2017

• V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie. Sensing-Constrained LQG Control. Technical Report, 2017.
  [Bibtex]

  @techreport{Tzoumas17tr-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",
  Year = 2017}

• L. Carlone and S. Karaman. Attention and Anticipation in Fast Visual-Inertial Navigation. Technical Report, 2017.
  [Bibtex]

  @techreport{Carlone17tr-attentionVIN,
  Author = {L. Carlone and S. Karaman},
  Title = {Attention and Anticipation in Fast Visual-Inertial Navigation},
  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 = 2017}

• D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard. A certifiably correct algorithm for synchronization over the Special Euclidean group. Technical Report, 2017.
  [Bibtex]

  @techreport{Rosen16arxiv-sesync,
  Author = {D.M. Rosen and L. Carlone and A.S. Bandeira and J.J. Leonard},
  Title = {A certifiably correct algorithm for synchronization over the
  {Special Euclidean} group},
  nonote = {arxiv preprint: 1611.00128,
  \linkToPdf{https://arxiv.org/abs/1611.00128}},
  pdf = "https://arxiv.org/abs/1611.00128",
  Year = 2017}

• F. Ma, L. Carlone, U. Ayaz, and S. Karaman. Sparse Depth Sensing for Resource-Constrained Robot Perception. Technical Report, 2017.
  [Bibtex]

  @techreport{Ma17tr-sparseSensing,
  Author = {F. Ma and L. Carlone and U. Ayaz and S. Karaman},
  Title = {Sparse Depth Sensing for Resource-Constrained Robot Perception},
  nonote = {arxiv preprint: 1703.01398,
  \linkToPdf{https://arxiv.org/pdf/1703.01398.pdf}},
  pdf = "https://arxiv.org/pdf/1703.01398.pdf",
  Year = 2017}

• H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, and R. Kumar. Plug-and-Play Navigation Using Factor Graphs. Technical Report, 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. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary. Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. Technical Report, 2017.
  [Bibtex]

  @techreport{Carlone17tr-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},
  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",
  Year = 2017}

• 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, accepted. 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, accepted},
  nonote = {arxiv preprint: 1702.03435,
  \linkToPdf{http://arxiv.org/abs/1702.03435}
  \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 = "http://arxiv.org/abs/1702.03435",
  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://www.roboticsconference.org/static/papers/74.pdf}
  \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), pages 3886-3893, 2017.
  [Bibtex]

  @inproceedings{Carlone17icra-vioAttention,
  Author = {L. Carlone and S. Karaman},
  title={Attention and Anticipation in Fast Visual-Inertial Navigation},
  booktitle= icra,
  Pages = {3886--3893},
  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, pages 5787-5794, 2017.
  [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), pages 1497-1504, 2017.
  [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}}

2016

• C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza. On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation. IEEE Trans. Robotics, 33(1):1-21, 2016.
  [Bibtex]

  @article{Forster16tro,
  Author = {C. Forster and L. Carlone and F. Dellaert and D. Scaramuzza},
  Journal = tro,
  Title = {On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation},
  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, {\color{red} conference version was best paper finalist at RSS 2015}},
  pdf = "http://arxiv.org/abs/1512.02363",
  Year = 2016}

• 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, 32(6):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, 32(3):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}

• G. Calafiore, L. Carlone, and F. Dellaert. Lagrangian Duality in Complex Pose Graph Optimization. In Boris Goldengorin, editor, Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday, volume 115, chapter 10, pages 139-184. Springer Optimization and Its Applications, 2016.
  [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. C. Calafiore, L. Carlone, and F. Dellaert. Lagrangian Duality in Complex Pose Graph Optimization. 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.), 115:139-184, 2016.
  [Bibtex]

  @aarticle{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}

• 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), 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},
  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},
  {\color{red} 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), pages 96-103, 2016.
  [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), pages 5833-5838, 2016.
  [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), pages 5261-5268, 2016.
  [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, 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}

2015

• 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, 34(7):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, 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), pages 125-132, 2015.
  [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://www.dropbox.com/s/n4qvlz70ajjfqeb/2015c-iros-duality3D.pdf?dl=0}
  \linkToCode{https://www.bitbucket.org/lucacarlone/pgo3d-duality-opencode}
  (datasets: \linkToWeb{https://lucacarlone.mit.edu/datasets/})
  (supplemental material: \linkToPdf{https://www.dropbox.com/s/bztm41vbo5249i2/2015c-iros-duality3D-supplemental.pdf?dl=0})},
  pdf = "https://www.dropbox.com/s/n4qvlz70ajjfqeb/2015c-iros-duality3D.pdf?dl=0",
  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), pages 1349-1356, 2015.
  [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, pages 95-107, 2015.
  [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}),
  {\color{red} 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), pages 4589-4596, 2015.
  [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), pages 4597-4604, 2015.
  [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 Enforcement in Bearing-Only Localization using the Graph Cycle Basis. In American Control Conference, 2015.
  [Bibtex]

  @inproceedings{Tron15acc-rigidity,
  Author = {R. Tron and L. Carlone and F. Dellaert and K. Daniilidis},
  Booktitle = ACC,
  Title = {Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis},
  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}

• 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}

2014

• L. Carlone and A. Censi. From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization. IEEE Trans. Robotics, 30(2):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, 52(1):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, 33(7):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, 33(6):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}}

• 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, 7(4):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, Kaouk M. Ng, M. Indri, and B. Bona. Active SLAM and Exploration with Particle Filters using Kullback-Leibler Divergence. J. of Intelligent and Robotic Systems, 75(2):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 Kullback-Leibler 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, 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), pages 1140-1147, 2014.
  [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.
  [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},
  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}

2013

• 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), pages 965-972, 2013.
  [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, 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}}

2012

• R. Aragues, L. Carlone, G. Calafiore, and C. Sagues. Distributed centroid estimation from noisy relative measurements. Systems & Control Letters, 61(7):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, 42(5):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}

• L. Carlone. Nonlinear estimation techniques for autonomous navigation in single and multi robot systems. PhD thesis, Politecnico di Torino, 2012.
  [Bibtex]

  @phdthesis{Carlone12thesis-nonlinearEstimation,
  Author = {L. Carlone},
  Publisher = {Ph.D. Thesis, Univ. Paris-Sud, Orsay},
  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. 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, pages 261-274, 2012.
  [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}

• 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}

2011

• 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), pages 1-7, 2011.
  [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), pages 41-48, 2011.
  [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), pages 1764-1771, 2011.
  [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), pages 364-369, 2011.
  [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), pages 916-923, 2011.
  [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, pages 8150-8158, 2011.
  [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}

2010

• L. Carlone, Kaouk 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, 63(2):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}

• G. Calafiore, L. Carlone, and M. Wei. Sensor Fusion for Position Estimation in Networked Systems. In Ciza Thomas, editor, Sensor Fusion and its Applications, chapter 11, pages 251-276. Sciyo, 2010.
  [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. Sensor Fusion, Sciyo, ISBN: 978-953-307-101-5, 2010.
  [Bibtex]

  @aarticle{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 M. Wei. Distributed optimization techniques for range localization in networked systems. In IEEE Conf. on Decision and Control (CDC), pages 2221-2226, 2010.
  [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), pages 1-8, 2010.
  [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, Kaouk 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), pages 287-293, 2010.
  [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, pages 1152-1157, 2010.
  [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 fo formations using relative range measurements. In Multiconference on Systems and Control, pages 1146-1151, 2010.
  [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 fo 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, pages 148-153, 2010.
  [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, pages 225-230, 2010.
  [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, Kaouk 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), pages 243-249, 2010.
  [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}

2009

• L. Carlone, Kaouk 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), pages 1-8, 2009.
  [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, pages 27-33, 2009.
  [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}

• 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}

2008

• 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}

• 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. Supplementary material. .
  [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. Supplementary material},
  Url = {www.lucacarlone.com/index.php/resources/research/init3d},
  Bdsk-Url-1 = {www.lucacarlone.com/index.php/resources/research/init3d}}

• L. Carlone, D. Rosen, G. Calafiore, J. J. Leonard, and F. Dellaert. Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. Supplemental material. .
  [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 = {www.lucacarlone.com/index.php/resources/research/duality3DPGO},
  Bdsk-Url-1 = {www.lucacarlone.com/index.php/resources/research/duality3DPGO}}

• 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. Supplementary material. .
  [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. Supplementary material},
  Url = {www.lucacarlone.com/index.php/resources/research/agSensing},
  Bdsk-Url-1 = {www.lucacarlone.com/index.php/resources/research/agSensing}}