Publications

Complete List

J. Shi, R. Talak, H. Zhang, D. Jin, and L. Carlone, “CRISP: Object Pose and Shape Estimation with Test-Time Adaptation,” arXiv preprint: 2412.01052, 2024.
[Bibtex]

@article{Shi24arxiv-CRISP,
author = {J. Shi and R. Talak and H. Zhang and D. Jin and L. Carlone},
title = {{CRISP}: Object Pose and Shape Estimation with Test-Time Adaptation},
journal = {arXiv preprint: 2412.01052},
pdf = {https://arxiv.org/pdf/2412.01052},
funding = {DCIST,ONRRAPID,NSFCAREER},
Year = {2024}
}

R. Talak, J. Shi, C. Georgiou, and L. Carlone, “Outlier-Robust Training of Machine Learning Models,” arXiv preprint: 2501.00265, 2025.
[Bibtex]

@article{Shi25arxiv-ORT,
author = {R. Talak and J. Shi and C. Georgiou and L. Carlone},
title = {Outlier-Robust Training of Machine Learning Models},
journal = {arXiv preprint: 2501.00265},
pdf = {https://arxiv.org/pdf/2501.00265},
funding = {DCIST,ONRRAPID,NSFCAREER},
Year = {2025}
}

S. Hu, D. M. Arroyo, S. Debats, F. Manhardt, L. Carlone, and F. Tombari, “Mixed Diffusion for 3D Indoor Scene Synthesis,” arXiv preprint: 2405.21066, 2025.
[Bibtex]

@article{Hu24arxiv-midiffusion,
author = {S. Hu and D.M. Arroyo and S. Debats and F. Manhardt and L. Carlone and F. Tombari},
title = {Mixed Diffusion for 3D Indoor Scene Synthesis},
journal = {arXiv preprint: 2405.21066},
pdf = {https://arxiv.org/pdf/2405.21066},
funding = {DCIST,LOCKHEED},
Year = {2025}
}

}. {Yun Chang et al., “ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis,” submitted, 2025.
[Bibtex]

@article{Chang25arxiv-ashita,
author = {{Yun Chang et al.,}},
title = {{ASHiTA}: Automatic Scene-grounded HIerarchical Task Analysis},
journal = {submitted},
Year = {2025}
}

H. Lim, D. Kim, G. Shin, J. Shi, I. Vizzo, H. Myung, J. Park, and L. Carlone, “KISS-Matcher: Fast and Robust Point Cloud Registration Revisited,” in arXiv preprint: 2409.15615, 2024.
[Bibtex]

@inproceedings{Lim24arxiv-kissmatcher,
title={{KISS-Matcher}: Fast and Robust Point Cloud Registration Revisited},
author={H. Lim and D. Kim and G. Shin and J. Shi and I. Vizzo and H. Myung and J. Park and L. Carlone},
year={2024},
booktitle = {arXiv preprint: 2409.15615},
pdf = {https://arxiv.org/pdf/2409.15615},
funding = {KETI}
}

S. Banik, J. Kim, N. Hovakimyan, L. Carlone, J. Thomas, and N. Leveson, “Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft,” in AIAA SciTech Forum, 2025.
[Bibtex]

@inproceedings{Banik25scitech-stpa,
author = {S. Banik and J. Kim and N. Hovakimyan and L. Carlone and J. Thomas and N. Leveson},
title = {Integrating Vision Systems and {STPA} for Robust Landing and Take-Off in {VTOL} Aircraft},
booktitle={AIAA SciTech Forum},
Year = {2025}
}

H. Zhang and L. Carlone, “CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty,” arXiv preprint: 2412.10431, 2025.
[Bibtex]

@article{Zhang24arxiv-cups,
author = {H. Zhang and L. Carlone},
title = {{CUPS}: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty},
journal = {arXiv preprint: 2412.10431},
pdf = {https://arxiv.org/pdf/2412.10431},
funding = {AMAZONNIA,ONRRAPID},
Year = {2025}
}

H. Zhang and L. Carlone, “CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators,” arXiv preprint: 2407.06141, 2024.
[Bibtex]

@article{Zhang24arxiv-CHAMP,
author = {H. Zhang and L. Carlone},
title = {{CHAMP}: Conformalized {3D} Human Multi-Hypothesis Pose Estimators},
journal = {arXiv preprint: 2407.06141},
pdf = {https://arxiv.org/pdf/2407.06141},
Year = {2024}
}

S. Teng, H. Zhang, D. Jin, A. Jasour, M. Ghaffari, and L. Carlone, “GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise,” arXiv preprint: 2403.04712v1, 2024.
[Bibtex]

@article{Teng24arxiv-gmkf,
author = {S. Teng and H. Zhang and D. Jin and A. Jasour and M. Ghaffari and L. Carlone},
title = {{GMKF}: Generalized Moment {K}alman Filter for Polynomial Systems with Arbitrary Noise},
journal = {arXiv preprint: 2403.04712v1},
nonote = {\linkToPdf{https://arxiv.org/pdf/2403.04712v1.pdf}},
pdf = {https://arxiv.org/pdf/2403.04712v1.pdf},
funding = {NSFCAREER,DCIST,ONRRAPID},
Year = {2024}
}

W. Chen, S. Hu, R. Talak, and L. Carlone, “Leveraging Large (Visual) Language Models for Robot 3D Scene Understanding,” arXiv preprint: 2209.05629, 2022.
[Bibtex]

@article{Chen22arxiv-LLM2,
author = {W. Chen and S. Hu and R. Talak and L. Carlone},
title = {Leveraging Large (Visual) Language Models for Robot {3D} Scene Understanding},
journal = {arXiv preprint: 2209.05629},
nonote = {\linkToPdf{https://arxiv.org/pdf/2209.05629.pdf}},
pdf = {https://arxiv.org/pdf/2209.05629.pdf},
funding = {DCIST, ONRRAIDER, Lockheed},
Year = {2022}
}

W. Chen, S. Hu, R. Talak, and L. Carlone, “Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding,” RSS Workshop on Scaling Robot Learning, arXiv preprint: 2206.04585, 2022.
[Bibtex]

@article{Chen22arxiv-LLM1,
title={Extracting Zero-shot Common Sense from Large Language Models for Robot {3D} Scene Understanding},
fullauthor={William Chen and Siyi Hu and Rajat Talak and Luca Carlone},
author={W. Chen and S. Hu and R. Talak and L. Carlone},
journal={RSS Workshop on Scaling Robot Learning, arXiv preprint: 2206.04585},
nonote = {\linkToPdf{https://arxiv.org/pdf/2206.04585.pdf}},
pdf={https://arxiv.org/pdf/2206.04585.pdf},
Year = {2022}
}

A. Prorok, M. Malencia, L. Carlone, G. S. Sukhatme, B. M. Sadler, and V. Kumar, “Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems,” arXiv preprint: 2109.12343, 2021.
[Bibtex]

@article{Prorok21arxiv-resilience,
title={Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems},
fullauthor={Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar},
author={A. Prorok and M. Malencia and L. Carlone and G.S. Sukhatme and B.M. Sadler and V. Kumar},
journal={arXiv preprint: 2109.12343},
nonote = {\linkToPdf{https://arxiv.org/pdf/2109.12343.pdf}},
pdf={https://arxiv.org/pdf/2109.12343.pdf},
Year = {2021}
}

J. Shi, H. Yang, and L. Carlone, “Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints,” arXiv preprint: 2206.12498, 2022.
[Bibtex]

@article{Shi22arxiv-PACE,
author = {J. Shi and H. Yang and L. Carlone},
title = {Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from {2D and 3D} Semantic Keypoints},
journal = {arXiv preprint: 2206.12498},
nonote = {\linkToPdf{https://arxiv.org/pdf/2206.12498.pdf}},
pdf = {https://arxiv.org/pdf/2206.12498.pdf},
funding = {DCIST,ONRRAIDER,NSFCAREER,LL3},
Year = {2022}
}

D. Maggio, M. Abate, J. Shi, C. Mario, and L. Carlone, “Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields,” arXiv preprint: 2209.09050, 2022.
[Bibtex]

@article{Maggio22arxiv-LocNerf,
author = {D. Maggio and M. Abate and J. Shi and C. Mario and L. Carlone},
title = {{Loc-NeRF}: Monte Carlo Localization using Neural Radiance Fields},
journal = {arXiv preprint: 2209.09050},
nonote = {\linkToPdf{https://arxiv.org/pdf/2209.09050.pdf},\linkToVideo{https://youtu.be/yIgl3kbpbXY}},
pdf = {https://arxiv.org/pdf/2209.09050.pdf},
funding = {DCIST, NASA, ARA2},
Year = {2022}
}

R. Talak, S. Hu, L. Peng, and L. Carlone, “Neural Trees for Learning on Graphs,” arXiv preprint: 2105.07264, 2021.
[Bibtex]

@article{Talak21arxiv-neuralTree,
title={Neural Trees for Learning on Graphs},
author={R. Talak and S. Hu and L. Peng and L. Carlone},
journal={arXiv preprint: 2105.07264},
nonote = {\linkToPdf{https://arxiv.org/pdf/2105.07264.pdf}},
pdf={https://arxiv.org/pdf/2105.07264.pdf},
year={2021}
}

J. Fishman, S. Ubellacker, N. Hughes, and L. Carlone, “Dynamic Grasping with a “Soft” Drone: From Theory to Practice,” arXiv preprint: 2103.06465, 2021.
[Bibtex]

@article{Fishman21arxiv-softDrone2,
title={Dynamic Grasping with a ``Soft'' Drone: From Theory to Practice},
author={J. Fishman and S. Ubellacker and N. Hughes and L. Carlone},
journal={arXiv preprint: 2103.06465},
nonote = {\linkToPdf{https://arxiv.org/pdf/2103.06465.pdf}},
pdf={https://arxiv.org/pdf/2103.06465.pdf},
year={2021},
}

J. Shi, H. Yang, and L. Carlone, “ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants,” arXiv preprint: 2011.03659, 2020.
[Bibtex]

@article{Shi20tr-robin,
title={{ROBIN:} a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants},
author={J. Shi and H. Yang and L. Carlone},
journal={arXiv preprint: 2011.03659},
nonote = {\linkToPdf{https://arxiv.org/pdf/2011.03659.pdf}},
pdf="https://arxiv.org/pdf/2011.03659.pdf",
year={2020}
}

P. Antonante, D. I. Spivak, and L. Carlone, “Monitoring and Diagnosability of Perception Systems,” arXiv preprint: 2011.07010, 2020.
[Bibtex]

@article{Antonante20tr-perSysMonitoring2,
title={Monitoring and Diagnosability of Perception Systems},
author={P. Antonante and D.I. Spivak and L. Carlone},
journal={arXiv preprint: 2011.07010},
nonote = {\linkToPdf{https://arxiv.org/pdf/2011.07010.pdf}},
pdf="https://arxiv.org/pdf/2011.07010.pdf",
year={2020}
}

P. Antonante, D. I. Spivak, and L. Carlone, “Monitoring and Diagnosability of Perception Systems,” arXiv preprint: 2005.11816, 2020.
[Bibtex]

@article{Antonante20tr-perSysMonitoring,
title={Monitoring and Diagnosability of Perception Systems},
author={P. Antonante and D.I. Spivak and L. Carlone},
journal={arXiv preprint: 2005.11816},
nonote = {\linkToPdf{https://arxiv.org/pdf/2005.11816.pdf}},
pdf="https://arxiv.org/pdf/2005.11816.pdf",
year={2020}
}

J. Fishman and L. Carlone, “Control and Trajectory Optimization for Soft Aerial Manipulation,” arXiv preprint: 2004.04238, 2020.
[Bibtex]

@article{Fishman20arxiv-softDrone,
title={Control and Trajectory Optimization for Soft Aerial Manipulation},
author={J. Fishman and L. Carlone},
journal={arXiv preprint: 2004.04238},
nonote = {\linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}},
pdf={https://arxiv.org/pdf/2004.04238.pdf},
year={2020}
}

H. Yang, J. Shi, and L. Carlone, “TEASER: Fast and Certifiable Point Cloud Registration,” arXiv preprint: 2001.07715, 2020.
[Bibtex]

@article{Yang20arxiv-teaser,
title={{TEASER: Fast and Certifiable Point Cloud Registration}},
author={H. Yang and J. Shi and L. Carlone},
journal={arXiv preprint: 2001.07715},
nonote = {\linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
pdf={https://arxiv.org/pdf/2001.07715.pdf},
Year = {2020}
}

H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, and R. Kumar, “Plug-and-Play Navigation Using Factor Graphs,” 2017.
[Bibtex]

@techreport{Chiu17tr-plugAndPlayNav,
Author = {H-P. Chiu and L. Carlone and F. Dellaert and S. Samarasekera and R. Kumar},
Title = {Plug-and-Play Navigation Using Factor Graphs},
Year = 2017}

L. Shaikewitz, S. Ubellacker, and L. Carlone, “A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking,” IEEE Robotics and Automation Letters (RA-L), 2024.
[Bibtex]

@article{Shaikewitz24ral-CAST,
author = {L. Shaikewitz and S. Ubellacker and L. Carlone},
title = {A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2406.16837}, \linkToVideo{https://www.youtube.com/watch?v=eTIlVD9pDtc}, \linkToCode{https://github.com/MIT-SPARK/certifiable_tracking}},
pdf = {https://arxiv.org/pdf/2406.16837},
funding = {ONRRAPID,NSFCAREER,Mathworks2},
Year = {2024}
}

L. Gionfrida, C. Wang, L. Gan, M. Chli, and L. Carlone, “Computer and Robot Vision: Past, Present, and Future [TC Spotlight],” , vol. 31, iss. 3, p. 211–215, 2024.
[Bibtex]

@article{Gionfrida24ram-CRV-TC,
author = {L. Gionfrida and C. Wang and L. Gan and M. Chli and L. Carlone},
title = {Computer and Robot Vision: Past, Present, and Future [TC Spotlight]},
journal = ram,
nonote = {\linkToPdf{https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10673776}},
pdf = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10673776},
year={2024},
volume={31},
number={3},
pages={211--215}
}

N. Gorlo, L. Schmid, and L. Carlone, “Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs,” IEEE Robotics and Automation Letters (RA-L), 2024.
[Bibtex]

@article{Gorlo24ral-LP2,
author = {N. Gorlo and L. Schmid and L. Carlone},
title = {Long-Term Human Trajectory Prediction using {3D} Dynamic Scene Graphs},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2405.00552}, \linkToVideo{https://youtu.be/mzumT3T0dYw?feature=shared}, \linkToCode{https://github.com/MIT-SPARK/LP2}},
pdf = {https://arxiv.org/pdf/2405.00552},
funding = {LAB126,Lockheed,SwissNSF},
Year = {2024}
}

D. Maggio, Y. Chang, N. Hughes, M. Trang, D. Griffith, C. Dougherty, E. Cristofalo, L. Schmid, and L. Carlone, “Clio: Real-time Task-Driven Open-Set 3D Scene Graphs,” IEEE Robotics and Automation Letters (RA-L), vol. 9, iss. 10, p. 8921–8928, 2024.
[Bibtex]

@article{Maggio24ral-clio,
author = {D. Maggio and Y. Chang and N. Hughes and M. Trang and D. Griffith and C. Dougherty and E. Cristofalo and L. Schmid and L. Carlone},
title = {Clio: Real-time Task-Driven Open-Set {3D} Scene Graphs},
journal = ral,
volume = {9},
number = {10},
pages = {8921--8928},
nonote = {\linkToPdf{https://arxiv.org/pdf/2404.13696},\linkToVideo{https://youtu.be/m-HJO10qhSQ},\linkToWeb{https://news.mit.edu/2024/helping-robots-focus-on-objects-that-matter-0930}},
pdf = {https://arxiv.org/pdf/2404.13696},
funding = {DCIST,LL4FRESCO, SwissNSF, DominicNSF,ONRRAPID},
Year = {2024}
}

S. Ubellacker, A. Ray, J. Bern, J. Strader, and L. Carlone, “High-speed aerial grasping using a soft drone with onboard perception,” Nature Robotics, 2024.
[Bibtex]

@article{Ubellacker24npj-softDrone3,
author = {S. Ubellacker and A. Ray and J. Bern and J. Strader and L. Carlone},
title = {High-speed aerial grasping using a soft drone with onboard perception},
journal = {Nature Robotics},
nonote = {\linkToPdf{https://rdcu.be/dR0sM},\linkToVideo{https://youtu.be/HF4M7TooqfE},\linkToWeb{https://spectrum.ieee.org/video-friday-robots-table-tennis}},
pdf = {https://rdcu.be/dR0sM},
funding = {MIT-RSC, ARA2, MathWorks},
Year = {2024}
}

J. Strader, N. Hughes, W. Chen, A. Speranzon, and L. Carlone, “Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies,” IEEE Robotics and Automation Letters (RA-L), vol. 9, iss. 6, p. 4886–4893, 2024.
[Bibtex]

@article{Strader24ral-automaticAbstractions,
author = {J. Strader and N. Hughes and W. Chen and A. Speranzon and L. Carlone},
title = {Indoor and Outdoor {3D} Scene Graph Generation via Language-Enabled Spatial Ontologies},
journal = ral,
volume = {9},
number = {6},
pages = {4886--4893},
nonote = {arXiv preprint: 2312.11713, \linkToPdf{https://arxiv.org/pdf/2312.11713.pdf}},
pdf = {https://arxiv.org/pdf/2312.11713.pdf},
funding = {DCIST,ONRLITTORAL,Lockheed,AIA},
Year = {2024}
}

N. Hughes, Y. Chang, S. Hu, R. Talak, R. Abdulhai, J. Strader, and L. Carlone, “Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems,” Intl. J. of Robotics Research, 2024.
[Bibtex]

@article{Hughes24ijrr-hydraFoundations,
author = {N. Hughes and Y. Chang and S. Hu and R. Talak and R. Abdulhai and J. Strader and L. Carlone},
title = {Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems},
journal = ijrr,
nonote = {arXiv preprint: 2305.07154, \linkToPdf{https://arxiv.org/pdf/2305.07154.pdf},\linkToVideo{https://youtu.be/AEaBq2-FeY0}},
pdf = {https://arxiv.org/pdf/2305.07154.pdf},
funding = {DCIST, ONRRAIDER, AIA, LL4FRESCO, Lockheed, ARA2},
Year = {2024}
}

D. Maggio, C. Mario, and L. Carlone, “VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields,” IEEE Robotics and Automation Letters (RA-L), 2023.
[Bibtex]

@article{Maggio23ral-VERF,
author = {D. Maggio and C. Mario and L. Carlone},
title = {{VERF}: Runtime Monitoring of Pose Estimation with Neural Radiance Fields},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2308.05939.pdf}},
pdf = {https://arxiv.org/pdf/2308.05939.pdf},
funding = {NASA-Dominic, NSFCAREER, NSF-Dominic},
Year = {2023}
}

Y. Chang, L. Ballotta, and L. Carlone, “D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints,” IEEE Robotics and Automation Letters (RA-L), 2023.
[Bibtex]

@article{Chang23ral-DLite,
author = {Y. Chang and L. Ballotta and L. Carlone},
title = {{D-Lite}: Navigation-Oriented Compression of {3D} Scene Graphs under Communication Constraints},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2209.06111.pdf},\linkToVideo{https://youtu.be/nKYXU5VC6A8}},
pdf = {https://arxiv.org/pdf/2209.06111.pdf},
funding = {DCIST, ONRRAIDER, LL3},
Year = {2023}
}

K. Ebadi, L. Bernreiter, H. Biggie, G. Catt, Y. Chang, A. Chatterjee, C. E. Denniston, S-P. Deschênes, K. Harlow, S. Khattak, L. Nogueira, M. Palieri, P. P. c, P. Petrlík, A. Reinke, V. Krátký, S. Zhao, A. Agha-mohammadi, K. Alexis, C. Heckman, K. Khosoussi, N. Kottege, B. Morrell, M. Hutter, F. Pauling, F. Pomerleau, M. Saska, S. Scherer, R. Siegwart, J. L. Williams, and L. Carlone, “Present and Future of SLAM in Extreme Underground Environments,” IEEE Trans. Robotics, vol. 40, p. 936–959, 2024.
[Bibtex]

@article{Ebadi24tro-surveySLAMSubt,
fullauthor = {Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Desch\^{e}nes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petracek, Matej Petrlik, Andrzej Reinke, Vıt Kratky, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling,Francois Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone},
author = {K. Ebadi and L. Bernreiter and H. Biggie and G. Catt and Y. Chang and A. Chatterjee and C.E. Denniston and S-P. Desch\^{e}nes and K. Harlow and S. Khattak and L. Nogueira and M. Palieri and P. Petr\'{a}\u{c}ek and P. Petrl\'{i}k and A. Reinke and V. Kr\'{a}tk\'{y} and S. Zhao and A. Agha-mohammadi and K. Alexis and C. Heckman and K. Khosoussi and N. Kottege and B. Morrell and M. Hutter and F. Pauling and F. Pomerleau and M. Saska and S. Scherer and R. Siegwart and J.L. Williams and L. Carlone},
title = {Present and Future of {SLAM} in Extreme Underground Environments},
journal = tro,
volume = {40},
pages = {936--959},
nonote = {\linkToPdf{https://arxiv.org/pdf/2208.01787.pdf}},
pdf = {https://arxiv.org/pdf/2208.01787.pdf},
funding = {DARPASubT, ONRRAPID},
Year = {2024}
}

P. Antonante, H. Nilsen, and L. Carlone, “Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification,” Artificial Intelligence Journal (AIJ), arXiv preprint: 2205.10906, 2023.
[Bibtex]

@article{Antonante23aij-perceptionMonitoring,
title={Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification},
fullauthor={Pasquale Antonante and Heath Nilsen and Luca Carlone},
author={P. Antonante and H. Nilsen and L. Carlone},
journal={Artificial Intelligence Journal (AIJ), arXiv preprint: 2205.10906},
nonote = {\linkToPdf{https://arxiv.org/pdf/2205.10906.pdf}},
pdf={https://arxiv.org/pdf/2205.10906.pdf},
funding = {NSFCAREER},
Year = {2023}
}

J. Shi, H. Yang, and L. Carlone, “Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints,” IEEE Trans. Robotics, vol. 39, iss. 5, p. 4131–4151, 2023.
[Bibtex]

@article{Shi23tro-PACE,
author = {J. Shi and H. Yang and L. Carlone},
title = {Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from {2D and 3D} Semantic Keypoints},
journal = tro,
volume = {39},
number = {5},
pages = {4131--4151},
nonote = {\linkToPdf{https://arxiv.org/pdf/2206.12498.pdf}},
pdf = {https://arxiv.org/pdf/2206.12498.pdf},
funding = {DCIST,ONRRAIDER,NSFCAREER,LL3},
Year = {2023}
}

R. Talak, L. Peng, and L. Carlone, “Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training,” IEEE Trans. Robotics, vol. 39, iss. 4, p. 2805–2824, 2023.
[Bibtex]

@article{Talak23tro-c3po,
title = {Certifiable {3D} Object Pose Estimation: Foundations, Learning Models, and Self-Training},
author = {R. Talak and L. Peng and L. Carlone},
journal = tro,
volume = {39},
number = {4},
pages = {2805--2824},
nonote = {\linkToPdf{https://arxiv.org/pdf/2206.11215.pdf}},
pdf={https://arxiv.org/pdf/2206.11215.pdf},
funding = {DCIST, ONRRAIDER, NSFCAREER},
year = {2023}
}

L. Carlone, “Estimation Contracts for Outlier-Robust Geometric Perception,” Foundations and Trends (FnT) in Robotics, arXiv preprint: 2208.10521, 2023.
[Bibtex]

@article{Carlone23fnt-estimationContracts,
author = {L. Carlone},
title = {Estimation Contracts for Outlier-Robust Geometric Perception},
journal = {Foundations and Trends (FnT) in Robotics, arXiv preprint: 2208.10521},
nonote = {\linkToPdf{https://arxiv.org/pdf/2208.10521.pdf}},
pdf = {https://arxiv.org/pdf/2208.10521.pdf},
funding = {DCIST, NSFCAREER},
Year = {2023}
}

J. A. Placed, J. Strader, H. Carrillo, N. Atanasov, V. Indelman, L. Carlone, and J. A. Castellanos, “A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers,” IEEE Trans. Robotics, vol. 39, iss. 3, p. 1686–1705, 2023.
[Bibtex]

@article{Placed23tro-activeSLAMsurvey,
author = {J.A. Placed and J. Strader and H. Carrillo and N. Atanasov and V. Indelman and L. Carlone and J.A. Castellanos},
title = {A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers},
journal = tro,
volume = {39},
number = {3},
pages = {1686--1705},
nonote = {arXiv preprint: 2207.00254, \linkToPdf{https://arxiv.org/pdf/2207.00254.pdf}},
pdf = {https://arxiv.org/pdf/2207.00254.pdf},
funding = {DCIST},
Year = {2023}
}

H. Yang, L. Liang, L. Carlone, and K. Toh, “An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization,” Mathematical Programming (MAPR), 2022.
[Bibtex]

@article{Yang22mapr-stride,
title={An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization},
author={H. Yang and L. Liang and L. Carlone and K. Toh},
journal={Mathematical Programming (MAPR)},
nonote = {\linkToPdf{https://arxiv.org/pdf/2105.14033.pdf}},
pdf={https://arxiv.org/pdf/2105.14033.pdf},
funding = {DCIST, NSFCAREER},
Year = {2022}
}

H. Yang and L. Carlone, “Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization,” IEEE Trans. Pattern Anal. Machine Intell., 2022.
[Bibtex]

@article{Yang22pami-certifiablePerception,
title={Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization},
author={H. Yang and L. Carlone},
journal=pami,
nonote = {\linkToPdf{https://arxiv.org/pdf/2109.03349.pdf}},
pdf={https://arxiv.org/pdf/2109.03349.pdf},
funding = {DCIST, ONRRAIDER, NSFCAREER, MathWorks, LL3},
Year = {2022}
}

Y. Chang, K. Ebadi, C. Denniston, F. M. Ginting, A. Rosinol, A. Reinke, M. Palieri, J. Shi, C. A, B. Morrell, A. Agha-mohammadi, and L. Carlone, “LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 4, p. 9175–9182, 2022.
[Bibtex]

@article{Chang22ral-LAMP2,
title={{LAMP 2.0}: A Robust Multi-Robot {SLAM} System for Operation in Challenging Large-Scale Underground Environments},
author={Y. Chang and K. Ebadi and C. Denniston and M. Fadhil Ginting and A. Rosinol and A. Reinke
and M. Palieri and J. Shi and A, Chatterjee and B. Morrell and A. Agha-mohammadi and L. Carlone},
nonote = {\linkToPdf{https://arxiv.org/pdf/2205.13135.pdf}},
journal = ral,
volume = {7},
number = {4},
pages = {9175--9182},
pdf={https://arxiv.org/pdf/2205.13135.pdf},
Year = {2022}
}

C. Denniston, Y. Chang, A. Reinke, K. Ebadi, G. Sukhatme, L. Carlone, B. Morrell, and A. Agha-mohammadi, “Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM,” IEEE Robotics and Automation Letters (RA-L), 2022.
[Bibtex]

@article{Dennison22ral-loopPrioritization,
title={Loop Closure Prioritization for Efficient and Scalable Multi-Robot {SLAM}},
author={C. Denniston and Y. Chang and A. Reinke and K. Ebadi and G. Sukhatme and L. Carlone and B. Morrell and A. Agha-mohammadi},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2205.12402.pdf}},
pdf={https://arxiv.org/pdf/2205.12402.pdf},
Year = {2022}
}

A. Reinke, M. Palieri, B. Morrell, Y. Chang, K. Ebadi, L. Carlone, and A. Agha-mohammadi, “LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground 3D Mapping,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 4, p. 9043–9050, 2022.
[Bibtex]

@article{Reinke22ral-LOCUS2,
title={{LOCUS 2.0}: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground {3D} Mapping},
author={A. Reinke and M. Palieri and B. Morrell and Y. Chang and K. Ebadi and L. Carlone and A. Agha-mohammadi},
journal = ral,
nonote = {\linkToPdf{https://arxiv.org/pdf/2205.11784.pdf}},
volume = {7},
number = {4},
pages = {9043--9050},
pdf={https://arxiv.org/pdf/2205.11784.pdf},
Year = {2022}
}

A. Agha et al., “NeBula: TEAM CoSTAR’s Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge,” Field Robotics, vol. 2, p. 1432–1506, 2022.
[Bibtex]

@article{Agha22fr-Nebula,
title={{NeBula}: {TEAM CoSTAR’s} Robotic Autonomy Solution that Won {Phase II of DARPA Subterranean Challenge}},
author={{A. Agha et al.}},
fullauthor={Agha, A., Otsu, K., Morrell, B., Fan, D., Thakker, R., Santamaria-Navarro, A., Kim, S., Bouman, A., Lei, X., Edlund, J., Ginting, M., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Saboia Da Silva, M., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H., Melikyan, H., Choi, H., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, J.},
journal={Field Robotics},
volume = 2,
pages = {1432--1506},
nonote = {\linkToPdf{https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf}},
pdf={https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf},
year={2022},
}

Y. Tian, Y. Chang, H. F. Arias, C. Nieto-Granda, J. P. How, and L. Carlone, “Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems,” IEEE Trans. Robotics, 2022.
[Bibtex]

@article{Tian22tro-KimeraMulti,
title={{Kimera-Multi}: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems},
author={Y. Tian and Y. Chang and F. Herrera Arias and C. Nieto-Granda and J.P. How and L. Carlone},
journal=tro,
nonote = {arXiv preprint: 2106.14386, \linkToPdf{https://arxiv.org/pdf/2106.14386.pdf}\award{, King-Sun Fu Memorial Best Paper Award}},
pdf={https://arxiv.org/pdf/2106.14386.pdf},
funding = {DCIST, LL3, ARA, MathWorks},
year={2022}
}

A. Rosinol, A. Violette, M. Abate, N. Hughes, Y. Chang, J. Shi, A. Gupta, and L. Carlone, “Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs,” Intl. J. of Robotics Research, vol. 40, iss. 12–14, p. 1510–1546, 2021.
[Bibtex]

@Article{Rosinol21ijrr-Kimera,
title={Kimera: from {SLAM} to Spatial Perception with {3D} Dynamic Scene Graphs},
author={A. Rosinol and A. Violette and M. Abate and N. Hughes and Y. Chang
and J. Shi and A. Gupta and L. Carlone},
journal=ijrr,
volume = {40},
number = {12--14},
pages = {1510--1546},
nonote = {arXiv preprint: 2101.06894, \linkToPdf{https://arxiv.org/pdf/2101.06894.pdf}},
pdf={https://arxiv.org/pdf/2101.06894.pdf},
year={2021},
}

P. Antonante, V. Tzoumas, H. Yang, and L. Carlone, “Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications,” IEEE Trans. Robotics, vol. 38, iss. 1, p. 281–301, 2021.
[Bibtex]

@article{Antonante21tro-outlierRobustEstimation,
title={Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications},
author={P. Antonante and V. Tzoumas and H. Yang and L. Carlone},
journal=tro,
volume = 38,
number = 1,
pages = {281--301},
nonote = {\linkToPdf{https://arxiv.org/pdf/2007.15109.pdf}},
pdf={https://arxiv.org/pdf/2007.15109.pdf},
year={2021}
}

M. Palieri, B. Morrell, A. Thakur, K. Ebadi, J. Nash, A. Chatterjee, C. Kanellakis, L. Carlone, C. Guaragnella, and A. Agha-mohammadi, “LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time,” IEEE Robotics and Automation Letters (RA-L), vol. 6, iss. 2, p. 421–428, 2021.
[Bibtex]

@article{Palieri21ral-locus,
title={{LOCUS}: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and {3D} Mapping in Real-Time},
author={M. Palieri and B. Morrell and A Thakur and K. Ebadi and J. Nash and A. Chatterjee
and C. Kanellakis and L. Carlone and C. Guaragnella and A. Agha-mohammadi},
journal=ral,
nonote = {\linkToPdf{https://arxiv.org/abs/2012.14447}, \linkToVideo{https://youtu.be/5QQkkQ_YrbU}},
volume = 6,
number = 2,
pages = {421--428},
pdf={https://arxiv.org/abs/2012.14447},
year={2021}
}

L. Ballotta, L. Schenato, and L. Carlone, “Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks,” IEEE Transactions on Network Science and Engineering, vol. 7, iss. 4, p. 2952–2965, 2020.
[Bibtex]

@article{Ballotta20tnse-processingNetworks,
title={Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks},
author={L. Ballotta and L. Schenato and L. Carlone},
journal={IEEE Transactions on Network Science and Engineering},
nonote = {\linkToPdf{https://arxiv.org/pdf/1911.05859.pdf}},
volume = 7,
number = 4,
pages = {2952--2965},
pdf={https://arxiv.org/pdf/1911.05859.pdf},
year={2020}
}

H. Yang, J. Shi, and L. Carlone, “TEASER: Fast and Certifiable Point Cloud Registration,” IEEE Trans. Robotics, vol. 37, iss. 2, p. 314–333, 2020.
[Bibtex]

@article{Yang20tro-teaser,
title={{TEASER: Fast and Certifiable Point Cloud Registration}},
author={H. Yang and J. Shi and L. Carlone},
journal=tro,
volume = 37,
number = 2,
pages = {314--333},
nonote = {extended arXiv version 2001.07715 \linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
pdf={https://arxiv.org/pdf/2001.07715.pdf},
Year = {2020}
}

V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie, “LQG Control and Sensing Co-Design,” IEEE Trans. on Automatic Control, 2020.
[Bibtex]

@article{Tzoumas20tac-sLQG,
Author = {V. Tzoumas and L. Carlone and G.J. Pappas and A. Jadbabaie},
FullAuthor = {Vasileios Tzoumas and Luca Carlone and George J. Pappas and Ali Jadbabaie},
Title = {{LQG} Control and Sensing Co-Design},
nonote = {arxiv preprint: 1709.08826,
\linkToPdf{https://arxiv.org/pdf/1709.08826.pdf}},
pdf = "https://arxiv.org/pdf/1709.08826.pdf",
journal=tac,
Year = 2020}

H. Yang, P. Antonante, V. Tzoumas, and L. Carlone, “Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection,” IEEE Robotics and Automation Letters (RA-L), vol. 5, iss. 2, p. 1127–1134, 2020.
[Bibtex]

@article{Yang20ral-GNC,
Author = {H. Yang and P. Antonante and V. Tzoumas and L. Carlone},
FullAuthor = {Heng Yang, Pasquale Antonante, Vasileios Tzoumas, Luca Carlone},
Title = {Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection},
Volume = 5,
Number = 2,
Pages = {1127--1134},
nonote = {arXiv preprint:1909.08605 (with supplemental material), \linkToPdf{https://arxiv.org/pdf/1909.08605.pdf}\award{, ICRA Best paper award in Robot Vision}},
pdf = "https://arxiv.org/pdf/1909.08605.pdf",
journal=ral,
year={2020}
}

P. Lajoie, B. Ramtoula, Y. Chang, L. Carlone, and G. Beltrame, “DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams,” IEEE Robotics and Automation Letters (RA-L), vol. 5, iss. 2, p. 1656–1663, 2020.
[Bibtex]

@article{Lajoie20ral-doorSLAM,
Author = {P. Lajoie and B. Ramtoula and Y. Chang and L. Carlone and G. Beltrame},
Title = {{DOOR-SLAM:} Distributed, Online, and Outlier Resilient SLAM for Robotic Teams},
nonote = {\linkToVideo{https://www.youtube.com/watch?v=h0bqURQlZGA},
\linkToCode{https://github.com/MISTLab/DOOR-SLAM},
\linkToPdf{https://arxiv.org/pdf/1909.12198.pdf}},
Volume = 5,
Number = 2,
Pages = {1656--1663},
pdf = "https://arxiv.org/pdf/1909.12198.pdf",
journal=ral,
Year = 2020}

P. Lajoie, S. Hu, G. Beltrame, and L. Carlone, “Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models,” IEEE Robotics and Automation Letters (RA-L), 2019.
[Bibtex]

@article{Lajoie19ral-DCGM,
Author = {P. Lajoie and S. Hu and G. Beltrame and L. Carlone},
Title = {Modeling Perceptual Aliasing in {SLAM} via Discrete-Continuous Graphical Models},
Journal = ral,
nonote = {extended ArXiv version:
\linkToPdf{https://arxiv.org/pdf/1810.11692.pdf},
Supplemental Material:
\linkToPdf{https://www.dropbox.com/s/vupak65wi75yzbl/2018j-RAL-DCGM-supplemental.pdf?dl=0}},
pdf = "https://arxiv.org/pdf/1810.11692.pdf",
Year = 2019}

S. Hu and L. Carlone, “Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization,” IEEE Robotics and Automation Letters (RA-L), 2019.
[Bibtex]

@article{Hu19ral-fuses,
Author = {S. Hu and L. Carlone},
Title = {Accelerated Inference in {Markov Random Fields} via Smooth {Riemannian} Optimization},
Journal = ral,
nonote = {extended ArXiv version:
\linkToPdf{https://arxiv.org/pdf/1810.11689.pdf}},
pdf = "https://arxiv.org/pdf/1810.11689.pdf",
Year = 2019}

A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze, “Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones,” IEEE Journal of Solid-State Circuits, vol. 54, iss. 4, 2019.
[Bibtex]

@article{Suleiman19jssc-navion,
Author = {A. Suleiman and Z. Zhang and L. Carlone and S. Karaman and V. Sze},
Volume = 54,
Number = 4,
Title = {Navion: A {2mW} Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones},
nonote = {\linkToPdf{https://lnkd.in/gcGDz5z}},
pdf = "https://arxiv.org/pdf/1810.11689.pdf",
Journal = {IEEE Journal of Solid-State Circuits},
Year = 2019}

F. Ma, L. Carlone, U. Ayaz, and S. Karaman, “Sparse Depth Sensing for Resource-Constrained Robot Perception,” Intl. J. of Robotics Research, 2018.
[Bibtex]

@article{Ma18ijrr-sparseSensing,
Author = {F. Ma and L. Carlone and U. Ayaz and S. Karaman},
Title = {Sparse Depth Sensing for Resource-Constrained Robot Perception},
Journal = ijrr,
nonote = {arxiv preprint: 1703.01398,
\linkToPdf{https://arxiv.org/pdf/1703.01398.pdf}},
pdf = "https://arxiv.org/pdf/1703.01398.pdf",
Year = 2018}

L. Carlone and S. Karaman, “Attention and Anticipation in Fast Visual-Inertial Navigation,” IEEE Trans. Robotics, 2018.
[Bibtex]

@article{Carlone18tro-attentionVIN,
Author = {L. Carlone and S. Karaman},
Title = {Attention and Anticipation in Fast Visual-Inertial Navigation},
Journal = tro,
nonote = {arxiv preprint: 1610.03344,
\linkToPdf{https://www.dropbox.com/s/c19kyrikroypahw/2017j-visualAttention.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/c19kyrikroypahw/2017j-visualAttention.pdf?dl=0",
Year = 2018}

D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard, “SE-Sync: a certifiably correct algorithm for synchronization over the Special Euclidean group,” Intl. J. of Robotics Research, 2018.
[Bibtex]

@article{Rosen18ijrr-sesync,
Author = {D.M. Rosen and L. Carlone and A.S. Bandeira and J.J. Leonard},
Title = {{SE-Sync}: a certifiably correct algorithm for synchronization over the
{Special Euclidean} group},
Journal = ijrr,
nonote = {arxiv preprint: 1611.00128,
\linkToPdf{https://arxiv.org/abs/1611.00128}},
pdf = "https://arxiv.org/abs/1611.00128",
Year = 2018}

L. Carlone and G. Calafiore, “Convex Relaxations for Pose Graph Optimization with Outliers,” IEEE Robotics and Automation Letters (RA-L), vol. 3, iss. 2, p. 1160–1167, 2018.
[Bibtex]

@article{Carlone18ral-robustPGO2D,
Author = {L. Carlone and G. Calafiore},
Journal = ral,
Title = {Convex Relaxations for Pose Graph Optimization with Outliers},
Volume = 3,
Number = 2,
Pages = {1160--1167},
nonote = {arxiv preprint: 1801.02112,
\linkToPdf{https://arxiv.org/pdf/1801.02112.pdf}},
pdf = "https://arxiv.org/pdf/1801.02112.pdf",
myISSN = {2377-3766},
myDOI = {10.1109/LRA.2018.2793352},
Year = 2018}

S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H. I. Christensen, and F. Dellaert, “Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models,” Intl. J. of Robotics Research, 2017.
[Bibtex]

@article{Choudhary17ijrr-distributedPGO3D,
Author = {S. Choudhary and L. Carlone and C. Nieto and J. Rogers and H.I. Christensen and F. Dellaert},
Journal = IJRR,
Title = {Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models},
nonote = {arxiv preprint: 1702.03435,
\linkToPdf{http://arxiv.org/abs/1702.03435}
\linkToWeb{https://www.economist.com/science-and-technology/2017/12/14/military-robots-are-getting-smaller-and-more-capable}
\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
\linkToCode{https://github.com/uzh-rpg/dslam_open}
\linkToCode{https://bitbucket.org/itzsid/object_slam/src/demo/cpp/ros/runDistributedORBSLAM_ROS_Robot.cpp}
\linkToVideo{https://youtu.be/nXJamypPvVY}
\linkToVideo{https://youtu.be/nYm2sSHuGjo}
\linkToVideo{https://youtu.be/urZiIJK2IYk}
\linkToVideo{https://youtu.be/-F6JpVmOrc0}},
pdf = "http://arxiv.org/abs/1702.03435",
Year = 2017}

C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, “On-Manifold Preintegration for Real-Time Visual-Inertial Odometry,” IEEE Trans. Robotics, vol. 33, iss. 1, p. 1–21, 2017.
[Bibtex]

@article{Forster17tro,
Author = {C. Forster and L. Carlone and F. Dellaert and D. Scaramuzza},
Journal = tro,
Title = {On-Manifold Preintegration for Real-Time
Visual-Inertial Odometry},
Volume = 33,
Number = 1,
Pages = {1--21},
nonote = {arxiv preprint: 1512.02363, \linkToPdf{http://arxiv.org/abs/1512.02363},
technical report GT-IRIM-CP\&R-2015-001\award{, Transactions on Robotics Best paper award}},
pdf = "http://arxiv.org/abs/1512.02363",
Year = 2017}

C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. J. Leonard, “Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age,” IEEE Trans. Robotics, vol. 32, iss. 6, pp. 1309-1332, 2016.
[Bibtex]

@article{Cadena16tro-SLAMsurvey,
author={C. Cadena and L. Carlone and H. Carrillo and Y. Latif and D. Scaramuzza and J. Neira and I. Reid and J.J. Leonard},
journal=tro,
title={Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age},
volume={32},
number={6},
pages={1309-1332},
keywords={SLAM (robots);SLAM community;SLAM users;critical eye;long-term mapping;semantic representations;simultaneous-localization-and-mapping;Graph theory;Localization;Robustness;Service robots;Simultaneous location and mapping;Factor graphs;localization;mapping;maximum a posteriori estimation;perception;robots;sensing;simultaneous localization and mapping (SLAM)},
doi={10.1109/TRO.2016.2624754},
ISSN={1552-3098},
pdf = "https://arxiv.org/abs/1606.05830",
nonote = {arxiv preprint: 1606.05830,
\linkToPdf{https://arxiv.org/abs/1606.05830}},
year={2016}}

L. Carlone, G. Calafiore, C. Tommolillo, and F. Dellaert, “Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification,” IEEE Trans. Robotics, vol. 32, iss. 3, p. 545–565, 2016.
[Bibtex]

@article{Carlone16tro-duality2D,
Author = {L. Carlone and G. Calafiore and C. Tommolillo and F. Dellaert},
Journal = tro,
Title = {Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification},
Volume = 32,
Number = 3,
Pages = {545--565},
nonote = {\linkToPdf{https://www.dropbox.com/s/peoktkct0cw42av/2015j-TRO-dualityPGO2D.pdf?dl=0}
\linkToCode{https://www.bitbucket.org/lucacarlone/pgo2d-duality-opencode}},
pdf = "https://www.dropbox.com/s/peoktkct0cw42av/2015j-TRO-dualityPGO2D.pdf?dl=0",
Year = 2016}

V. Indelman, L. Carlone, and F. Dellaert, “Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments,” Intl. J. of Robotics Research, vol. 34, iss. 7, p. 849–882, 2015.
[Bibtex]

@article{Indelman15ijrr-beliefSpacePlanning,
Author = {V. Indelman and L. Carlone and F. Dellaert},
Journal = ijrr,
Title = {Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments},
Volume = 34,
Number = 7,
Pages = {849--882},
nonote = {\linkToPdf{https://www.dropbox.com/s/163lwl0bdt6n3h8/2015j-IJRR-planningGBS.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/163lwl0bdt6n3h8/2015j-IJRR-planningGBS.pdf?dl=0",
Year = 2015}

L. Carlone and A. Censi, “From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization,” IEEE Trans. Robotics, vol. 30, iss. 2, p. 475–492, 2014.
[Bibtex]

@article{Carlone14tro-SO2,
Author = {L. Carlone and A. Censi},
Journal = tro,
Number = {2},
Pages = {475--492},
Title = {From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization},
Volume = {30},
nonote = {\linkToPdf{https://www.dropbox.com/s/g7ltl69eznwjqcw/2014j-TRO-SO2.pdf?dl=0}
(datasets: \linkToWeb{https://lucacarlone.mit.edu/datasets/})},
pdf = "https://www.dropbox.com/s/g7ltl69eznwjqcw/2014j-TRO-SO2.pdf?dl=0",
Year = 2014}

L. Carlone, V. Srivastava, F. Bullo, and G. Calafiore, “Distributed Random Convex Programming via Constraints Consensus,” SIAM Journal on Control and Optimization, vol. 52, iss. 1, p. 629–662, 2014.
[Bibtex]

@article{Carlone14sicon-distributedRCP,
Author = {L. Carlone and V. Srivastava and F. Bullo and G. Calafiore},
Journal = {SIAM Journal on Control and Optimization},
Number = {1},
Pages = {629--662},
Title = {Distributed Random Convex Programming via Constraints Consensus},
Volume = {52},
nonote = {arxiv preprint: 1207.6226,
\linkToPdf{https://www.dropbox.com/s/s1xbzb1fdh4af4s/2014j-SICON-DRCP.pdf?dl=0}
\linkToPpt{https://www.dropbox.com/s/h28q4xhb0xu574t/2011-netgcoop.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/s1xbzb1fdh4af4s/2014j-SICON-DRCP.pdf?dl=0",
Year = 2014}

L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona, “A fast and accurate approximation for planar pose graph optimization,” Intl. J. of Robotics Research, vol. 33, iss. 7, p. 965–987, 2014.
[Bibtex]

@article{Carlone14ijrr-lagoPGO2D,
Author = {L. Carlone and R. Aragues and J.A. Castellanos and B. Bona},
Journal = ijrr,
Number = 7,
Pages = {965--987},
Volume = 33,
Title = {A fast and accurate approximation for planar pose graph optimization},
nonote = {
\linkToPdf{https://www.dropbox.com/s/z1ol1o17zye5qxz/2014j-IJRR-LAGO.pdf?dl=0}
\linkToPpt{https://www.dropbox.com/s/bojshzsd4q8m6at/2011-RSS-presentation.pdf?dl=0}
\linkToCode{https://bitbucket.org/gtborg/gtsam}
\linkToVideo{https://lucacarlone.mit.edu/media/}
(datasets: \linkToWeb{https://lucacarlone.mit.edu/datasets/})},
pdf = "https://www.dropbox.com/s/z1ol1o17zye5qxz/2014j-IJRR-LAGO.pdf?dl=0",
Year = 2014}

L. Carlone, V. Macchia, F. Tibaldi, and B. Bona, “Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications,” Robotica, vol. 33, iss. 6, p. 1250–1280, 2014.
[Bibtex]

@article{Carlone14robotica-quaternionEKF,
Author = {L. Carlone and V. Macchia and F. Tibaldi and B. Bona},
Journal = {Robotica},
Title = {{Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications}},
Number = 6,
Pages = {1250--1280},
Volume = 33,
nonote = {\linkToPdf{https://www.dropbox.com/s/g70v9qy0969mazs/2014j-Robotica-EKFSLAM.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/g70v9qy0969mazs/2014j-Robotica-EKFSLAM.pdf?dl=0",
Year = {2014}}

R. Aragues, L. Carlone, G. Calafiore, and C. Sagues, “Distributed centroid estimation from noisy relative measurements,” Systems & Control Letters, vol. 61, iss. 7, p. 773–779, 2012.
[Bibtex]

@article{Aragues11scl-distributedLocalization,
Author = {R. Aragues and L. Carlone and G. Calafiore and C. Sagues},
Journal = SCL,
Number = 7,
Pages = {773--779},
Title = {Distributed centroid estimation from noisy relative measurements},
Volume = 61,
issn = {0167-6911},
nonote = {\linkToPdf{https://www.dropbox.com/s/wroguzurqe4u1m6/2012j-SCL-centroid.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/wroguzurqe4u1m6/2012j-SCL-centroid.pdf?dl=0",
Year = 2012}

G. Calafiore, L. Carlone, and M. Wei, “A distributed technique for localization of agent formations from relative range measurements,” IEEE Trans. on Systems, Man, and Cybernetics, Part A, vol. 42, iss. 5, p. 1065–1076, 2012.
[Bibtex]

@article{Calafiore12tsmca-distributedLocalization,
Author = {G. Calafiore and L. Carlone and M. Wei},
Journal = TSMCA,
Number = 5,
Pages = {1065--1076},
Title = {A distributed technique for localization of agent formations from relative range measurements},
issn = {1083-4427},
Volume = 42,
nonote = {\linkToPdf{https://www.dropbox.com/s/o53qy30xpp8rvfi/2010j-TASE-distNetLoc.pdf?dl=0}
\linkToPpt{https://www.dropbox.com/s/lioncixb5j0zmgl/2011-Caltech.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/o53qy30xpp8rvfi/2010j-TASE-distNetLoc.pdf?dl=0",
Year = 2012}

B. Bona, L. Carlone, M. Indri, and S. Rosa, “Supervision and Monitoring of Logistic Spaces by a Cooperative Robotic Team: Methodologies, Problems, and Solutions,” Intelligent Service Robotics, Springer, vol. 7, iss. 4, p. 185–202, 2014.
[Bibtex]

@article{Bona14isr-logistics,
Author = {B. Bona and L. Carlone and M. Indri and S. Rosa},
Journal = {Intelligent Service Robotics, Springer},
Number = 4,
Pages = {185--202},
Title = {Supervision and Monitoring of Logistic Spaces by a Cooperative Robotic Team: Methodologies, Problems, and Solutions},
Volume = 7,
Year = 2014}

L. Carlone, J. Du, K. M. Ng, M. Indri, and B. Bona, “Active SLAM and Exploration with Particle Filters using Kullback-Leibler Divergence,” J. of Intelligent and Robotic Systems, vol. 75, iss. 2, p. 291–311, 2014.
[Bibtex]

@article{Carlone14jirs-activeSLAM,
Author = {L. Carlone and J. Du and M. Kaouk Ng and M. Indri and B. Bona},
Journal = JIRS,
Number = 2,
Pages = {291--311},
Title = {Active {SLAM} and Exploration with Particle Filters using
{K}ullback-{L}eibler Divergence},
Volume = 75,
nonote = {\linkToPdf{https://www.dropbox.com/s/r6rllwha0f55zap/2014j-ISR-RBPFexploration.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/r6rllwha0f55zap/2014j-ISR-RBPFexploration.pdf?dl=0",
Year = 2014}

L. Carlone, K. M. Ng, J. Du, B. Bona, and M. Indri, “Simultaneous Localization and Mapping using Rao-Blackwellized Particle Filters in Multi Robot Systems,” J. of Intelligent and Robotic Systems, vol. 63, iss. 2, p. 283–307, 2010.
[Bibtex]

@article{Carlone10jirs-multiRobotSLAM,
Author = {L. Carlone and M. Kaouk Ng and J. Du and B. Bona and M. Indri},
Journal = JIRS,
Number = 2,
Pages = {283--307},
Title = {Simultaneous Localization and Mapping using {Rao-Blackwellized} Particle Filters in Multi Robot Systems},
nonote = {\linkToPdf{https://www.dropbox.com/s/zgbdg0k6pnyprtw/2010j-JIRS-multiRobotSLAM.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/zgbdg0k6pnyprtw/2010j-JIRS-multiRobotSLAM.pdf?dl=0",
Volume = 63,
Year = 2010}

L. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary, “Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations,” in Handbook of Dynamic Data Driven Application Systems, A. A. Erik Blasch Sai Ravela, Ed., Springer International Publishing, 2018.
[Bibtex]

@incollection{Carlone18chapter-optimalSearch,
Author = {L. Carlone and A. Axelrod and S. Karaman and G. Chowdhary},
Title = {Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations},
editor = "Erik Blasch, Sai Ravela, Alex Aved",
booktitle = "Handbook of Dynamic Data Driven Application Systems",
publisher = "Springer International Publishing",
year = 2018,
nonote = {\linkToPdf{https://www.dropbox.com/s/9egl301c0otx5c7/2017j-DDDAS-optimalSearch.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/9egl301c0otx5c7/2017j-DDDAS-optimalSearch.pdf?dl=0",
chapter = 14}

A. M. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman, “Prediction of EVaR-based Upper Bound in Time-based Datasets,” in Handbook of Dynamic Data Driven Application Systems, A. A. Erik Blasch Sai Ravela, Ed., Springer International Publishing, 2018.
[Bibtex]

@incollection{Axelrod18chapter-evar,
Author = {A.M. Axelrod and L. Carlone and G. Chowdhary and S. Karaman},
Title = {Prediction of {EVaR}-based Upper Bound in Time-based Datasets},
editor = "Erik Blasch, Sai Ravela, Alex Aved",
booktitle = "Handbook of Dynamic Data Driven Application Systems",
publisher = "Springer International Publishing",
year = 2018,
chapter = 16}

G. Calafiore, L. Carlone, and F. Dellaert, “Lagrangian Duality in Complex Pose Graph Optimization,” in Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday, B. Goldengorin, Ed., Springer Optimization and Its Applications, 2016, vol. 115, p. 139–184.
[Bibtex]

@incollection{Calafiore16opt-dualityPGO2D,
Author = {G. Calafiore and L. Carlone and F. Dellaert},
Title = {Lagrangian Duality in Complex Pose Graph Optimization},
editor = "Boris Goldengorin",
booktitle = "Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak's 80th Birthday",
publisher = "Springer Optimization and Its Applications",
Volume = "115",
year = 2016,
nonote = {\linkToPdf{http://www.springer.com/us/book/9783319420547}},
pdf = "http://www.springer.com/us/book/9783319420547",
pages = "139--184",
chapter = 10}

G. Calafiore, L. Carlone, and M. Wei, “Sensor Fusion for Position Estimation in Networked Systems,” in Sensor Fusion and its Applications, C. Thomas, Ed., Sciyo, 2010, p. 251–276.
[Bibtex]

@incollection{Calafiore10sciyo-distNetLoc,
Author = {G. Calafiore and L. Carlone and M. Wei},
Title = {Sensor Fusion for Position Estimation in Networked Systems},
editor = "Ciza Thomas",
booktitle = "Sensor Fusion and its Applications",
publisher = "Sciyo",
year = 2010,
pages = {251--276},
nonote = {\linkToPdf{https://dl.dropboxusercontent.com/u/4309261/site\%20links/pdf\%20papers/2010-sciyo-netLoc_published.pdf}},
pdf = "https://dl.dropboxusercontent.com/u/4309261/site\%20links/pdf\%20papers/2010-sciyo-netLoc_published.pdf",
chapter = 11}

G. Calafiore, L. Carlone, and M. Wei, “Sensor Fusion for Position Estimation in Networked Systems.” , 2010.
[Bibtex]

@incollection{aCalafiore10sciyo-distNetLoc,
Author = {G. Calafiore and L. Carlone and M. Wei},
Journal = {Sensor Fusion, Sciyo},
isbn = {978-953-307-101-5},
Title = {Sensor Fusion for Position Estimation in Networked Systems},
nonote = {\linkToPdf{https://dl.dropboxusercontent.com/u/4309261/site\%20links/pdf\%20papers/2010-sciyo-netLoc_published.pdf}},
pdf = "https://dl.dropboxusercontent.com/u/4309261/site\%20links/pdf\%20papers/2010-sciyo-netLoc_published.pdf",
Year = 2010}

G. C. Calafiore, L. Carlone, and F. Dellaert, “Lagrangian Duality in Complex Pose Graph Optimization.” , 2016, vol. 115, p. 139–184.
[Bibtex]

@incollection{aCalafiore16opt-dualityPGO2D,
Author = {G.C. Calafiore and L. Carlone and F. Dellaert},
Journal = {Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak's 80th Birthday. Springer Optimization and Its Applications, Boris Goldengorin (Ed.)},
Volume = 115,
Pages = {139--184},
Title = {Lagrangian Duality in Complex Pose Graph Optimization},
nonote = {\linkToPdf{http://www.springer.com/us/book/9783319420547}},
pdf = "http://www.springer.com/us/book/9783319420547",
Year = 2016}

L. Carlone, “Nonlinear estimation techniques for autonomous navigation in single and multi robot systems,” PhD Thesis, 2012.
[Bibtex]

@phdthesis{Carlone12thesis-nonlinearEstimation,
Author = {L. Carlone},
Publisher = {Ph.D. Thesis},
Title = {Nonlinear estimation techniques for autonomous navigation in single and multi robot systems},
school = {Politecnico di Torino},
nonote = {\linkToWeb{http://porto.polito.it/2502532/}},
pdf = "http://porto.polito.it/2502532/",
Year = 2012}

L. Ray, C. Bradley, L. Carlone, and N. Roy, “Task and Motion Planning in Hierarchical 3D Scene Graphs,” in Proc. of the Intl. Symp. of Robotics Research (ISRR), 2024.
[Bibtex]

@inproceedings{Ray24isrr-tamp,
title={Task and Motion Planning in Hierarchical {3D} Scene Graphs},
author={LA. Ray and C. Bradley and L. Carlone and N. Roy},
year={2024},
booktitle = isrr,
nonote = {\linkToPdf{ttps://arxiv.org/pdf/2403.08094.pdf}},
pdf = {ttps://arxiv.org/pdf/2403.08094.pdf},
funding = {DCIST,LL4FRESCO},
funding =
}

L. Schmid, M. Abate, Y. Chang, and L. Carlone, “Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments,” in Robotics: Science and Systems (RSS), 2024.
[Bibtex]

@inproceedings{Schmid24rss-khronos,
title={Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic {SLAM} in Dynamic Environments},
author={L. Schmid and M. Abate and Y. Chang and L. Carlone},
year={2024},
booktitle = rss,
nonote = {\linkToPdf{https://arxiv.org/pdf/2402.13817.pdf}\award{, Outstanding Systems Paper Award},\linkToWeb{https://aeroastro.mit.edu/news-impact/khronos-4d-spatio-temporal-perception-for-autonomous-robots/}},
pdf = {https://arxiv.org/pdf/2402.13817.pdf},
funding = {LAB126,DCIST,ONRRAPID},
}

M. Jawaid, R. Talak, Y. Latif, L. Carlone, and T-J. Chin, “Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
[Bibtex]

@inproceedings{Jawaid24iros-eventbasedSatPose,
title={Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation},
author={M. Jawaid and R. Talak and Y. Latif and L. Carlone and T-J. Chin},
year={2024},
booktitle = iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2409.06240}},
pdf = {https://arxiv.org/pdf/2409.06240}
}

M. Johnson, R. Lavi, O. de Weck, P. Hajela, L. Carlone, S. Hu, M. Abate, Z. Awwad, and Y. Chang, “A Comparative Study of the Impact of Virtual Reality on Student Learning and Satisfaction in Aerospace Education,” in 2024 ASEE Annual Conference & Exposition, 2024.
[Bibtex]

@inproceedings{Johnson24asee-aeroVerse,
title={A Comparative Study of the Impact of Virtual Reality on Student Learning and Satisfaction in Aerospace Education},
author={M. Johnson and R. Lavi and O. de Weck and P. Hajela and L. Carlone and S. Hu and M. Abate and Z. Awwad and Y. Chang},
year={2024},
booktitle = {2024 ASEE Annual Conference \& Exposition},
nonote = {\linkToPdf{https://peer.asee.org/46426.pdf}\award{, 2024 ASEE Aerospace Division’s Superior Student Paper Award}},
pdf = {https://peer.asee.org/46426.pdf}
}

D. Jin, S. Karmalkar, H. Zhang, and L. Carlone, “Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024.
[Bibtex]

@InProceedings{Jin24icra-multiModelRegistration,
author = {D. Jin and S. Karmalkar and H. Zhang and L. Carlone},
title = {Multi-Model {3D} Registration: Finding Multiple Moving Objects in Cluttered Point Clouds},
booktitle = icra,
funding = {DCIST,ONRRAIDER,NSFCAREER},
Year = {2024}
}

M. Abate, A. Schwartz, X. I. Wong, W. Luo, R. Littman, M. Klinger, L. Kuhnert, D. Blue, and L. Carlone, “Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking,” in Intl. Sym. on Experimental Robotics (ISER), 2023.
[Bibtex]

@InProceedings{Abate23iser-KimeraSelfDriving,
fullAuthor = {Marcus Abate, Ariel Schwartz, Xue Iuan Wong, Wangdong Luo, Rotem Littman, Marc Klinger, Lars Kuhnert, Douglas Blue, Luca Carlone},
author = {M. Abate and A. Schwartz and X.I. Wong and W. Luo and R. Littman and M. Klinger and L. Kuhnert and D. Blue and L. Carlone},
title = {Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking},
booktitle = iser,
nonote = {\linkToPdf{https://arxiv.org/pdf/2304.13182.pdf},\linkToVideo{https://www.youtube.com/watch?v=H8CpzDpXOI8}},
pdf = {https://arxiv.org/pdf/2304.13182.pdf},
funding = {Ford},
Year = {2023}
}

M. Abate, Y. Chang, N. Hughes, and L. Carlone, “Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World,” in Intl. Sym. on Experimental Robotics (ISER), 2023.
[Bibtex]

@InProceedings{Abate23iser-Kimera2,
Author = {M. Abate and Y. Chang and N. Hughes and L. Carlone},
title = {Kimera2: Robust and Accurate Metric-Semantic {SLAM} in the Real World},
booktitle = iser,
pdf = {},
funding = {DCIST, ARA2, MathWorks},
Year = {2023}
}

Y. Tian, Y. Chang, L. Quang, A. Schang, C. Nieto-Granda, J. P. How, and L. Carlone, “Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
[Bibtex]

@InProceedings{Tian23iros-KimeraMultiExperiments,
author = {Y. Tian and Y. Chang and L. Quang and A. Schang and C. Nieto-Granda and J.P. How and L. Carlone},
title = {Resilient and Distributed Multi-Robot Visual {SLAM}: Datasets, Experiments, and Lessons Learned},
booktitle = iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2304.04362.pdf},\linkToVideo{https://youtu.be/7yYMRNMdKjY},\linkToCode{https://github.com/MIT-SPARK/Kimera-Multi},\linkToWeb{https://github.com/MIT-SPARK/Kimera-Multi-Data}\award{, Open Data prize honorable mention}},
pdf = {https://arxiv.org/pdf/2304.04362.pdf},
funding = {DCIST, MathWorks},
Year = {2023}
}

Y. Chang, N. Hughes, A. Ray, and L. Carlone, “Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
[Bibtex]

@InProceedings{Chang23iros-HydraMulti,
author = {Y. Chang and N. Hughes and A. Ray and L. Carlone},
title = {{Hydra-Multi}: Collaborative Online Construction of {3D} Scene Graphs with Multi-Robot Teams},
booktitle = iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2304.13487.pdf}},
pdf = {https://arxiv.org/pdf/2304.13487.pdf},
funding = {DCIST, MathWorks},
Year = {2023}
}

A. Rosinol, J. J. Leonard, and L. Carlone, “NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
[Bibtex]

@InProceedings{Rosinol23iros-nerfSLAM,
author = {A. Rosinol and J.J. Leonard and L. Carlone},
title = {{NeRF-SLAM}: Real-Time Dense Monocular {SLAM} with Neural Radiance Fields},
booktitle = iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2210.13641.pdf}},
pdf = {https://arxiv.org/pdf/2210.13641.pdf},
funding = {DCIST, ONRRAIDER},
Year = {2023}
}

J. Shi*, R. Talak*, D. Maggio, and L. Carlone, “A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training,” in Robotics: Science and Systems (RSS), 2023.
[Bibtex]

@InProceedings{Shi23rss-ensemble,
title = {A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training},
author = {J. Shi* and R. Talak* and D. Maggio and L. Carlone},
booktitle = rss,
nonote = {\linkToPdf{https://arxiv.org/pdf/2302.06019.pdf}},
pdf={https://arxiv.org/pdf/2302.06019.pdf},
funding = {DCIST, ONRRAIDER, NSFCAREER, LAB126},
year = {2023}
}

P. Antonante, S. Veer, K. Leung, X. Weng, L. Carlone, and M. Pavone, “Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles,” in Robotics: Science and Systems (RSS), 2023.
[Bibtex]

@InProceedings{Antonante23rss-riskEstimation,
title = {Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles},
author = {P. Antonante and S. Veer and K. Leung and X. Weng and L. Carlone and M. Pavone},
booktitle = rss,
nonote = {\linkToPdf{https://arxiv.org/pdf/2305.01870.pdf}, \linkToCode{https://github.com/NVlabs/persevere}},
pdf = {https://arxiv.org/pdf/2305.01870.pdf},
funding = {NSFCAREER},
year = {2023}
}

C. Wang, D. Gao, K. Xu, J. Geng, Y. Hu, Y. Qiu, B. Li, F. Yang, B. Moon, A. Pandey, A. Aryan, J. Xu, T. Wu, H. He, D. Huang, Z. Ren, S. Zhao, T. Fu, P. R. Anthireddy, W. Wang, J. Shi, R. Talak, H. Wang, H. Yu, S. Wang, A. Kashyap, R. Bandaru, K. Dantu, J. Wu, L. Carlone, M. Hutter, and S. Scherer, “PyPose: A Library for Robot Learning with Physics-based Optimization,” in IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2023.
[Bibtex]

@InProceedings{Wang23cvpr-PyPose,
fullauthor = {Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Aryan Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng FU, Pranay Reddy Anthireddy, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian Scherer },
author = {C. Wang and D. Gao and K. Xu and J. Geng and Y. Hu and Y. Qiu and B. Li and F. Yang and B. Moon and A. Pandey and A. Aryan and
J. Xu and T. Wu and H. He and D. Huang and Z. Ren and S. Zhao and T. Fu and P.R. Anthireddy and W. Wang and J. Shi and R. Talak and H. Wang
and H. Yu and S. Wang and A. Kashyap and R. Bandaru and K. Dantu and J. Wu and L. Carlone and M. Hutter and S. Scherer},
title = {{PyPose}: A Library for Robot Learning with Physics-based Optimization},
nonote = {\linkToPdf{https://arxiv.org/pdf/2209.15428.pdf}},
pdf = {https://arxiv.org/pdf/2209.15428.pdf},
booktitle = cvpr,
Year = {2023}
}

D. Maggio, M. Abate, J. Shi, C. Mario, and L. Carlone, “Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022.
[Bibtex]

@InProceedings{Maggio23icra-LocNerf,
author = {D. Maggio and M. Abate and J. Shi and C. Mario and L. Carlone},
title = {{Loc-NeRF}: Monte Carlo Localization using Neural Radiance Fields},
booktitle=icra,
nonote = {\linkToPdf{https://arxiv.org/pdf/2209.09050.pdf},\linkToVideo{https://youtu.be/yIgl3kbpbXY}},
pdf = {https://arxiv.org/pdf/2209.09050.pdf},
funding = {DCIST, NASA, ARA2},
Year = {2022}
}

Y. Zhang, O. A. Severinsen, J. J. Leonard, L. Carlone, and K. Khosoussi, “Data-Association-Free Landmark-based SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2023.
[Bibtex]

@InProceedings{Zhang23icra-dataAssociation,
title={Data-Association-Free Landmark-based {SLAM}},
nonote = {\linkToPdf{https://arxiv.org/pdf/2302.13264.pdf}},
pdf = {https://arxiv.org/pdf/2302.13264.pdf},
author={Y. Zhang and O.A. Severinsen and J.J. Leonard and L. Carlone and K. Khosoussi},
booktitle=icra,
Year = {2023}
}

D. R. Maggio, C. Mario, B. Streetman, T. J. Steiner, and L. Carlone, “Vision-Based Terrain Relative Navigation on High Altitude Balloon and Sub-Orbital Rocket,” in AIAA SciTech Forum, 2023.
[Bibtex]

@InProceedings{Maggio23scitech-IBAL,
title={Vision-Based Terrain Relative Navigation on High Altitude Balloon and Sub-Orbital Rocket},
fullauthor={Dominic R. Maggio and Courtney Mario and Brett Streetman and Ted J. Steiner and Luca Carlone},
author={D.R. Maggio and C. Mario and B. Streetman and T.J. Steiner and L. Carlone},
booktitle={AIAA SciTech Forum},
nonote = {\linkToPdf{https://arxiv.org/pdf/2302.08011.pdf}},
pdf = {https://arxiv.org/pdf/2302.08011.pdf},
Year = {2023}
}

A. Rosinol, J. J. Leonard, and L. Carlone, “Uncertainty propagation for 3D Reconstruction with Deep Dense Monocular SLAM,” in IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2023.
[Bibtex]

@InProceedings{Rosinol23wacv-denseSLAM,
author = {A. Rosinol and J.J. Leonard and L. Carlone},
title = {Uncertainty propagation for {3D} Reconstruction with Deep Dense Monocular {SLAM}},
booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
nonote = {\linkToVideo{https://m.youtube.com/watch?v=tFZfKsah2jM}\award{, finalist for Best Paper Award}},
funding = {DCIST, ONRRAIDER},
Year = {2023}
}

P. Antonante and L. Carlone, “Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification,” in NeurIPS 2022 Machine Learning for Autonomous Driving Workshop, 2022.
[Bibtex]

@InProceedings{Antonante22neuripsws-perceptionMonitoring,
title={Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification},
author={P. Antonante and Luca Carlone},
booktitle={NeurIPS 2022 Machine Learning for Autonomous Driving Workshop},
Year = {2022}
}

N. Hughes, Y. Chang, and L. Carlone, “Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization,” in Robotics: Science and Systems (RSS), 2022.
[Bibtex]

@InProceedings{Hughes22rss-hydra,
title={{Hydra:} A Real-time Spatial Perception Engine for {3D} Scene Graph Construction and Optimization},
fullauthor={Nathan Hughes, Yun Chang, Luca Carlone},
author={N. Hughes and Y. Chang and L. Carlone},
booktitle=rss,
nonote = {\linkToPdf{https://arxiv.org/pdf/2201.13360.pdf}},
pdf={https://arxiv.org/pdf/2201.13360.pdf},
funding = {AIA, DCIST, ONRRAIDER},
Year = {2022}
}

Z. Ravichandran, L. Peng, N. Hughes, J. D. Griffith, and L. Carlone, “Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022, p. 9272–9279.
[Bibtex]

@InProceedings{Ravichandran22icra-RLwithSceneGraphs,
title={Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on {3D} Scene Graphs using Graph Neural Networks},
author={Z. Ravichandran and L. Peng and N. Hughes and J.D. Griffith and L. Carlone},
booktitle=icra,
nonote = {\linkToPdf{https://arxiv.org/pdf/2108.01176.pdf}},
pdf={https://arxiv.org/pdf/2108.01176.pdf},
funding = {AIA},
year={2022},
pages={9272--9279}
}

L. Carlone, K. Khosoussi, V. Tzoumas, G. Habibi, M. Ryll, R. Talak, J. Shi, and P. Antonante, “Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT,” in IEEE Integrated STEM Education Conference (ISEC), 2022.
[Bibtex]

@InProceedings{Carlone22isec-VNAV,
title={Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at {MIT}},
author={L. Carlone and K. Khosoussi and V. Tzoumas and G. Habibi and M. Ryll and R. Talak and J. Shi and P. Antonante},
booktitle={IEEE Integrated STEM Education Conference (ISEC)},
funding = {NSFCAREERs},
year={2022}
}

R. Talak, S. Hu, L. Peng, and L. Carlone, “Neural Trees for Learning on Graphs,” in Conf. on Neural Information Processing Systems (NeurIPS), 2021.
[Bibtex]

@InProceedings{Talak21neurips-neuralTree,
title={Neural Trees for Learning on Graphs},
author={R. Talak and S. Hu and L. Peng and L. Carlone},
booktitle=neurips,
nonote = {\linkToPdf{https://arxiv.org/pdf/2105.07264.pdf}},
pdf={https://arxiv.org/pdf/2105.07264.pdf},
year={2021}
}

A. Rosinol and L. Carlone, “Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
[Bibtex]

@InProceedings{Rosinol21iros-mesh,
title={Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization},
author={A. Rosinol and L. Carlone},
booktitle=iros,
year=2021,
pdf={https://arxiv.org/pdf/2108.02957.pdf},
nonote={\linkToPdf{https://arxiv.org/pdf/2108.02957.pdf}},
}

J. Fishman, S. Ubellacker, N. Hughes, and L. Carlone, “Dynamic Grasping with a “Soft” Drone: From Theory to Practice,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
[Bibtex]

@InProceedings{Fishman21iros-softDrone2,
title={Dynamic Grasping with a ``Soft'' Drone: From Theory to Practice},
author={J. Fishman and S. Ubellacker and N. Hughes and L. Carlone},
booktitle=iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2103.06465.pdf}\award{, IROS Best Student Paper Award and finalist for the Best Paper Award on Mobile Manipulation}},
pdf={https://arxiv.org/pdf/2103.06465.pdf},
year={2021},
}

P. Antonante, D. I. Spivak, and L. Carlone, “Monitoring and Diagnosability of Perception Systems,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
[Bibtex]

@InProceedings{Antonante21iros-perSysMonitoring2,
title={Monitoring and Diagnosability of Perception Systems},
author={P. Antonante and D.I. Spivak and L. Carlone},
booktitle=iros,
nonote = {\linkToPdf{https://arxiv.org/pdf/2011.07010.pdf}},
pdf="https://arxiv.org/pdf/2011.07010.pdf",
year={2021}
}

V. Tripathi, L. Ballotta, L. Carlone, and E. Modiano, “Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems,” in Intl. Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt), 2021.
[Bibtex]

@InProceedings{Tripathi21wiopt-compCommCodesign,
title={Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems},
author={V. Tripathi and L. Ballotta and L. Carlone and E. Modiano},
booktitle={Intl. Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt)},
year={2021}
}

J. Shi, H. Yang, and L. Carlone, “Optimal Pose and Shape Estimation for Category-level 3D Object Perception,” in Robotics: Science and Systems (RSS), 2021.
[Bibtex]

@InProceedings{Shi21rss-pace,
title={Optimal Pose and Shape Estimation for Category-level {3D} Object Perception},
author={J. Shi and H. Yang and L. Carlone},
booktitle=rss,
nonote = {arXiv preprint: 2104.08383, \linkToPdf{https://arxiv.org/pdf/2104.08383.pdf}, \linkToVideo{https://youtu.be/kiNBS0IF2-g}\award{, finalist for Best Paper Award}},
pdf={https://arxiv.org/pdf/2104.08383.pdf},
year={2021},
}

H. Yang, W. Dong, L. Carlone, and V. Koltun, “Self-supervised Geometric Perception,” in IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2021.
[Bibtex]

@InProceedings{Yang21cvpr-sgp,
title={Self-supervised Geometric Perception},
author={H. Yang and W. Dong and L. Carlone and V. Koltun},
booktitle=cvpr,
nonote = {Oral Presentation, arXiv preprint: 2103.03114, \linkToPdf{https://arxiv.org/pdf/2103.03114.pdf}, \linkToCode{https://github.com/theNded/SGP}},
pdf="https://arxiv.org/pdf/2103.03114.pdf",
year={2021}
}

Y. Chang, Y. Tian, J. P. How, and L. Carlone, “Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
[Bibtex]

@InProceedings{Chang21icra-KimeraMulti,
title={{Kimera-Multi}: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping},
author={Y. Chang and Y. Tian and J.P. How and L. Carlone},
booktitle=icra,
nonote = {arXiv preprint: 2011.04087, \linkToPdf{https://arxiv.org/pdf/2011.04087.pdf}},
pdf="https://arxiv.org/pdf/2011.04087.pdf",
year={2021}
}

J. Shi, H. Yang, and L. Carlone, “ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
[Bibtex]

@InProceedings{Shi21icra-robin,
title={{ROBIN:} a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants},
author={J. Shi and H. Yang and L. Carlone},
booktitle=icra,
nonote = {arXiv preprint: 2011.03659, \linkToPdf{https://arxiv.org/pdf/2011.03659.pdf}},
pdf="https://arxiv.org/pdf/2011.03659.pdf",
year={2021}
}

J. Fishman and L. Carlone, “Control and Trajectory Optimization for Soft Aerial Manipulation,” in IEEE Aerospace Conference, 2021.
[Bibtex]

@InProceedings{Fishman21aeroconf-softDrone,
title={Control and Trajectory Optimization for Soft Aerial Manipulation},
author={J. Fishman and L. Carlone},
booktitle={IEEE Aerospace Conference},
nonote = {arXiv preprint: 2004.04238, \linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}\award{, Track Best Student Paper Award}},
pdf={https://arxiv.org/pdf/2004.04238.pdf},
year={2021}
}

A. Tagliabue, T. J. Torres, X. Cai, A. Santamaria-Navarro, J. P. How, L. Carlone, and A. Agha-mohammadi, “LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments,” in Intl. Sym. on Experimental Robotics (ISER), 2020.
[Bibtex]

@InProceedings{Tagliabue20iser-lion,
title={{LION:} Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments},
author={A. Tagliabue and J. Tordesillas Torres and X. Cai and A. Santamaria-Navarro and J.P. How and L. Carlone and A. Agha-mohammadi},
booktitle=iser,
year={2020}
}

H. Yang and L. Carlone, “One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers,” in Conf. on Neural Information Processing Systems (NeurIPS), 2020, p. 18846–18859.
[Bibtex]

@InProceedings{Yang20neurips-certifiablePerception,
fullauthor = {Yang, Heng and Carlone, Luca},
author = {H. Yang and L. Carlone},
booktitle = neurips,
pages = {18846--18859},
title = {One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers},
url = {https://proceedings.neurips.cc/paper/2020/file/da6ea77475918a3d83c7e49223d453cc-Paper.pdf},
nonote = {\linkToPdf{https://arxiv.org/pdf/2006.06769.pdf}},
pdf={https://arxiv.org/pdf/2006.06769.pdf},
volume = {33},
year = {2020}
}

F. Milano, A. Loquercio, A. Rosinol, D. Scaramuzza, and L. Carlone, “Primal-Dual Mesh Convolutional Neural Networks,” in Conf. on Neural Information Processing Systems (NeurIPS), 2020.
[Bibtex]

@InProceedings{Milano20neurips-PDMeshNet,
title = {Primal-Dual Mesh Convolutional Neural Networks},
author = {F. Milano and A. Loquercio and A. Rosinol and D. Scaramuzza and L. Carlone},
booktitle = neurips,
year = 2020,
code = {https://github.com/MIT-SPARK/PD-MeshNet},
pdf={https://proceedings.neurips.cc/paper/2020/file/0a656cc19f3f5b41530182a9e03982a4-Paper.pdf},
doi={arxiv-2010.12455},
}

F. Dellaert, D. M. Rosen, J. Wu, R. Mahony, and L. Carlone, “Shonan Rotation Averaging: Global Optimality by Surfing $SO(p)^n$,” in European Conf. on Computer Vision (ECCV), 2020.
[Bibtex]

@InProceedings{Dellaert20eccv-shonan,
title={Shonan Rotation Averaging: Global Optimality by Surfing {$SO(p)^n$}},
author={F. Dellaert and D.M. Rosen and J. Wu and R. Mahony and L. Carlone},
booktitle=eccv,
nonote = {accepted as spotlight presentation (acceptance rate $5\%$) \linkToPdf{https://arxiv.org/pdf/2008.02737.pdf}, \linkToWeb{https://dellaert.github.io/ShonanAveraging/}},
pdf={https://arxiv.org/pdf/2008.02737.pdf},
year={2020}
}

A. Gupta and L. Carlone, “Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation,” in Intl. Conf. on Intelligent Transportation Systems, 2020.
[Bibtex]

@InProceedings{Gupta20itsc-atom,
title={Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation},
author={A. Gupta and L. Carlone},
booktitle=itsc,
nonote = {\linkToPdf{https://arxiv.org/pdf/2005.05451.pdf}},
pdf={https://arxiv.org/pdf/2005.05451.pdf},
year={2020}
}

L. Ballotta, L. Schenato, and L. Carlone, “From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency,” in IFAC World Congress, 2020.
[Bibtex]

@InProceedings{Ballotta20ifac-processingNetworks,
title={From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency},
author={L. Ballotta and L. Schenato and L. Carlone},
nonote = {arXiv preprint: 2003.08301, \linkToPdf{https://arxiv.org/pdf/2003.08301.pdf}\award{, winner of the Young Author Prize}},
year=2020,
booktitle = {IFAC World Congress},
pdf={https://arxiv.org/pdf/2003.08301.pdf}
}

A. Rosinol, A. Gupta, M. Abate, J. Shi, and L. Carlone, “3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans,” in Robotics: Science and Systems (RSS), 2020.
[Bibtex]

@InProceedings{Rosinol20rss-dynamicSceneGraphs,
title={{3D} Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},
author={A. Rosinol and A. Gupta and M. Abate and J. Shi and L. Carlone},
booktitle=rss,
year=2020,
pdf={https://arxiv.org/pdf/2002.06289.pdf},
url={http://news.mit.edu/2020/robots-spatial-perception-0715},
video={https://www.youtube.com/watch?v=SWbofjhyPzI},
doi={10.15607/RSS.2020.XVI.079},
nonote = {\linkToPdf{https://arxiv.org/pdf/2002.06289.pdf},
\linkToMedia{http://news.mit.edu/2020/robots-spatial-perception-0715},
\linkToVideo{https://www.youtube.com/watch?v=SWbofjhyPzI&feature=youtu.be}},
}

A. Rosinol, M. Abate, Y. Chang, and L. Carlone, “Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020, p. 1689–1696.
[Bibtex]

@InProceedings{Rosinol20icra-Kimera,
title={Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
author={A. Rosinol and M. Abate and Y. Chang and L. Carlone},
booktitle=icra,
year={2020},
pages={1689--1696},
pdf={https://arxiv.org/pdf/1910.02490.pdf},
video={https://www.youtube.com/watch?v=-5XxXRABXJs},
code={https://github.com/MIT-SPARK/Kimera},
doi={10.1109/ICRA40945.2020.9196885},
nonote = {arXiv preprint: 1910.02490,
\linkToVideo{https://www.youtube.com/watch?v=-5XxXRABXJs},
\linkToCode{https://github.com/MIT-SPARK/Kimera},
\linkToPdf{https://arxiv.org/pdf/1910.02490.pdf}},
}

A. Rosinol, T. Sattler, M. Pollefeys, and L. Carlone, “Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
[Bibtex]

@InProceedings{Rosinol19icra-mesh,
author = {A. Rosinol and T. Sattler and M. Pollefeys and L. Carlone},
title = {Incremental {V}isual-{I}nertial {3D} {M}esh {G}eneration with {S}tructural {R}egularities},
booktitle = icra,
year = 2019,
pdf = {https://arxiv.org/pdf/1903.01067.pdf},
video = {https://www.youtube.com/watch?v=C5fFDEJ9cFQ},
url = {https://www.mit.edu/\%7Earosinol/research/struct3dmesh.html},
doi={10.1109/ICRA.2019.8794456},
nonote = {\linkToPdf{https://arxiv.org/pdf/1903.01067.pdf},
\linkToWeb{https://www.mit.edu/~arosinol/research/struct3dmesh.html}},
}

A. Rosinol, “Densifying Sparse VIO: a mesh-based approach using Structural Regularities,” Master Thesis, 2018.
[Bibtex]

@MastersThesis{Rosinol18thesis,
author = {A. Rosinol},
title = {{D}ensifying {S}parse {VIO}: a mesh-based approach using {S}tructural {R}egularities},
year = {2018},
language = {en},
copyright = {Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International},
keywords = {Visual Inertial Odometry; Dense Mapping; State Estimation; SLAM; Robotics},
doi = {10.3929/ethz-b-000297645},
school = {ETH Zurich},
pdf={https://www.research-collection.ethz.ch/handle/20.500.11850/297645},
nonote={\linkToPdf{https://www.research-collection.ethz.ch/handle/20.500.11850/297645}}
}

A. Rosinol, H. Rebecq, T. Horstschaefer, and D. Scaramuzza, “Ultimate SLAM? Combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios,” IEEE Robotics and Automation Letters, vol. 3, iss. 2, p. 994–1001, 2018.
[Bibtex]

@Article{Rosinol18ral-ultimate,
title={{U}ltimate {SLAM}? {C}ombining events, images, and {IMU} for robust visual {SLAM} in {HDR} and high-speed scenarios},
author={A. Rosinol and H. Rebecq and T. Horstschaefer and D. Scaramuzza},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={2},
doi={10.1109/LRA.2018.2793357},
video={https://www.youtube.com/watch?v=jIvJuWdmemE},
pdf={https://arxiv.org/abs/1709.06310},
pages={994--1001},
year={2018},
publisher={IEEE},
url={http://rpg.ifi.uzh.ch/ultimateslam.html},
award={Best Paper Award 
 Finalist},
nonote = {\linkToPdf{https://arxiv.org/abs/1709.06310},
\linkToWeb{http://rpg.ifi.uzh.ch/ultimateslam.html}}
}

K. Ebadi, Y. Chang, M. Palieri, A. Stephens, A. Hatteland, E. Heiden, A. Thakur, B. Morrell, L. Carlone, and A. Aghamohammadi, “LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
[Bibtex]

@InProceedings{Ebadi20icra-LAMP,
Author = {K. Ebadi and Y. Chang and M. Palieri and A. Stephens and A. Hatteland and E. Heiden and A. Thakur and B. Morrell and L. Carlone and A. Aghamohammadi},
Title = {{LAMP:} Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments},
booktitle = icra,
Year = 2020
}

H. Yang and L. Carlone, “A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers,” in Intl. Conf. on Computer Vision (ICCV), 2019.
[Bibtex]

@inproceedings{Yang19iccv-QUASAR,
title={A Quaternion-based Certifiably Optimal Solution to the {Wahba} Problem with Outliers},
author={H. Yang and L. Carlone},
fullauthor={Yang, Heng and Carlone, Luca},
booktitle=iccv,
nonote = {(Oral Presentation, accept rate: 4\%), Arxiv version: 1905.12536, \linkToPdf{https://arxiv.org/pdf/1905.12536.pdf}},
pdf = "https://arxiv.org/pdf/1905.12536.pdf",
year={2019}
}

H. Yang and L. Carlone, “In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks,” in IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2020.
[Bibtex]

@inproceedings{Yang20cvpr-shapeStar,
title={In Perfect Shape: Certifiably Optimal {3D} Shape Reconstruction from {2D} Landmarks},
author={H. Yang and L. Carlone},
booktitle=cvpr,
nonote = {Arxiv version: 1911.11924, \linkToPdf{https://arxiv.org/pdf/1911.11924.pdf}},
pdf="https://arxiv.org/pdf/1911.11924.pdf",
year={2020}
}

H. Yang and L. Carlone, “A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates,” in Robotics: Science and Systems (RSS), 2019.
[Bibtex]

@inproceedings{Yang19rss-teaser,
Author = {H. Yang and L. Carlone},
Title = {A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates},
nonote = {\linkToPdf{http://rss2019.informatik.uni-freiburg.de/papers/0013_FI.pdf}, \linkToVideo{http://rss2019.informatik.uni-freiburg.de/videos/0013_VI_fi.mp4},
\linkToMedia{http://news.mit.edu/2019/spotting-objects-cars-robots-0620},
\linkToMedia{https://www.sciencedaily.com/releases/2019/06/190620121444.htm},
\linkToMedia{http://www.ansa.it/canale_scienza_tecnica/notizie/tecnologie/2019/06/21/i-robot-imparano-a-vedere-nella-nebbia-_9e59485c-ff17-4d62-8224-1d42f44111b9.html}},
booktitle= rss,
pdf = "http://rss2019.informatik.uni-freiburg.de/papers/0013_FI.pdf",
Year = 2019}

V. Tzoumas, P. Antonante, and L. Carlone, “Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019.
[Bibtex]

@inproceedings{Tzoumas19iros-outliers,
Author = {V. Tzoumas and P. Antonante and L. Carlone},
Title = {Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees},
nonote = {Extended arxiv version: 1903.11683, \linkToPdf{https://arxiv.org/pdf/1903.11683.pdf}},
pdf = "https://arxiv.org/pdf/1903.11683.pdf",
booktitle= iros,
Year = 2019}

L. Carlone and C. Pinciroli, “Robot Co-design: Beyond the Monotone Case,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
[Bibtex]

@inproceedings{Carlone19icra-codesign,
Author = {L. Carlone and C. Pinciroli},
Title = {Robot Co-design: Beyond the Monotone Case},
nonote = {Extended arxiv version: 1902.05880, \linkToPdf{https://arxiv.org/pdf/1902.05880.pdf}},
pdf = "https://arxiv.org/pdf/1902.05880.pdf",
booktitle= icra,
Year = 2019}

V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie, “Sensing-Constrained LQG Control,” in American Control Conference, Milwaukee, WI, 2018, p. 197–202.
[Bibtex]

@inproceedings{Tzoumas18acc-sLQG,
Author = {V. Tzoumas and L. Carlone and G.J. Pappas and A. Jadbabaie},
FullAuthor = {Vasileios Tzoumas and Luca Carlone and George J. Pappas and Ali Jadbabaie},
Title = {Sensing-Constrained {LQG} Control},
nonote = {arxiv preprint: 1709.08826, \linkToPdf{https://arxiv.org/pdf/1709.08826.pdf}},
pdf = "https://arxiv.org/pdf/1709.08826.pdf",
booktitle= acc,
Address = {Milwaukee, WI},
month = {June},
pages={197--202},
Year = 2018}

A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze, “Navion: An Energy-Efficient Visual-Inertial Odometry Accelerator for Micro Robotics and Beyond,” in IEEE Hot Chips: A Symposium for High-Performance Chips, 2018.
[Bibtex]

@inproceedings{Suleiman18hc-navion,
Author = {A. Suleiman and Z. Zhang and L. Carlone and S. Karaman and V. Sze},
Title = {Navion: An Energy-Efficient Visual-Inertial Odometry Accelerator for Micro Robotics and Beyond},
booktitle= {IEEE Hot Chips: A Symposium for High-Performance Chips},
Year = 2018}

A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze, “Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones,” in IEEE Symposium on VLSI Circuits (VLSI-Circuits), 2018.
[Bibtex]

@inproceedings{Suleiman18vlsi-navion,
Author = {A. Suleiman and Z. Zhang and L. Carlone and S. Karaman and V. Sze},
Title = {Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones},
nonote = {\award{Best Student Paper Award},
\award{Featured as a technical highlight:
\linkToPdf{http://vlsisymposium.org/wp-content/uploads/2018/05/NEW-2018-VLSI-tip-sheet-combined-FINAL-4.17.18.pdf}},
highlighted in the MIT News: \linkToWeb{http://news.mit.edu/2018/novel-chip-upgrade-helps-miniature-drones-navigate-0620}
other media coverage: \linkToWeb{https://www.engadget.com/2018/06/19/mit-bee-sized-drone-navigation-chip/}},
booktitle= {IEEE Symposium on VLSI Circuits (VLSI-Circuits)},
Year = 2018}

R. T. Sayre-McCord, W. Guerra, A. Antonini, J. Arneberg, A. Brown, G. Cavalheiro, Y. Fang, A. Gorodetsky, D. McCoy, S. Quilter, F. Riether, E. Tal, Y. Terzioglu, L. Carlone, and S. Karaman, “Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
[Bibtex]

@inproceedings{SayreMcCord18icra-droneSystem,
FullAuthor = {Roswell Thomas Sayre-McCord*, Winter Guerra, Amado Antonini, Jasper Arneberg, Austin Brown, Guilherme Cavalheiro, Yajun Fang, Alex Gorodetsky, Dave McCoy, Sebastian Quilter, Fabian Riether, Ezra Tal, Yunus Terzioglu, Luca Carlone, Sertac Karaman},
Author = {R.T. Sayre-McCord and W. Guerra and A. Antonini and J. Arneberg and A. Brown and G. Cavalheiro and Y. Fang and A. Gorodetsky and D. McCoy and S. Quilter and F. Riether and E. Tal and Y. Terzioglu and L. Carlone and S. Karaman},
nonote = {
\linkToPdf{https://www.dropbox.com/s/p3q60g5psuwbcmv/2018c-ICRA-flightGoggles.pdf?dl=0}
\linkToCode{https://github.com/AgileDrones/FlightGoggles}},
pdf = "https://www.dropbox.com/s/p3q60g5psuwbcmv/2018c-ICRA-flightGoggles.pdf?dl=0",
title={Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop},
booktitle= icra,
year={2018}}

D. M. Rosen and L. Carlone, “Computational Enhancements for Certifiably Correct SLAM,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
[Bibtex]

@inproceedings{Rosen17irosws-SEsyncImplementation,
Author = {D.M. Rosen and L. Carlone},
title={Computational Enhancements for Certifiably Correct {SLAM}},
booktitle= iros,
nonote = {Workshop on ``Introspective Methods for Reliable Autonomy'', \linkToPdf{https://www.dropbox.com/s/m4oxua0n1cr73d8/2017c-irosws-SEsyncImplementation.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/m4oxua0n1cr73d8/2017c-irosws-SEsyncImplementation.pdf?dl=0",
year={2017}}

Z. Zhang, A. Suleiman, L. Carlone, V. Sze, and S. Karaman, “Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach,” in Robotics: Science and Systems (RSS), 2017.
[Bibtex]

@inproceedings{Zhang17rss-vioChip,
Author = {Z. Zhang and A. Suleiman and L. Carlone and V. Sze and S. Karaman},
title={Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach},
booktitle= rss,
nonote = {\linkToPdf{http://rss2017.lids.mit.edu/static/papers/74.pdf}
\linkToWeb{http://navion.mit.edu/}, highlighted in the MIT News:
\linkToWeb{http://news.mit.edu/2017/miniaturizing-brain-smart-drones-0712}},
pdf = "http://www.roboticsconference.org/static/papers/74.pdf",
year={2017}}

L. Carlone and S. Karaman, “Attention and Anticipation in Fast Visual-Inertial Navigation,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017, p. 3886–3893.
[Bibtex]

@inproceedings{Carlone17icra-vioAttention,
Author = {L. Carlone and S. Karaman},
title={Attention and Anticipation in Fast Visual-Inertial Navigation},
booktitle= icra,
Pages = {3886--3893},
month = {May},
Address = {Singapore},
nonote = {extended arxiv preprint: 1610.03344 \linkToPdf{https://arxiv.org/pdf/1610.03344.pdf}},
pdf = "https://arxiv.org/pdf/1610.03344.pdf",
year={2017}}

P. Singh, M. Chen, L. Carlone, S. Karaman, E. Frazzoli, and D. Hsu, “Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal Kalman Filtering,” in American Control Conference, 2017, p. 5787–5794.
[Bibtex]

@inproceedings{Singh17acc-submodularity,
Author = {P. Singh and M. Chen and L. Carlone and S. Karaman and E. Frazzoli and D. Hsu},
title={Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal {Kalman Filtering}},
booktitle= acc,
Pages = {5787--5794},
nonote = {\linkToPdf{https://www.dropbox.com/s/wyv7vzd8wolndc2/2017c-acc-submodularSensorScheduling.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/wyv7vzd8wolndc2/2017c-acc-submodularSensorScheduling.pdf?dl=0",
year={2017}}

L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S. -Y. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H. -C. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. Del~Vecchio, D. Rus, J. How, J. Leonard, and A. Censi, “Duckietown: an Open, Inexpensive and Flexible and Capable Platform for Autonomy Education and Research,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017, p. 1497–1504.
[Bibtex]

@inproceedings{Paull17icra-duckietown,
Author = {L. Paull and J. Tani and H. Ahn and J. Alonso-Mora and L. Carlone and
M. Cap and Y.F. Chen and C. Choi and J. Dusek and Y. Fang and D. Hoehener and S.-Y. Liu and M. Novitzky and I.F. Okuyama and J. Pazis and G. Rosman and V. Varricchio and H.-C. Wang and D. Yershov and H. Zhao and M. Benjamin and C. Carr and M. Zuber and S. Karaman and E. Frazzoli and D. Del~Vecchio and D. Rus and J. How and J. Leonard and A. Censi},
title={Duckietown: an Open, Inexpensive and Flexible and Capable
Platform for Autonomy Education and Research},
booktitle= icra,
Pages = {1497--1504},
nonote = {\linkToPdf{https://www.dropbox.com/s/idqg2r2613anc07/2017c-icra-teachingDuckietown.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/idqg2r2613anc07/2017c-icra-teachingDuckietown.pdf?dl=0",
year={2017}}

D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard, “SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group,” in Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR), San Francisco, CA, 2016.
[Bibtex]

@inproceedings{Rosen16wafr-sesync,
Author = {D.M. Rosen and L. Carlone and A.S. Bandeira and J.J. Leonard},
Booktitle = WAFR,
Title = {{SE-Sync}: A Certifiably Correct Algorithm for Synchronization over the {Special Euclidean} Group},
month = {December},
address = {San Francisco, CA},
nonote = {
extended arxiv preprint: 1611.00128,
\linkToPdf{http://arxiv.org/abs/1611.00128}
\linkToPdf{http://wafr2016.berkeley.edu/papers/WAFR_2016_paper_138.pdf}
\linkToCode{https://github.com/david-m-rosen/SE-Sync}\award{, Best paper award}},
pdf = "http://arxiv.org/abs/1611.00128",
Year = 2016}

F. Ma, L. Carlone, U. Ayaz, and S. Karaman, “Sparse Sensing for Resource-Constrained Depth Reconstruction,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2016, p. 96–103.
[Bibtex]

@inproceedings{Ma16iros-sparseSensing,
Author = {F. Ma and L. Carlone and U. Ayaz and S. Karaman},
Booktitle = iros,
Pages = {96--103},
Title = {Sparse Sensing for Resource-Constrained Depth Reconstruction},
nonote = {
\linkToPdf{https://www.dropbox.com/s/pajli7dc5ytaix5/2016c-IROS-sparseSensing.pdf?dl=0}
\linkToVideo{https://www.youtube.com/watch?v=SazG6aljGSc}
\linkToCode{https://github.mit.edu/sparseSensing/sparse-depth-sensing}
(supplemental material:
\linkToPdf{https://www.dropbox.com/s/5mdiozmw1ehcuth/2016c-IROS-sparseSensing-supplemental.pdf?dl=0})},
pdf = "https://www.dropbox.com/s/pajli7dc5ytaix5/2016c-IROS-sparseSensing.pdf?dl=0",
Year = 2016}

S. Choudhary, L. Carlone, C. Nieto, J. Rogers, Z. Liu, H. I. Christensen, and F. Dellaert, “Multi Robot Object-based SLAM,” in Intl. Sym. on Experimental Robotics (ISER), 2016.
[Bibtex]

@inproceedings{Choudhary16iser-multiRobotPGO3D,
Author = {S. Choudhary and L. Carlone and C. Nieto and J. Rogers and Z. Liu and H.I. Christensen and F. Dellaert},
Booktitle = ISER,
Title = {Multi Robot Object-based {SLAM}},
nonote = {
\linkToPdf{https://www.dropbox.com/s/27w4junpejskbqg/2016c-ISER-objectBasedMultiRobot.pdf?dl=0}
\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
\linkToVideo{https://youtu.be/nXJamypPvVY}
\linkToVideo{https://youtu.be/nYm2sSHuGjo}
\linkToVideo{https://youtu.be/urZiIJK2IYk}
\linkToVideo{https://youtu.be/-F6JpVmOrc0}
},
pdf = "https://www.dropbox.com/s/27w4junpejskbqg/2016c-ISER-objectBasedMultiRobot.pdf?dl=0",
Year = {2016}}

A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman, “Data-driven Prediction of EVAR with Confidence in Time-varying Datasets,” in IEEE Conf. on Decision and Control (CDC), 2016, p. 5833–5838.
[Bibtex]

@inproceedings{Axelrod16cdc-evar,
Author = {A. Axelrod and L. Carlone and G. Chowdhary and S. Karaman},
Booktitle = cdc,
Pages = {5833--5838},
Title = {Data-driven Prediction of {EVAR} with Confidence in
Time-varying Datasets},
Year = 2016}

S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H. I. Christensen, and F. Dellaert, “Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2016, p. 5261–5268.
[Bibtex]

@inproceedings{Choudhary16icra-multiRobotPGO3D,
Author = {S. Choudhary and L. Carlone and C. Nieto and J. Rogers and H.I. Christensen and F. Dellaert},
Booktitle = ICRA,
Pages = {5261--5268},
Title = {Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed {G}auss-{S}eidel Approach},
nonote = {
\linkToPdf{https://www.dropbox.com/s/t4ytage7l32wiij/2016c-ICRA-multiRobotPGO3D.pdf?dl=0}
\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
\linkToVideo{http://bit.ly/1QY5w00}
},
pdf = "https://www.dropbox.com/s/t4ytage7l32wiij/2016c-ICRA-multiRobotPGO3D.pdf?dl=0",
Year = {2016}}

L. Carlone, D. M. Rosen, G. C. Calafiore, J. J. Leonard, and F. Dellaert, “Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2015, p. 125–132.
[Bibtex]

@inproceedings{Carlone15iros-duality3D,
Author = {L. Carlone and D.M. Rosen and G.C. Calafiore and J.J. Leonard and F. Dellaert},
Booktitle = iros,
Pages = {125--132},
Title = {Lagrangian Duality in {3D SLAM}: Verification Techniques and Optimal Solutions},
nonote = {
\linkToPdf{https://arxiv.org/abs/1506.00746}
\linkToCode{https://www.bitbucket.org/lucacarlone/pgo3d-duality-opencode}
(datasets: \linkToWeb{https://lucacarlone.mit.edu/datasets/})
(supplemental material: \linkToPdf{https://arxiv.org/abs/1506.00746})
},
pdf = "https://arxiv.org/abs/1506.00746",
Year = {2015}}

S. Choudhary, L. Carlone, H. I. Christensen, and F. Dellaert, “Exactly Sparse Memory Efficient SLAM using the Multi-Block Alternating Direction Method of Multipliers,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2015, p. 1349–1356.
[Bibtex]

@inproceedings{Choudhary15iros-admmSLAM,
Author = {S. Choudhary and L. Carlone and H.I. Christensen and F. Dellaert},
Booktitle = IROS,
Pages = {1349--1356},
Title = {Exactly Sparse Memory Efficient {SLAM} using the Multi-Block Alternating Direction Method of Multipliers},
nonote = {
\linkToPdf{https://www.dropbox.com/s/yc6ltshbvkp4l1l/2015c-iros-ADMM.pdf?dl=0}
\linkToPpt{https://www.dropbox.com/s/y56u4y8r15iigtv/2015c-IROS-ADMM.pdf?dl=0}
\linkToCode{https://github.com/itzsid/admm-slam}
},
pdf = "https://www.dropbox.com/s/yc6ltshbvkp4l1l/2015c-iros-ADMM.pdf?dl=0",
Year = {2015}}

S. Rosa, L. O. Russo, G. A. Farulla, L. Carlone, R. Antonini, G. Marco, and B. Bona, “An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring,” in Intl. Conf. on Intelligent Autonomous Systems (IAS), Volume 302 of the series Advances in Intelligent Systems and Computing, 2015, p. 95–107.
[Bibtex]

@inproceedings{Rosa15ias-dataCenters,
Author = {S. Rosa and L.O. Russo and G.A. Farulla and L. Carlone and
R. Antonini and G. Marco and B. Bona},
Booktitle = {Intl. Conf. on Intelligent Autonomous Systems (IAS), Volume 302 of the series Advances in Intelligent Systems and Computing},
Pages = {95--107},
Title = {An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring},
Year = {2015}}

N. Srinivasan, L. Carlone, and F. Dellaert, “Structural Symmetries from Motion for Scene Reconstruction and Understanding,” in British Machine Vision Conf. (BMVC), 2015.
[Bibtex]

@inproceedings{Srinivasan15bmvc-symmetrySfM,
Author = {N. Srinivasan and L. Carlone and F. Dellaert},
Booktitle = bmvc,
Title = {Structural Symmetries from Motion for Scene Reconstruction and Understanding},
nonote = {
\linkToPdf{https://www.dropbox.com/s/ix2fuokq699xy4t/2015c-BMVC-structuralSymmetries.pdf?dl=0}
\linkToVideo{https://www.youtube.com/watch?v=QYittoEyz0E&feature=youtu.be}
(supplemental material:
\linkToPdf{https://www.dropbox.com/s/n15y54ewcvzpxkw/2015c-BMVC-structuralSymmetries-supplemental.pdf?dl=0})
},
pdf = "https://www.dropbox.com/s/ix2fuokq699xy4t/2015c-BMVC-structuralSymmetries.pdf?dl=0",
Year = 2015}

L. Carlone, G. Calafiore, and F. Dellaert, “Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions,” in Robotics: Science and Systems (RSS), Workshop “Reviewing the review process”, 2015.
[Bibtex]

@inproceedings{Carlone15rssws2D-dualityPGO2D,
title={Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions},
author={L. Carlone and G. Calafiore and F. Dellaert},
booktitle={Robotics: Science and Systems (RSS), Workshop ``Reviewing the review process''},
nonote = {
\linkToPdf{https://www.dropbox.com/s/9aywfptilzqpb1r/2015ws-rss-dualityPGO2D.pdf?dl=0}
\linkToCode{https://www.bitbucket.org/lucacarlone/pgo2d-duality-opencode}},
pdf = "https://www.dropbox.com/s/9aywfptilzqpb1r/2015ws-rss-dualityPGO2D.pdf?dl=0",
year={2015}}

R. Tron, D. Rosen, and L. Carlone, “On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM,” in Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting future goals and indicators of progress for SLAM”, 2015.
[Bibtex]

@inproceedings{Tron15rssws3D-dualityPGO3D,
Author = {R. Tron and D. Rosen and L. Carlone},
Booktitle = {Robotics: Science and Systems (RSS), Workshop ``The problem of mobile sensors: Setting future goals and indicators of progress for {SLAM}''},
Title = {On the Inclusion of Determinant Constraints in Lagrangian Duality for {3D SLAM}},
nonote = {\linkToPdf{https://www.dropbox.com/s/859umrdf7ldd2kv/2015ws-rss-duality3Ddet.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/859umrdf7ldd2kv/2015ws-rss-duality3Ddet.pdf?dl=0",
Year = {2015}}

C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, “IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation,” in Robotics: Science and Systems (RSS), 2015.
[Bibtex]

@inproceedings{Forster15rss-imuPreintegration,
Author = {C. Forster and L. Carlone and F. Dellaert and D. Scaramuzza},
Booktitle = RSS,
Title = {{IMU} Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
nonote = {accepted as oral presentation (acceptance rate $4\%$)
\linkToPdf{http://www.roboticsproceedings.org/rss11/p06.html}
\linkToVideo{https://www.youtube.com/watch?v=CsJkci5lfco}
(supplemental material:
\linkToPdf{https://www.dropbox.com/s/kzraqftn22bjb0u/2015c-RSS-VIN-supplementaryMaterial.pdf?dl=0})\award{, finalist
for best paper award}},
pdf = "http://www.roboticsproceedings.org/rss11/p06.html",
Year = 2015}

L. Carlone, J. Dong, S. Fenu, G. C. Rains, and F. Dellaert, “Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Radius over Time via Expectation-Maximization,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015.
[Bibtex]

@inproceedings{Carlone15icra-4DcropAnalysis,
Author = {L. Carlone and J. Dong and S. Fenu and G.C. Rains and F. Dellaert},
Booktitle = icra,
Title = {Towards {4D} Crop Analysis in Precision Agriculture:
Estimating Plant Height and Crown Radius over Time via {Expectation-Maximization}},
nonote = {
\linkToPdf{https://www.dropbox.com/s/mlyvvho6hlakvuw/2015ws-ICRA-agProject.pdf?dl=0}
\linkToVideo{https://www.youtube.com/watch?v=RrxJUCBFi2A}},
pdf = "https://www.dropbox.com/s/mlyvvho6hlakvuw/2015ws-ICRA-agProject.pdf?dl=0",
Year = 2015}

L. Carlone and F. Dellaert, “Duality-based Verification Techniques for 2D SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015, p. 4589–4596.
[Bibtex]

@inproceedings{Carlone15icra-verification,
Author = {L. Carlone and F. Dellaert},
Booktitle = icra,
Title = {Duality-based Verification Techniques for {2D SLAM}},
Pages = {4589--4596},
nonote = {\linkToPdf{https://www.dropbox.com/s/4wtxyp817hdfnna/2015c-ICRA-duality2D.pdf?dl=0}
\linkToCode{https://www.bitbucket.org/lucacarlone/pgo2d-duality-opencode}},
pdf = "https://www.dropbox.com/s/4wtxyp817hdfnna/2015c-ICRA-duality2D.pdf?dl=0",
Year = 2015}

L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert, “Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015, p. 4597–4604.
[Bibtex]

@inproceedings{Carlone15icra-initPGO3D,
Author = {L. Carlone and R. Tron and K. Daniilidis and F. Dellaert},
Booktitle = icra,
Pages = {4597--4604},
Title = {Initialization Techniques for {3D SLAM}: a Survey on Rotation Estimation and its Use in Pose Graph Optimization},
nonote = {
\linkToPdf{https://www.dropbox.com/s/x0n5r366u33fu7x/2015c-ICRA-initPGO3d.pdf?dl=0}
\linkToCode{https://bitbucket.org/gtborg/gtsam}
(supplemental material: \linkToPdf{https://www.dropbox.com/s/n9bomq12r76ivbf/2015c-ICRA-3dInit-supplemental.pdf?dl=0})},
pdf = "https://www.dropbox.com/s/x0n5r366u33fu7x/2015c-ICRA-initPGO3d.pdf?dl=0",
Year = 2015}

R. Tron, L. Carlone, F. Dellaert, and K. Daniilidis, “Rigid Components Identification and Rigidity Control in Bearing-Only Localization using the Graph Cycle Basis,” in American Control Conference, 2015, p. 3911–3918.
[Bibtex]

@inproceedings{Tron15acc-rigidity,
Author = {R. Tron and L. Carlone and F. Dellaert and K. Daniilidis},
Booktitle = ACC,
Title = {Rigid Components Identification and Rigidity Control in Bearing-Only Localization using the Graph Cycle Basis},
Pages = {3911--3918},
nonote = {\linkToPdf{https://www.dropbox.com/s/h8g7p6sglb1izte/2015c-CDC-bearingOnyRigidity.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/h8g7p6sglb1izte/2015c-CDC-bearingOnyRigidity.pdf?dl=0",
Year = 2015}

L. Carlone, P. F. Alcantarilla, H. P. Chiu, K. Zsolt, and F. Dellaert, “Mining Structure Fragments for Smart Bundle Adjustment,” in British Machine Vision Conf. (BMVC), 2014.
[Bibtex]

@inproceedings{Carlone14bmvc-miningSfM,
Author = {L. Carlone and P. F. Alcantarilla and H.P. Chiu and K. Zsolt and F. Dellaert},
Booktitle = bmvc,
Title = {Mining Structure Fragments for Smart Bundle Adjustment},
nonote = {accepted as oral presentation (acceptance rate $7.7\%$),
\linkToPdf{https://www.dropbox.com/s/ix2fuokq699xy4t/2015c-BMVC-structuralSymmetries.pdf?dl=0}
(supplemental material:
\linkToPdf{https://www.dropbox.com/s/n15y54ewcvzpxkw/2015c-BMVC-structuralSymmetries-supplemental.pdf?dl=0})
},
pdf = "https://www.dropbox.com/s/ix2fuokq699xy4t/2015c-BMVC-structuralSymmetries.pdf?dl=0",
Year = {2014}}

L. Carlone, A. Censi, and F. Dellaert, “Selecting good measurements via $\ell_1$ relaxation: a convex approach for robust estimation over graphs,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2014.
[Bibtex]

@inproceedings{Carlone14iros-robustPGO2D,
Author = {L. Carlone and A. Censi and F. Dellaert},
Booktitle = IROS,
Title = {Selecting good measurements via $\ell_1$ relaxation: a convex approach for robust estimation over graphs},
nonote = {\linkToPdf{https://www.dropbox.com/s/7f304d5ag245ie4/2014c-IROS-outlierRejection.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/7f304d5ag245ie4/2014c-IROS-outlierRejection.pdf?dl=0",
Year = 2014}

J. Dong, L. Carlone, G. C. Rains, T. Coolong, and F. Dellaert, “4D Mapping of Fields using Autonomous Ground and Aerial Vehicles,” in 2014 ASABE and CSBE/SCGAB Annual International Meeting, 2014.
[Bibtex]

@inproceedings{Jing14asabe-3Dag,
Author = {J. Dong and L. Carlone and G. C. Rains and T. Coolong and F. Dellaert},
Booktitle = {2014 ASABE and CSBE/SCGAB Annual International Meeting},
Title = {{4D} Mapping of Fields using Autonomous Ground and Aerial Vehicles},
nonote = {\linkToPdf{https://www.dropbox.com/s/kmx9jyl94kt2b7q/2014c-asabe-4Dagriculture.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/kmx9jyl94kt2b7q/2014c-asabe-4Dagriculture.pdf?dl=0",
Year = 2014}

L. Carlone and D. Lyons, “Uncertainty-constrained robot exploration: a mixed-integer linear programming approach,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014, p. 1140–1147.
[Bibtex]

@inproceedings{Carlone14icra-milp,
Author = {L. Carlone and D. Lyons},
Booktitle = ICRA,
Pages = {1140--1147},
Title = {Uncertainty-constrained robot exploration: a mixed-integer linear programming approach},
nonote = {\linkToPdf{https://www.dropbox.com/s/g87ide55uxlv0ff/2014c-ICRA-planningMILP.pdf?dl=0}
\linkToVideo{https://lucacarlone.mit.edu/media/}},
pdf = "https://www.dropbox.com/s/g87ide55uxlv0ff/2014c-ICRA-planningMILP.pdf?dl=0",
Year = 2014}

V. Indelman, L. Carlone, and F. Dellaert, “Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
[Bibtex]

@inproceedings{Indelman14icra-beliefSpacePlanning,
Author = {V. Indelman and L. Carlone and F. Dellaert},
Booktitle = ICRA,
Title = {Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach},
nonote = {\linkToPdf{https://www.dropbox.com/s/74mr5z1k1ktl8ra/2014c-ICRA-planningGBS.pdf?dl=0}
\linkToVideo{https://www.youtube.com/watch?v=9e8pflrSj_o}},
pdf = "https://www.dropbox.com/s/74mr5z1k1ktl8ra/2014c-ICRA-planningGBS.pdf?dl=0",
Year = 2014}

L. Carlone, Z. Kira, C. Beall, V. Indelman, and F. Dellaert, “Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014, p. 4290–4297.
[Bibtex]

@inproceedings{Carlone14icra-smartFactors,
Author = {L. Carlone and Z. Kira and C. Beall and V. Indelman and F. Dellaert},
Booktitle = ICRA,
Title = {Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors},
Pages = {4290--4297},
Year = 2014}

H. Chiu, X. Zhou, L. Carlone, F. Dellaert, S. Samarasekera, and R. Kumar, “Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
[Bibtex]

@inproceedings{Chiu14icra-sensorSelection,
Author = {H. Chiu and X. Zhou and L. Carlone and F. Dellaert and S. Samarasekera and R. Kumar},
Booktitle = ICRA,
Title = {Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs},
Year = 2014}

V. Indelman, L. Carlone, and F. Dellaert, “Towards Planning in Generalized Belief Space,” in The 16th International Symposium on Robotics Research, Springer, 2016, vol. 114, pp. 593-609.
[Bibtex]

@InCollection{Indelman16chapter-beliefSpacePlanning,
booktitle = {The 16th International Symposium on Robotics Research},
series = {Springer Tracts in Advanced Robotics},
title = {Towards Planning in Generalized Belief Space},
publisher = {Springer},
author = {V. Indelman and L. Carlone and F. Dellaert},
pages = "593-609",
volume = {114},
year = {2016},
pdf = "http://vindelman.technion.ac.il/Publications/Indelman16chapter.pdf"}

V. Indelman, L. Carlone, and F. Dellaert, “Towards Planning in Generalized Belief Space,” in Proc. of the Intl. Symp. of Robotics Research (ISRR), 2013.
[Bibtex]

@inproceedings{Indelman13isrr-beliefSpacePlanning,
Author = {V. Indelman and L. Carlone and F. Dellaert},
Booktitle = isrr,
Title = {Towards Planning in Generalized Belief Space},
nonote = {
\linkToPdf{https://www.dropbox.com/s/jxbn0reij378m3t/2014c-ISRR-planningGBS.pdf?dl=0}
\linkToVideo{https://www.youtube.com/watch?v=9e8pflrSj_o}
},
pdf = "https://www.dropbox.com/s/jxbn0reij378m3t/2014c-ISRR-planningGBS.pdf?dl=0",
Year = 2013}

L. Carlone, “Convergence Analysis of Pose Graph Optimization via Gauss-Newton methods,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2013, p. 965–972.
[Bibtex]

@inproceedings{Carlone13icra-convergenceGN,
Author = {L. Carlone},
Booktitle = ICRA,
Title = {Convergence Analysis of Pose Graph Optimization via {Gauss-Newton}
methods},
isbn = {978146735641-1},
Pages = {965--972},
nonote = {\linkToPdf{https://www.dropbox.com/s/qqcqqny58qu60ys/2013c-ICRA-convGN.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/qqcqqny58qu60ys/2013c-ICRA-convGN.pdf?dl=0",
Year = 2013}

L. Carlone, J. Yin, S. Rosa, and Y. Zehui, “Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation,” in Intl. Conf. on Simulation, Modeling, and Programming, for Autonomous Robots, 2012, p. 261–274.
[Bibtex]

@inproceedings{Carlone12simpar-lagoPGO2D,
Author = {L. Carlone and J. Yin and S. Rosa and Y. Zehui},
Booktitle = {Intl. Conf. on Simulation, Modeling, and Programming, for Autonomous Robots},
Pages = {261--274},
Title = {Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation},
Year = 2012}

J. Yin, L. Carlone, S. Rosa, and Y. Zehui, “Graph-based robust localization and mapping for autonomous mobile robotic navigation,” in Intl. Conf. on Mechatronics and Automation (ICMA), 2014, p. 1680–1685.
[Bibtex]

@inproceedings{Yin14icma-graphSLAM,
Author = {J. Yin and L. Carlone and S. Rosa and Y. Zehui},
Booktitle = {Intl. Conf. on Mechatronics and Automation (ICMA)},
Pages = {1680--1685},
Title = {Graph-based robust localization and mapping for autonomous mobile robotic navigation},
Year = 2014}

L. Carlone, V. Macchia, F. Tibaldi, and B. Bona, “Robot localization and 3D mapping: observability analysis and applications,” in Intl. Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2012.
[Bibtex]

@inproceedings{Carlone12isairas-quaternionEKF,
Author = {L. Carlone and V. Macchia and F. Tibaldi and B. Bona},
Booktitle = {Intl. Symposium on Artificial Intelligence,
Robotics and Automation in Space (i-SAIRAS)},
Title = {Robot localization and {3D} mapping: observability analysis and applications},
Year = 2012}

L. Carlone, V. Srivastava, F. Bullo, and G. Calafiore, “A Distributed Algorithm for Random Convex Programming,” in Intl. Conf. on NETwork Games, COntrol and OPtimization (NETGCOOP), 2011, p. 1–7.
[Bibtex]

@inproceedings{Carlone11netgcoop-distributedRCP,
Author = {L. Carlone and V. Srivastava and F. Bullo and G. Calafiore},
Booktitle = {Intl. Conf. on NETwork Games, COntrol and OPtimization (NETGCOOP)},
Pages = {1--7},
isbn = {9781467303835},
Title = {A Distributed Algorithm for Random Convex Programming},
nonote = {extended arxiv preprint: 1207.6226,
\linkToPdf{https://www.dropbox.com/s/s1xbzb1fdh4af4s/2014j-SICON-DRCP.pdf?dl=0}
\linkToPpt{https://www.dropbox.com/s/h28q4xhb0xu574t/2011-netgcoop.pdf?dl=0}},
pdf = "https://www.dropbox.com/s/s1xbzb1fdh4af4s/2014j-SICON-DRCP.pdf?dl=0",
Year = 2011}

L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona, “A Linear Approximation for Graph-based Simultaneous Localization and Mapping,” in Robotics: Science and Systems (RSS), 2011, p. 41–48.
[Bibtex]

@inproceedings{Carlone11rss-lagoPGO2D,
Author = {L. Carlone and R. Aragues and J.A. Castellanos and B. Bona},
Booktitle = RSS,
Title = {A Linear Approximation for Graph-based Simultaneous Localization and Mapping},
Pages = {41--48},
nonote = {
\linkToPdf{http://www.roboticsproceedings.org/rss07/p06.html}
\linkToPpt{https://www.dropbox.com/s/bojshzsd4q8m6at/2011-RSS-presentation.pdf?dl=0}
\linkToCode{https://bitbucket.org/gtborg/gtsam}
\linkToVideo{https://lucacarlone.mit.edu/media/}
(datasets: \linkToWeb{https://lucacarlone.mit.edu/datasets/})
},
pdf = "http://www.roboticsproceedings.org/rss07/p06.html",
Year = 2011}

L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona, “A First-Order Solution to Simultaneous Localization And Mapping with Graphical Models,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011, p. 1764–1771.
[Bibtex]

@inproceedings{Carlone11icra-lagoPGO2D,
Author = {L. Carlone and R. Aragues and J.A. Castellanos and B. Bona},
Booktitle = ICRA,
Pages = {1764--1771},
isbn = {9781612843865},
Title = {A First-Order Solution to Simultaneous Localization And Mapping with Graphical Models},
Year = 2011}

R. Aragues, L. Carlone, G. Calafiore, and C. Sagues, “Multi-agent localization from noisy relative pose measurements,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011, p. 364–369.
[Bibtex]

@inproceedings{Aragues11icra-distributedLocalization,
Author = {R. Aragues and L. Carlone and G. Calafiore and C. Sagues},
Booktitle = icra,
Pages = {364--369},
isbn = {9781612843865},
Title = {Multi-agent localization from noisy relative pose measurements},
Year = 2011}

J. Du, L. Carlone, M. Kaouk Ng, B. Bona, and M. Indri, “A Comparative Study on Active SLAM and Autonomous Exploration with Particle Filters,” in IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM), 2011, p. 916–923.
[Bibtex]

@inproceedings{Du11aim-activeSLAM,
Author = {J. Du and L. Carlone and {M. Kaouk Ng} and B. Bona and M. Indri},
Booktitle = {IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM)},
Pages = {916--923},
Title = {A Comparative Study on Active {SLAM} and Autonomous Exploration with Particle Filters},
isbn = {9781457708381},
Year = 2011}

L. Carlone and B. Bona, “On registration of uncertain three-dimensional vectors with application to robotics,” in 18th IFAC World Congress, 2011, p. 8150–8158.
[Bibtex]

@inproceedings{Carlone11ifac-registration,
Author = {L. Carlone and B. Bona},
Booktitle = {18th IFAC World Congress},
Pages = {8150--8158},
Title = {On registration of uncertain three-dimensional vectors with application
to robotics},
isbn = {9783902661937},
Year = 2011}

G. C. Calafiore, L. Carlone, and M. Wei, “Distributed optimization techniques for range localization in networked systems,” in IEEE Conf. on Decision and Control (CDC), 2010, p. 2221–2226.
[Bibtex]

@inproceedings{Calafiore10cdc-distNetLoc,
Author = {G.C. Calafiore and L. Carlone and M. Wei},
Booktitle = CDC,
Pages = {2221--2226},
Title = {Distributed optimization techniques for range localization in networked systems},
isbn = {9781424477456},
Year = 2010}

F. Abrate, B. Bona, M. Indri, and L. Carlone, “Cooperative robotic teams for supervision and management of large logistic spaces: methodology and applications,” in IEEE Intl. Conf. on Emerging Technologies and Factory Automation (ETFA), 2010, p. 1–8.
[Bibtex]

@inproceedings{Abrate10etfa-logistics,
Author = {F. Abrate and B. Bona and M. Indri and L. Carlone},
Booktitle = {IEEE Intl. Conf. on Emerging Technologies and Factory Automation
(ETFA)},
Pages = {1--8},
Title = {Cooperative robotic teams for supervision and
management of large logistic spaces: methodology and applications},
isbn = {9781424468485},
Year = 2010}

L. Carlone, R. Micalizio, G. Nuzzolo, E. Scala, and D. Tedone, “STEPS (Sistemi e Tecnologie per l’EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st Demonstration,” in Intl. Conf. on Environmental Systems (ICES), 2010.
[Bibtex]

@inproceedings{Carlone10ices-steps,
Author = {L. Carlone and R. Micalizio and G. Nuzzolo and E. Scala and D. Tedone},
Booktitle = {Intl. Conf. on Environmental Systems (ICES)},
Title = {{STEPS (Sistemi e Tecnologie
per l'EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st
Demonstration}},
Year = 2010}

L. Carlone, J. Du, K. M. Ng, B. Bona, and M. Indri, “An Application of Kullback-Leibler Divergence to Active SLAM and Exploration with Particle Filters,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2010, p. 287–293.
[Bibtex]

@inproceedings{Carlone10iros-activeSLAM,
Author = {L. Carlone and J. Du and M. Kaouk Ng and B. Bona and M. Indri},
Booktitle = IROS,
Pages = {287--293},
Title = {An Application of {K}ullback-{L}eibler Divergence to Active {SLAM} and Exploration with Particle Filters},
isbn = {9781424466740},
Year = 2010}

G. Calafiore, L. Carlone, and M. Wei, “A distributed Gauss-Newton approach for range-based localization of multi agent formations,” in Multiconference on Systems and Control, 2010, p. 1152–1157.
[Bibtex]

@inproceedings{Calafiore10msc-distibutedGN,
Author = {G. Calafiore and L. Carlone and M. Wei},
Booktitle = MSC,
Pages = {1152--1157},
Title = {A distributed {G}auss-{N}ewton approach for range-based localization of multi agent formations},
isbn = {9781424453542},
Year = 2010}

G. Calafiore, L. Carlone, and M. Wei, “A distributed gradient method for localization of formations using relative range measurements,” in Multiconference on Systems and Control, 2010, p. 1146–1151.
[Bibtex]

@inproceedings{Calafiore10msc-distibutedGRAD,
Author = {G. Calafiore and L. Carlone and M. Wei},
Booktitle = MSC,
Pages = {1146--1151},
Title = {A distributed gradient method for localization of formations using relative range measurements},
isbn = {9781424453542},
Year = 2010}

G. C. Calafiore, L. Carlone, and M. Wei, “Position estimation from relative distance measurements in multi-agents formations,” in Mediterranean Conference on Control and Automation, 2010, p. 148–153.
[Bibtex]

@inproceedings{Calafiore10med-distNetLoc,
Author = {G.C. Calafiore and L. Carlone and M. Wei},
Booktitle = MED,
Pages = {148--153},
Title = {Position estimation from relative distance measurements in multi-agents formations},
isbn = {9781424480913},
Year = 2010}

G. C. Calafiore, L. Carlone, and M. Wei, “Network localization from range measurements: algorithms and numerical experiments,” in Intl. Conf. on Cybernetics & Intelligent Systems, Int. Conf. on Robotics, Automation & Mechatronics, 2010, pp. 225-230.
[Bibtex]

@inproceedings{Calafiore10cisram-distNetLoc,
Author = {G.C. Calafiore and L. Carlone and M. Wei},
Booktitle = {Intl. Conf. on Cybernetics \& Intelligent
Systems, Int. Conf. on Robotics, Automation \& Mechatronics},
Pages = {225-230},
Title = {Network localization from range measurements:
algorithms and numerical experiments},
isbn = {9781424464999},
Year = 2010}

V. Macchia, S. Rosa, L. Carlone, and B. Bona, “An application of omnidirectional vision to grid-based SLAM in indoor environments,” in Intl. Conf. on Robotics and Automation (ICRA), Workshop on Omnidirectional Robot Vision, 2010.
[Bibtex]

@inproceedings{Macchia10icraws-omniCamera,
Author = {V. Macchia and S. Rosa and L. Carlone and B. Bona},
Booktitle = {Intl. Conf. on Robotics and
Automation (ICRA), Workshop on Omnidirectional Robot Vision},
Title = {An application of omnidirectional vision to
grid-based {SLAM} in indoor environments},
isbn = {9788895872025},
Year = 2010}

L. Carlone, K. M. Ng, J. Du, B. Bona, and M. Indri, “Rao-Blackwellized Particle Filters Multi Robot SLAM with Unknown Initial Correspondences and Limited Communication,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010, p. 243–249.
[Bibtex]

@inproceedings{Carlone10icra-multiRobotSLAM,
Author = {L. Carlone and M. Kaouk Ng and J. Du and B. Bona and M. Indri},
Booktitle = ICRA,
Doi = {10.1109/ROBOT.2010.5509307},
Issn = {1050-4729},
Keywords = {Rao-Blackwellized particle filter;eteroceptive information;multirobot SLAM;prioceptive information;relative pose measurement;simultaneous localization and mapping;single robot RBPF-SLAM;SLAM (robots);mobile robots;multi-robot systems;particle filtering (numerical methods);},
Pages = {243--249},
Title = {Rao-{B}lackwellized Particle Filters Multi Robot {SLAM} with Unknown Initial Correspondences and Limited Communication},
isbn = {9781424450381},
Year = 2010}

L. Carlone, K. M. Ng, J. Du, B. Bona, and M. Indri, “Reverse KLD-Sampling for measuring uncertainty in Rao-Blackwellized Particle Filters SLAM,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Workshop on Performance Evaluation and Benchmarking for Next Intelligent Robots and Systems, 2009.
[Bibtex]

@inproceedings{Carlone10irosws-activeSLAM,
Author = {L. Carlone and M. Kaouk Ng and J. Du and B. Bona and M. Indri},
Booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS),
Workshop on Performance Evaluation and Benchmarking for
Next Intelligent Robots and Systems},
Title = {Reverse {KLD}-Sampling for measuring
uncertainty in {Rao-Blackwellized Particle Filters SLAM}},
isbn = {9788895872025},
Year = 2009}

L. Carlone and B. Bona, “A comparative study on robust localization: fault tolerance and robustness test on probabilistic filters for range-based positioning,” in Intl. Conf. on Advanced Robotics (ICAR), 2009, p. 1–8.
[Bibtex]

@inproceedings{Carlone09icra-rangeLocalization,
Author = {L. Carlone and B. Bona},
Booktitle = {Intl. Conf. on Advanced Robotics (ICAR)},
Pages = {1--8},
Title = {A comparative study on robust localization: fault tolerance and
robustness test on probabilistic filters for range-based positioning},
isbn = {9781424448555},
Year = 2009}

L. Carlone and B. Bona, “Preliminary results on robust global localization: fault tolerance and robustness test on Probabilistic Shaping,” in Intl. Conf. on Autonomous Robot Systems and Competitions, 2009, p. 27–33.
[Bibtex]

@inproceedings{Carlone09icar-rangeLocalization,
Author = {L. Carlone and B. Bona},
Pages = {27--33},
Booktitle = {Intl. Conf. on Autonomous Robot Systems and Competitions},
Title = {Preliminary results on robust global localization: fault tolerance and
robustness test on {Probabilistic Shaping}},
isbn = {9788208972},
Year = 2009}

L. Carlone and B. Bona, “Probabilistic Shaping with Radial Gaussian: a probabilistic approach to 2D and 3D robotic multilateration,” in Israeli Conf. of Robotics, 2008.
[Bibtex]

@inproceedings{Carlone09isr-rangeLocalization,
Author = {L. Carlone and B. Bona},
Booktitle = {Israeli Conf. of Robotics},
Title = {{Probabilistic Shaping with Radial Gaussian: a probabilistic approach
to 2D and 3D robotic multilateration}},
Year = 2008}

M. Bianchi, L. Carlone, D. Girlando, A. Mangone, I. Belmonte, B. Bona, A. Bonarini, and M. Matteucci, Apparato di illuminazione robotizzato e metodo di comando, 2009.
[Bibtex]

@misc{Bianchi09patent-helios,
Author = {M. Bianchi and L. Carlone and D. Girlando and A. Mangone and I. Belmonte and B. Bona and A. Bonarini and M. Matteucci},
nonote = {IT MI20091066, Priority: 16/6/2009, Publication: 17/12/2010},
Title = {Apparato di illuminazione robotizzato e metodo di comando},
Year = 2009}

D. Girlando, A. Mangone, L. Carlone, M. Bianchi, A. Bonarini, B. Bona, M. Matteucci, and I. Belmonte, Robotized lighting apparatus and control method, 2009.
[Bibtex]

@misc{Girlando09patent-helios,
Author = {D. Girlando and A. Mangone and L. Carlone and M. Bianchi and
A. Bonarini and B. Bona and M. Matteucci and I. Belmonte},
nonote = {WO2010146446, Priority: 16/6/2009, Publication: 23/12/2010},
Title = {Robotized lighting apparatus and control method},
Year = 2009}

L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert, “Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. Supplemental material,” , 2015.
[Bibtex]

@url{supplemental3Dinit,
Author = {L. Carlone and R. Tron and K. Daniilidis and F. Dellaert},
Lastchecked = {2014},
Title = {Initialization Techniques for {3D SLAM}: a Survey on Rotation
Estimation and its Use in Pose Graph Optimization. Supplemental material},
Url = {https://www.dropbox.com/s/i0kkj735x56fr2v/2015c-ICRA-3dInit-supplemental-PDFCompress.pdf?dl=0},
OldUrl = {www.lucacarlone.com/index.php/resources/research/init3d},
Year = 2015}

L. Carlone, D. Rosen, G. Calafiore, J. J. Leonard, and F. Dellaert, “Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. Supplemental material,” , 2015.
[Bibtex]

@url{Carlone15iros-duality3D-supplemental,
Author = {L. Carlone and D. Rosen and G. Calafiore and J.J. Leonard and F. Dellaert},
Lastchecked = {2014},
Title = {Lagrangian Duality in {3D SLAM}: Verification Techniques and Optimal Solutions. Supplemental material},
Url = {https://www.dropbox.com/s/bztm41vbo5249i2/2015c-iros-duality3D-supplemental.pdf?dl=0},
oldUrl = {www.lucacarlone.com/index.php/resources/research/duality3DPGO},
Year = 2015}

L. Carlone, J. Dong, S. Fenu, G. C. Rains, and F. Dellaert, “Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Size over Time using Factor Graphs. Supplemental material,” , 2015.
[Bibtex]

@url{Carlone15icra-suppAg,
Author = {L. Carlone and J. Dong and S. Fenu and G.C. Rains and F. Dellaert},
Lastchecked = {2014},
Title = {Towards {4D} Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Size over Time using Factor Graphs. Supplemental material},
Url = {https://www.dropbox.com/s/mlyvvho6hlakvuw/2015ws-ICRA-agProject.pdf?dl=0},
OldUrl = {www.lucacarlone.com/index.php/resources/research/agSensing},
Year = 2015}

L. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary, “Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations,” , 2016.
[Bibtex]

@iinproceedings{Carlone16dddas-aidedOptimalSearch,
Author = {L. Carlone and A. Axelrod and S. Karaman and G. Chowdhary},
Booktitle = {Intl. Conf. on Dynamic Data Driven Applications Systems (DDDAS)},
Title = {Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations},
Year = 2016}

V. Indelman, L. Carlone, and F. Dellaert, “A Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments,” , 2015.
[Bibtex]

@iinproceedings{Indelman15icas-beliefSpacePlanning,
Author = {V. Indelman and L. Carlone and F. Dellaert},
Booktitle = {55th Israel Annual Conference on Aerospace Sciences},
Title = {A Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments},
nonote = {\linkToVideo{https://www.youtube.com/watch?v=9e8pflrSj_o}},
Year = 2015}

L. Carlone, S. Williams, and R. Roberts, “Preintegrated IMU factor: Computation of the Jacobian Matrices,” Technical Report, 2013.
[Bibtex]

@aarticle{Carlone13tr,
Author = {L. Carlone and S. Williams and R. Roberts},
Journal = {Technical Report},
Title = {Preintegrated {IMU} factor: Computation of the Jacobian Matrices},
Year = {2013}}

Luca Carlone

Associate Professor, Department of Aeronautics and Astronautics, MIT

Publications

Complete List