Publications
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2020. Characterizing Marginalization and Incremental Operations on the Bayes tree. International Workshop on Algorithmic Foundations of Robotics (WAFR). 
(789.57 KB)
(789.57 KB).
2019. Multimodal Semantic SLAM with Probabilistic Data Association. Robotics and Automation (ICRA), 2019 IEEE International Conference on. (1.96 MB)
(1.96 MB).
2019. Non-Gaussian SLAM Utilizing Synthetic Aperture Sonar. Robotics and Automation (ICRA), 2019 IEEE International Conference on. (2.78 MB)
(2.78 MB).
2019. Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities. IEEE Intl. Conf. on Intelligent Robots and Systems (IROS). (653.48 KB)
(653.48 KB).
2018. Inertial Odometry With Retroactive Sensor Calibration. (3.29 MB)
(3.29 MB).
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)
(1.36 MB).
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)
(4.92 MB).
2018. Multibeam Data Processing for Underwater Mapping. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (822.67 KB)
(822.67 KB).
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)
(3.23 MB).
2018. Quantifying protocol evaluation for autonomous collision avoidance. Autonomous Robots. :1–25. (2.23 MB)
(2.23 MB).
2017. Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774. (2.59 MB)
(2.59 MB).
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)
(460.45 KB).
2017. A parallel autonomy research platform. Intelligent Vehicles Symposium (IV), 2017 IEEE. (1.08 MB)
(1.08 MB).
2017. SLAMinDB: Centralized graph databases for mobile robotics. Robotics and Automation (ICRA), 2017 IEEE International Conference on. (1.14 MB)
(1.14 MB).
2017. Smoothing-based estimation of an inspector satellite trajectory relative to a passive object. (899.35 KB)
(899.35 KB).
2017. Sparse optimization for robust and efficient loop closing. Robotics and Autonomous Systems. 93:13–26. (2.71 MB)
(2.71 MB).
2017. System and method for extracting dominant orientations from a scene. (3.34 MB)
(3.34 MB).
2017. Towards Visual Ego-motion Learning in Robots. CoRR. abs/1705.10279 (3.48 MB)
(3.48 MB).
2017. Two-stage focused inference for resource-constrained minimal collision navigation. IEEE Transactions on Robotics. 33:124–140. (1.1 MB)
(1.1 MB).
2016. A certifiably correct algorithm for synchronization over the special Euclidean group. arXiv preprint arXiv:1611.00128. (530.46 KB)
(530.46 KB).
2016. Collision avoidance road test for COLREGS-constrained autonomous vehicles. OCEANS 2016 MTS/IEEE Monterey. (949 KB)
(949 KB).
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)
(3.22 MB)