Kasra Khosoussi

Paulo Vinicius Koerich Borges

Paulo V. K. Borges

Michael Brünig

IEEE Robotics Autom. Lett., August, 2024

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Heterogeneous Robot Teams with Unified Perception and Autonomy: How Team CSIRO Data61 Tied for the Top Score at the DARPA Subterranean Challenge.

[BibT_eX]

[DOI]

Field Robotics, 2024

2023

Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, August, 2023

Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, April, 2023

Data-Association-Free Landmark-based SLAM.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Present and Future of SLAM in Extreme Underground Environments.

[BibT_eX]

[DOI]

CoRR, 2022

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT.

[BibT_eX]

[DOI]

CoRR, 2022

Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM.

[BibT_eX]

[DOI]

Fred Pauling

Navinda Kottege

CoRR, 2022

2021

Distributed Certifiably Correct Pose-Graph Optimization.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2021

A resource-aware approach to collaborative loop-closure detection with provable performance guarantees.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2021

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

[BibT_eX]

[DOI]

CoRR, 2021

Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

2019

Reliable Graphs for SLAM.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2019

Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization.

[BibT_eX]

[DOI]

CoRR, 2019

Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints.

[BibT_eX]

[DOI]

CoRR, 2019

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association.

[BibT_eX]

[DOI]

CoRR, 2019

2018

Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIV, 2018

Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection.

[BibT_eX]

[DOI]

Matthew Giamou

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Exploiting the intrinsic structures of simultaneous localization and mapping

[BibT_eX]

[DOI]

PhD thesis, 2017

Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed SLAM Front-Ends.

[BibT_eX]

[DOI]

Matthew Giamou

CoRR, 2017

On the Expected Value of the Determinant of Random Sum of Rank-One Matrices.

[BibT_eX]

[DOI]

CoRR, 2017

2016

A Sparse Separable SLAM Back-End.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs.

[BibT_eX]

[DOI]

CoRR, 2016

Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Tree-connectivity: Evaluating the graphical structure of SLAM.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Dimensionality reduction for point feature SLAM problems with spherical covariance matrices.

[BibT_eX]

[DOI]

Autom., 2015

Exploiting the Separable Structure of SLAM.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

2014

Novel insights into the impact of graph structure on SLAM.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

Towards a reliable SLAM back-end.

[BibT_eX]

[DOI]

Gibson Hu