2020

• Heng Yang and Luca Carlone. One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. arXiv preprint arXiv:2006.06769, 2020.
  [Bibtex]

  @article{Yang20arXiv-certifiablePerception,
  title={One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers},
  author={Heng Yang and Luca Carlone},
  journal={arXiv preprint arXiv:2006.06769},
  year={2020}
  }

• P. Antonante, D. I. Spivak, and L. Carlone. Monitoring and Diagnosability of Perception Systems. arXiv preprint arXiv: 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 arXiv: 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 arXiv: 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 arXiv: 2004.04238},
  nonote = {\linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}},
  pdf={https://arxiv.org/pdf/2004.04238.pdf},
  year={2020}
  }

• Pasquale Antonante, Vasileios Tzoumas, Heng Yang, and Luca Carlone. Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications. arXiv preprint arXiv: 2007.15109, 2020.
  [Bibtex]

  @article{Antonante20arxiv-outlierRobustEstimation,
  title={Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications},
  author={Pasquale Antonante and Vasileios Tzoumas and Heng Yang and Luca Carlone},
  journal={arXiv preprint arXiv: 2007.15109},
  nonote = {\linkToPdf{https://arxiv.org/pdf/2007.15109.pdf}},
  pdf={https://arxiv.org/pdf/2007.15109.pdf},
  year={2020},
  }

• H. Yang, J. Shi, and L. Carlone. TEASER: Fast and Certifiable Point Cloud Registration. arXiv preprint arXiv: 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 arXiv: 2001.07715},
  nonote = {\linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
  pdf={https://arxiv.org/pdf/2001.07715.pdf},
  Year = {2020}
  }

• L. Ballotta, L. Schenato, and L. Carlone. Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks. Transactions on Network Science and Engineering, 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={Transactions on Network Science and Engineering},
  nonote = {\linkToPdf{https://arxiv.org/pdf/1911.05859.pdf}},
  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, 2020.
  [Bibtex]

  @article{Yang20tro-teaser,
  title={{TEASER: Fast and Certifiable Point Cloud Registration}},
  author={H. Yang and J. Shi and L. Carlone},
  journal=tro,
  nonote = {conditionally accepted, preprint: \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), 5(2):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 arXiv: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), 5(2):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}

• 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}},
  pdf={https://arxiv.org/pdf/2008.02737.pdf},
  year={2020}
  }

• J. Fishman and L. Carlone. Control and Trajectory Optimization for Soft Aerial Manipulation. In IEEE Aerospace Conference, 2020.
  [Bibtex]

  @InProceedings{Fishman20aero-softDrone,
  title={Control and Trajectory Optimization for Soft Aerial Manipulation},
  author={J. Fishman and L. Carlone},
  booktitle={IEEE Aerospace Conference},
  nonote = {\linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}},
  pdf={https://arxiv.org/pdf/2004.04238.pdf},
  year={2020}
  }

• 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,
  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}},
  pdf={https://arxiv.org/pdf/2002.06289.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 arXiv: 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, 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.
  [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},
  year={2020},
  booktitle = icra,
  nonote = {arXiv preprint arXiv: 1910.02490, \linkToVideo{https://www.youtube.com/watch?v=-5XxXRABXJs&feature=youtu.be},
  \linkToCode{https://github.com/MIT-SPARK/Kimera},
  \linkToPdf{https://arxiv.org/pdf/1910.02490.pdf}},
  pdf={https://arxiv.org/pdf/1910.02490.pdf}
  }

• 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. 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}
  }

2019

• 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, 54(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}

• 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},
  nonote = {\linkToPdf{https://arxiv.org/pdf/1903.01067.pdf},
  \linkToWeb{https://www.mit.edu/~arosinol/research/struct3dmesh.html}},
  pdf = "https://arxiv.org/pdf/1903.01067.pdf",
  url = {https://www.mit.edu/\%7Earosinol/research/struct3dmesh.html},
  doi={10.1109/ICRA.2019.8794456},
  booktitle = icra,
  year = 2019
  }

• 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. 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}

2018

• 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 = {accepted, 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), 3(2):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}

• L. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary. Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. In Alex Aved Erik Blasch Sai Ravela, editor, Handbook of Dynamic Data Driven Application Systems, chapter 14. 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 Alex Aved Erik Blasch Sai Ravela, editor, Handbook of Dynamic Data Driven Application Systems, chapter 16. 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}

• V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie. Sensing-Constrained LQG Control. In American Control Conference, page 197–202, Milwaukee, WI, June 2018.
  [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}}

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}

• 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}
  \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, 33(1):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}

• 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), page 3886–3893, Singapore, May 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},
  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, page 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), page 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. 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, page 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}

• 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, December 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), page 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), page 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), page 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}}

• V. Indelman, L. Carlone, and F. Dellaert. Towards Planning in Generalized Belief Space. In The 16th International Symposium on Robotics Research, volume 114 of Springer Tracts in Advanced Robotics, pages 593-609. Springer, 2016.
  [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"}

• 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), page 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://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), page 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, page 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})\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), page 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), page 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 Control in Bearing-Only Localization using the Graph Cycle Basis. In American Control Conference, page 3911–3918, 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 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, 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}

• 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
  {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, 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), page 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), page 4290–4297, 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},
  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}

• 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), page 1680–1685, 2014.
  [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}

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), page 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, page 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), page 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), page 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), page 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), page 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), page 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, page 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, page 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. C. Calafiore, L. Carlone, and M. Wei. Distributed optimization techniques for range localization in networked systems. In IEEE Conf. on Decision and Control (CDC), page 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), page 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), page 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, page 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, page 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, page 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), page 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), page 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, page 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}