Publications
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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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2016. Information-based active SLAM via topological feature graphs. Decision and Control (CDC), 2016 IEEE 55th Conference on. (1.81 MB)
(1.81 MB).
2014. Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes. Proc of IEEE International Conference on Robotics and Automation (ICRA). (475.62 KB)
(475.62 KB).
2012. An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. icra. :1262-1269. (670.94 KB)
(670.94 KB).
2012. iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree. The International Journal of Robotics Research. 31:217-236. (1.62 MB)
(1.62 MB).
2011. Identifying Object Pose and Parameters from 3D Laser Point Clouds. Proceedings of the {IEEE} International Conference on Robotics and Automation (ICRA). (1.37 MB)
(1.37 MB).
2010. Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance. (1.25 MB)
(1.25 MB).
2001. Incorporation of delayed decision making into stochastic mapping. Experimental Robotics VII. (726.34 KB)
(726.34 KB).
1998. Incorporating Environmental Measurements in Navigation. IEEE AUV. (2.23 MB)
(2.23 MB)