: link to paper (pdf), : link to slides, : link to website, : link to video : link to

code

- 1.
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time

Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 ,

conference version was best paper finalist at RSS 2015) - 2.
- L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal

Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016. - 3.
- 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, Workshop on the Algorithmic Foundations of

Robotics (WAFR), 2016. (best paper award) (extended arxiv preprint: 1611.00128 ) - 4.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf.

on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 ) - 5.
- F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth

Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016.

(supplemental material:

- 1.
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time

Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 ) - 2.
- C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I.D. Reid, J.J. Leonard. Past,

Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age,

IEEE Trans. on Robotics, 32(6):1309-1332, 2016. (arxiv preprint: 1606.05830 ) - 3.
- L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal

Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016. - 4.
- V. Indelman, L. Carlone, F. Dellaert, Planning in the Continuous Domain: a Generalized Belief Space

Approach for Autonomous Navigation in Unknown Environments, International Journal of Robotics

Research, 34(7):849–882, 2015.

5.L. Carlone and A. Censi, From Angular Manifolds to the Integer Lattice: Guaranteed Orientation

Estimation with Application to Pose Graph Optimization, IEEE Trans. on Robotics, 30(2):475–492,

2014. 6.L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, Distributed Random Convex Programming via

Constraints Consensus, SIAM Journal on Control and Optimization, 52(1):629–662, 2014. (arxiv

preprint: 1207.6226 )7.L. Carlone, R. Aragues, J. Castellanos, B. Bona, A Fast and Accurate Approximation for Planar Pose

Graph Optimization, International Journal of Robotics Research, (33)7:965–987, 2014. 8.L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Quaternion-based EKF-SLAM from Relative Pose

Measurements: Observability Analysis and Applications, Robotica, 33(6):1250–1280, 2015. 9.R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Distributed Centroid Estimation from Noisy Relative

Measurements, Systems & Control Letters, 61(7):773–779, ISSN: 0167-6911, 2012. 10.G. Calafiore, L. Carlone, M. Wei, A Distributed Technique for Localization of Agent Formations from

Relative Range Measurements, IEEE Transactions on Systems Man and Cybernetics, Part A – Systems

and Humans, (42)5:1065–1076, ISSN: 1083-4427, 2012. 11.B. Bona, L. Carlone, M. Indri, S. Rosa, Supervision and Monitoring of Logistic Spaces by a

Cooperative Robotic Team: Methodologies, Problems, and Solutions, Intelligent Service Robotics,

springer, 7(4):185–202, 2014.12.L. Carlone, J. Du, M. Kaouk Ng, M. Indri, B. Bona, Active SLAM and Exploration with Particle Filters

using Kullback-Leibler Divergence, Journal of Intelligent & Robotic Systems, 75(2):291–311, 2014. 13.L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Simultaneous Localization and Mapping using

Rao-Blackwellized Particle Filters in Multi Robot Systems, Journal of Intelligent and Robotic Systems,

63(2):283–307, 2011.

- 1.
- G. Calafiore, L. Carlone, M. Wei, Sensor Fusion for Position Estimation in Networked Systems, in

Sensor Fusion, Sciyo, ISBN: 978-953-307-101-5, 2010.

- 1.
- L. Carlone, Nonlinear estimation techniques for autonomous navigation in single and multi robot

systems, Politecnico di Torino, 2012.

- 1.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, in

preparation, 2017. (arxiv preprint: 1610.03344 ) - 2.
- F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Depth Sensing for Resource-Constrained Robot

Perception, in preparation, 2017. - 3.
- S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Mapping

with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, in

preparation, 2017. - 4.
- H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Plug-and-Play Navigation Using Factor

Graphs, in preparation, 2017. - 5.
- L. Carlone, A. Axelrod, S. Karaman, G. Chowdhary, Aided Optimal Search: Data-Driven Target Pursuit

from On-Demand Delayed Binary Observations, submitted, 2016. (preprint: )

- 1.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf.

on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 ) - 2.
- P. Singh, M. Chen, L. Carlone, S. Karaman, E. Frazzoli, D. Hsu, Supermodular Mean Squared

Error Minimization for Sensor Scheduling in Optimal Kalman Filtering, American Control Conference

(ACC), accepted, 2017. (preprint: ) - 3.
- 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, A. Censi, Duckietown: an Open, Inexpensive and Flexible and Capable

Platform for Autonomy Education and Research, Int. Conf. on Robotics and Automation (ICRA),

accepted, 2017. (preprint: )

4.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, Workshop on the Algorithmic Foundations of

Robotics (WAFR), 2016. (best paper award) (arxiv preprint: 1611.00128 )5.F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth

Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016.

(supplemental material: 6.S. Choudhary, L. Carlone, C. Nieto, J. Rogers, Z. Liu, H.I. Christensen, and F. Dellaert, Multi Robot

Object-based SLAM, Int. Symposium on Experimental Robotics (ISER), 2016. 7.A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman, Data-driven Prediction of EVAR with

Confidence in Time-varying Datasets, Int. Conf. on Decision and Control (CDC), 2016.8.S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Trajectory

Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel

Approach, Int. Conf. on Robotics and Automation (ICRA), 2016. 9.L. Carlone, D.M. Rosen, G.C. Calafiore, J.J. Leonard, F. Dellaert, Lagrangian Duality in 3D SLAM:

Verification Techniques and Optimal Solutions, Int. Conf. on Intelligent RObots and Systems (IROS),

2015. (supplemental material: )10.S. Choudhary, L. Carlone, H.I. Christensen, F. Dellaert, Exactly Sparse Memory Efficient SLAM using

the Multi-Block Alternating Direction Method of Multipliers, Int. Conf. on Intelligent RObots and

Systems (IROS), 2015. (direct link: )11.S. Rosa, L.O. Russo, G.A. Farulla, L. Carlone, R. Antonini, G. Marco, B. Bona, An Application of

Laser-Based Autonomous Navigation for Data-Center Monitoring, Intelligent Autonomous Systems

13: Proceedings of the 13th International Conference IAS-13, Volume 302 of the series Advances in

Intelligent Systems and Computing, pp. 95–107, 2015.12.N. Srinivasan, L. Carlone, F. Dellaert, Structural Symmetries from Motion for Scene Reconstruction and

Understanding, British Machine Vision Conference (BMVC), 2015. (supplemental material:

)13.L. Carlone, G. Calafiore, F. Dellaert, Pose Graph Optimization in the Complex Domain: Lagrangian

Duality and Optimal Solutions, Robotics: Science and Systems (RSS), Workshop “Reviewing the review

process”, 2015. 14.R. Tron, D. Rosen, L. Carlone, On the Inclusion of Determinant Constraints in Lagrangian Duality for

3D SLAM, Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting

future goals and indicators of progress for SLAM”, 2015. 15.C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on Manifold for Efficient

Visual-Inertial Maximum-a-Posteriori Estimation, Robotics: Science and Systems (RSS), 2015. (finalist

for best paper award) (supplemental material: )

16.L. Carlone, J. Dong, S. Fenu, G. C. Rains, F. Dellaert, Towards 4D Crop Analysis in Precision

Agriculture: Estimating Plant Height and Crown Radius over Time via Expectation-Maximization, Int.

Conf. on Robotics and Automation (ICRA), Workshop on Robotics in Agriculture, 2015. 17.L. Carlone and F. Dellaert, Duality-based Verification Techniques for 2D SLAM, Int. Conf. on Robotics

and Automation (ICRA), 2015. 18.L. Carlone, R. Tron, K. Daniilidis, F. Dellaert, Initialization Techniques for 3D SLAM: a Survey on

Rotation Estimation and its Use in Pose Graph Optimization, Int. Conf. on Robotics and Automation

(ICRA), 2015. 19.R. Tron, L. Carlone, F. Dellaert, K. Daniilidis, Rigid Components Identification and Rigidity

Enforcement in Bearing-Only Localization using the Graph Cycle Basis, American Control Conference

(ACC), 2015. 20.L. Carlone, P. Alcantarilla, H. Chiu, K. Zsolt, F. Dellaert, Mining structure fragments for smart bundle

adjustment, British Machine Vision Conference (BMVC), accepted as oral presentation (acceptance

rate 7.7%), 2014. (supplemental material: )21.L. Carlone, A. Censi, F. Dellaert, Selecting good measurements via ℓ_{1} relaxation: a convex approach

for robust estimation over graphs, Int. Conf. on Intelligent RObots and Systems (IROS), 2014. 22.J. Dong, L. Carlone, G.C. Rains, T. Coolong, F. Dellaert, 4D Mapping of fields using autonomous

ground and aerial vehicles, CSBE/ASABE Joint Meeting Presentation, 2014. 23.L. Carlone and D. Lyons, Uncertainty-constrained robot exploration: a mixed-integer linear

programming approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.

24.V. Indelman, L. Carlone, F. Dellaert, Planning under uncertainty in the continuous domain: a

generalized belief space approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation

(ICRA), 2014. 25.L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets

in factor graphs: a unifying perspective based on smart factors, in Proc. of the IEEE Int. Conf. on

Robotics and Automation (ICRA), 2014.26.H. Chiu, X. Zhou, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Constrained optimal selection

for multi-sensor robot navigation using plug-and-play factor graphs, in Proc. of the IEEE Int. Conf. on

Robotics and Automation (ICRA), 2014.27.V. Indelman, L. Carlone, F. Dellaert, Towards planning in generalized belief space, in Proc. of the

Int. Symposium on Robotics Research (ISRR), 2013. 28.L. Carlone, Convergence analysis of pose graph optimization via Gauss-Newton methods, in Proc. of

the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 965-972, ISBN: 978146735641-1, 2013.

29.L. Carlone, J. Yin, S. Rosa, Z. Yuan, Graph optimization with unstructured covariance: fast, accurate,

linear approximation, in Proc. of the Int. Conf. on Simulation, Modeling, and Programming for

Autonomous Robots (SIMPAR), 2012.30.L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Robot localization and 3D mapping: observability analysis

and applications, in Proc. of the Int. Symposium on Artificial Intelligence, Robotics and Automation

in Space (i-SAIRAS), 2012.31.L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, A distributed algorithm for random convex

programming, in Proc. of the Int. Conf. on NETwork Games, COntrol and OPtimization

(NETGCOOP), pp. 1-7, ISBN: 9781467303835, 2011. 32.L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A linear approximation for graph-based simultaneous

localization and mapping, in Proc. of the Int. Conf. Robotics: Science and Systems (RSS), available

online http://www.roboticsproceedings.org/rss07/p06.html, pp. 41-48, 2011. 33.L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A first-order solution to simultaneous localization

and mapping with graphical models, in Proc. of the IEEE Int. Conf. on Robotics and Automation

(ICRA), pp. 1764-1771, ISBN: 9781612843865, 2011.34.R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Multi agent localization from noisy relative pose

measurements, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 364-369,

ISBN: 9781612843865, 2011. 35.J. Du, L. Carlone, M. Kaouk Ng, M., B. Bona, M. Indri, A comparative study on active SLAM and

autonomous exploration with Particle Filters, in Proc. of the IEEE/ASME Int. Conf. on Advanced

Intelligent Mechatronics (AIM), pp. 916-923, ISBN: 9781457708381, 2011.36.L. Carlone and B. Bona, On registration of uncertain three-dimensional vectors with application to

robotics, in Proc. of the 18th IFAC World Congress, pp. 8150-8158, ISBN: 9783902661937, 2011.37.G. Calafiore, L. Carlone, M. Wei, Distributed optimization techniques for range localization in networked

systems, in Proc. of the IEEE Conference on Decision and Control (CDC), pp. 2221-2226. ISBN:

9781424477456, 2010. 38.F. Abrate, B. Bona, M. Indri, L. Carlone, Cooperative robotic teams for supervision and management

of large logistic spaces: methodology and applications, in Proc. of the 15th IEEE Int. Conf. on Emerging

Technologies and Factory Automation (ETFA), pp. 1-8, ISBN: 9781424468485, 2010.39.L. Carlone, R. Micalizio, G. Nuzzolo, E. Scala, D. Tedone, STEPS (Sistemi e Tecnologie per

l’EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st Demonstration, in

Proc. of the 40th Int. Conf. on Environmental Systems (ICES), 2010.40.L. Carlone, J. Du, M. Kaouk Ng, B. Bona, M. Indri, An application of Kullback-Leibler Divergence to

active SLAM and exploration with Particle Filters, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent

RObots and Systems (IROS), pp. 287-293, ISBN: 9781424466740, 2010.

41.G. Calafiore, L. Carlone, M. Wei, A distributed Gauss-Newton approach for range-based localization of

multi agent formations, in Proc. of the 2010 IEEE Multi-Conference on Systems and Control (MSC),

pp. 1152-1157, ISBN: 9781424453542, 2010. 42.G. Calafiore, L. Carlone, M. Wei, A distributed gradient method for localization of formations using

relative range measurements, in Proc. of the 2010 IEEE Multi- Conference on Systems and Control

(MSC), pp. 1146-1151, ISBN: 9781424453542, 2010. 43.G. Calafiore, L. Carlone, M. Wei, Position estimation from relative distance measurements in

multi-agents formations, in Proc. of the 18th Mediterranean Conf. on Control and Automation (MED),

pp. 148-153, ISBN: 9781424480913, 2010. 44.G. Calafiore, L. Carlone, M. Wei, Network localization from range measurements: algorithms and

numerical experiments, in Proc. of the Int. Conf. on Cybernetics & Intelligent Systems, Int. Conf. on

Robotics, Automation & Mechatronics, pp. 225-230, ISBN: 9781424464999, 2010.45.V. Macchia, S. Rosa, L. Carlone, B. Bona, An application of omnidirectional vision to grid-based SLAM

in indoor environments, in Proc. of the 2010 Int. Conf. on Robotics and Automation (ICRA), Workshop

on Omnidirectional Robot Vision, ISBN: 9788895872025, 2010.46.L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M.Indri, Rao-Blackwellized Particle Filters multi robot SLAM

with unknown initial correspondences and limited communication, in Proc. of the IEEE Int. Conf. on

Robotics and Automation (ICRA), pp. 243-249, ISBN: 9781424450381, 2010.47.L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Reverse KLD-Sampling for measuring uncertainty

in Rao-Blackwellized Particle Filters SLAM, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent RObots

and Systems (IROS), Workshop on Performance Evaluation and Benchmarking for Next Intelligent

Robots and Systems, 2009.48.L. Carlone and B. Bona, A comparative study on robust localization: fault tolerance and robustness test

on probabilistic filters for range-based positioning, in Proc. of the 14th Int. Conf. on Advanced Robotics

(ICAR), pp. 1-8, ISBN: 9781424448555, 2009.49.L. Carlone and B. Bona, Preliminary results on robust global localization: fault tolerance and robustness

test on Probabilistic Shaping, in Proc. of 9th Conf. on Autonomous Robot Systems and Competitions,

pp. 27-33, ISBN: 9788208972, 2009.50.L. Carlone and B. Bona, Probabilistic Shaping with Radial Gaussian: a probabilistic approach to 2D

and 3D robotic multilateration, in Proc. of the Israeli Conf. of Robotics, 2008.

- 1.
- M. Bianchi, L. Carlone, D. Girlando, A. Mangone, I. Belmonte, B. Bona, A. Bonarini, M. Matteucci,

Apparato di illuminazione robotizzato e metodo di comando, IT MI20091066, Priority: 16/6/2009,

Publication: 17/12/2010. - 2.
- D. Girlando, A. Mangone, L. Carlone, M. Bianchi, A. Bonarini, B. Bona, M. Matteucci, I. Belmonte,

Robotized lighting apparatus and control method, WO2010146446, Priority: 16/6/2009, Publication:

23/12/2010.

Last updated: February 3, 2017