semantic SLAM with Probabilistic Data Association. Robotics and Automation (ICRA), 2019 IEEE International Conference on.
(1.96 MB)
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2019. 
Non-Gaussian SLAM Utilizing Synthetic Aperture Sonar. Robotics and Automation (ICRA), 2019 IEEE International Conference on.
(2.78 MB)
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2019. 
Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities. IEEE Intl. Conf. on Intelligent Robots and Systems (IROS).
(653.48 KB)
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2019. 
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2018.
Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis. Journal of Guidance, Control, and Dynamics. 41:2214–2231.
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2018. The manhattan frame model—manhattan world inference in the space of surface normals. IEEE transactions on pattern analysis and machine intelligence. 40:235–249.
(1.36 MB)
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2018. 
Mapping and determining the center of mass of a rotating object using a moving observer. The International Journal of Robotics Research. 37:83–103.
(4.92 MB)
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2018. 
Multibeam Data Processing for Underwater Mapping. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(822.67 KB)
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2018. 
Optimal-state-constraint EKF for visual-inertial navigation. Robotics Research. :125–139.
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2018. Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping. The International Journal of Robotics Research. 37:21–45.
(3.23 MB)
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2018. 
Quantifying protocol evaluation for autonomous collision avoidance. Autonomous Robots. :1–25.
(2.23 MB)
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2018. 
Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774.
(2.59 MB)
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2017. 
Legibility and predictability of protocol-constrained motion: Evaluating human-robot ship interactions under COLREGS collision avoidance requirements. Robotics Science and Systems.
(460.45 KB)
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2017. 
A parallel autonomy research platform. Intelligent Vehicles Symposium (IV), 2017 IEEE.
(1.08 MB)
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2017. 
SLAMinDB: Centralized graph databases for mobile robotics. Robotics and Automation (ICRA), 2017 IEEE International Conference on.
(1.14 MB)
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2017. 
Smoothing-based estimation of an inspector satellite trajectory relative to a passive object.
(899.35 KB)
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2017. 
Sparse optimization for robust and efficient loop closing. Robotics and Autonomous Systems. 93:13–26.
(2.71 MB)
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2017. .
2017. 
Towards Visual Ego-motion Learning in Robots. CoRR. abs/1705.10279
(3.48 MB)
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2017. 
Two-stage focused inference for resource-constrained minimal collision navigation. IEEE Transactions on Robotics. 33:124–140.
(1.1 MB)
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2017. 
A certifiably correct algorithm for synchronization over the special Euclidean group. arXiv preprint arXiv:1611.00128.
(530.46 KB)
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2016. 
Collision avoidance road test for COLREGS-constrained autonomous vehicles. OCEANS 2016 MTS/IEEE Monterey.
(949 KB)
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2016. 
Duckietown: an innovative way to teach autonomy. International Conference EduRobotics 2016.
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2016. High-Performance and Tunable Stereo Reconstruction. ICRA.
(3.22 MB)
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2016. 