CRISP: Object Pose and Shape Estimation with Test-Time Adaptation. - Shi, Jingnan; Talak, Rajat; Zhang, Harry; Jin, David; Carlone, Luca (2025)

ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis. - Chang, Yun; Fermoselle, Leonor; Ta, Duy; Bucher, Bernadette; Carlone, Luca; Wang, Jiuguang (2025)

CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators. - Zhang, Harry; Carlone, Luca (2025)

Outlier-Robust Training of Machine Learning Models. - Talak, Rajat; Georgiou, Charis; Shi, Jingnan; Carlone, Luca (CoRR, 2025)

Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting. - Maggio, Dominic; Carlone, Luca (CoRR, 2025)

BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes. - Seo, Minkyun; Lim, Hyungtae; Lee, Kanghee; Carlone, Luca; Park, Jaesik (CoRR, 2025)

ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis. - Chang, Yun; Fermoselle, Leonor; Ta, Duy; Bucher, Bernadette; Carlone, Luca; Wang, Jiuguang (CoRR, 2025)

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. - Agha, Ali; Otsu, Kyohei; Morrell, Benjamin; Fan, David D.; Kim, Sung-Kyun; Ginting, Muhammad Fadhil; Lei, Xianmei; Edlund, Jeffrey A.; Fakoorian, Seyed Abolfazl; Bouman, Amanda; Chavez, Fernando; Kim, Taeyeon; et al. (CoRR, 2025)

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold. - Maggio, Dominic; Lim, Hyungtae; Carlone, Luca (CoRR, 2025)

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Teng, Sangli; Zhang, Harry; Jin, David; Jasour, Ashkan; Vasudevan, Ram; Ghaffari, Maani; Carlone, Luca (CoRR, 2025)

Gaussian Mapping for Evolving Scenes. - Yugay, Vladimir; Kersten, Thies; Carlone, Luca; Gevers, Theo; Oswald, Martin R.; Schmid, Lukas (CoRR, 2025)

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs. - Strader, Jared; Ray, Aaron; Arkin, Jacob; Peterson, Mason B.; Chang, Yun; Hughes, Nathan; Bradley, Christopher; Jia, Yi Xuan; Nieto-Granda, Carlos; Talak, Rajat; Fan, Chuchu; Carlone, Luca; et al. (CoRR, 2025)

Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automation. - Yu, Xihang; Talak, Rajat; Shi, Jingnan; Viereck, Ulrich; Gilitschenski, Igor; Carlone, Luca (CoRR, 2025)

Foundations of spatial perception for robotics: Hierarchical representations and real-time systems. - Hughes, Nathan; Chang, Yun; Hu, Siyi; Talak, Rajat; Abdulhai, Rumaisa; Strader, Jared; Carlone, Luca (Int. J. Robotics Res., 2024)

VERF: Runtime Monitoring of Pose Estimation With Neural Radiance Fields. - Maggio, Dominic; Mario, Courtney; Carlone, Luca (IEEE Robotics Autom. Lett., 2024)

Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies. - Strader, Jared; Hughes, Nathan; Chen, William; Speranzon, Alberto; Carlone, Luca (IEEE Robotics Autom. Lett., 2024)

Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs. - Maggio, Dominic; Chang, Yun; Hughes, Nathan; Trang, Matthew; Griffith, J. Daniel; Dougherty, Carlyn; Cristofalo, Eric; Schmid, Lukas; Carlone, Luca (IEEE Robotics Autom. Lett., 2024)

Long-Term Human Trajectory Prediction Using 3D Dynamic Scene Graphs. - Gorlo, Nicolas; Schmid, Lukas; Carlone, Luca (IEEE Robotics Autom. Lett., 2024)

A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking. - Shaikewitz, Lorenzo; Ubellacker, Samuel; Carlone, Luca (IEEE Robotics Autom. Lett., 2024)

Computer and Robot Vision: Past, Present, and Future [TC Spotlight]. - Gionfrida, Letizia; Wang, Chen; Gan, Lu; Chli, Margarita; Carlone, Luca (IEEE Robotics Autom. Mag., 2024)

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. - Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher E.; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar; Nogueira, Lucas; Palieri, Matteo; et al. (IEEE Trans. Robotics, 2024)

Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-Based Fault Detection and Identification (Abstract Reprint). - Antonante, Pasquale; Nilsen, Heath; Carlone, Luca (2024)

Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds. - Jin, David; Karmalkar, Sushrut; Zhang, Harry; Carlone, Luca (2024)

Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation. - Jawaid, Abdul Mohsi; Talak, Rajat; Latif, Yasir; Carlone, Luca; Chin, Tat-Jun (2024)

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments. - Schmid, Lukas; Abate, Marcus; Chang, Yun; Carlone, Luca (2024)

Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. - Abate, Marcus; Chang, Yun; Hughes, Nathan; Carlone, Luca (CoRR, 2024)

Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds. - Jin, David; Karmalkar, Sushrut; Zhang, Harry; Carlone, Luca (CoRR, 2024)

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments. - Schmid, Lukas; Abate, Marcus; Chang, Yun; Carlone, Luca (CoRR, 2024)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Teng, Sangli; Zhang, Harry; Jin, David; Jasour, Ashkan; Ghaffari, Maani; Carlone, Luca (CoRR, 2024)

Task and Motion Planning in Hierarchical 3D Scene Graphs. - Ray, Aaron; Bradley, Christopher; Carlone, Luca; Roy, Nicholas (CoRR, 2024)

Clio: Real-time Task-Driven Open-Set 3D Scene Graphs. - Maggio, Dominic; Chang, Yun; Hughes, Nathan; Trang, Matthew; Griffith, J. Daniel; Dougherty, Carlyn; Cristofalo, Eric; Schmid, Lukas; Carlone, Luca (CoRR, 2024)

Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs. - Gorlo, Nicolas; Schmid, Lukas; Carlone, Luca (CoRR, 2024)

Mixed Diffusion for 3D Indoor Scene Synthesis. - Hu, Siyi; Arroyo, Diego Martín; Debats, Stephanie; Manhardt, Fabian; Carlone, Luca; Tombari, Federico (CoRR, 2024)

A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking. - Shaikewitz, Lorenzo; Ubellacker, Samuel; Carlone, Luca (CoRR, 2024)

CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators. - Zhang, Harry; Carlone, Luca (CoRR, 2024)

Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation. - Jawaid, Abdul Mohsi; Talak, Rajat; Latif, Yasir; Carlone, Luca; Chin, Tat-Jun (CoRR, 2024)

KISS-Matcher: Fast and Robust Point Cloud Registration Revisited. - Lim, Hyungtae; Kim, Daebeom; Shin, Gunhee; Shi, Jingnan; Vizzo, Ignacio; Myung, Hyun; Park, Jaesik; Carlone, Luca (CoRR, 2024)

CRISP: Object Pose and Shape Estimation with Test-Time Adaptation. - Shi, Jingnan; Talak, Rajat; Zhang, Harry; Jin, David; Carlone, Luca (CoRR, 2024)

Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft. - Banik, Sandeep; Kim, Jinrae; Hovakimyan, Naira; Carlone, Luca; Thomas, John P.; Leveson, Nancy G. (CoRR, 2024)

CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty. - Zhang, Harry; Carlone, Luca (CoRR, 2024)

Monitoring of perception systems: Deterministic, probabilistic, and learning-based fault detection and identification. - Antonante, Pasquale; Nilsen, Heath; Carlone, Luca (Artif. Intell., 2023)

Estimation Contracts for Outlier-Robust Geometric Perception. - Carlone, Luca (Found. Trends Robotics, 2023)

An inexact projected gradient method with rounding and lifting by nonlinear programming for solving rank-one semidefinite relaxation of polynomial optimization. - Yang, Heng; Liang, Ling; Carlone, Luca; Toh, Kim-Chuan (Math. Program., 2023)

Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization. - Yang, Heng; Carlone, Luca (IEEE Trans. Pattern Anal. Mach. Intell., 2023)

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration. - Chang, Yun; Ballotta, Luca; Carlone, Luca (IEEE Robotics Autom. Lett., 2023)

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. - Placed, Julio A.; Strader, Jared; Carrillo, Henry; Atanasov, Nikolay; Indelman, Vadim; Carlone, Luca; Castellanos, José A. (IEEE Trans. Robotics, 2023)

Certifiable Object Pose Estimation: Foundations, Learning Models, and Self-Training. - Talak, Rajat; Peng, Lisa R.; Carlone, Luca (IEEE Trans. Robotics, 2023)

Optimal and Robust Category-Level Perception: Object Pose and Shape Estimation From 2-D and 3-D Semantic Keypoints. - Shi, Jingnan; Yang, Heng; Carlone, Luca (IEEE Trans. Robotics, 2023)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Wang, Chen; Gao, Dasong; Xu, Kuan; Geng, Junyi; Hu, Yaoyu; Qiu, Yuheng; Li, Bowen; Yang, Fan; Moon, Brady G.; Pandey, Abhinav; Aryan; Xu, Jiahe; et al. (2023)

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. - Maggio, Dominic; Abate, Marcus; Shi, Jingnan; Mario, Courtney; Carlone, Luca (2023)

Data-Association-Free Landmark-based SLAM. - Zhang, Yihao; Severinsen, Odin A.; Leonard, John J.; Carlone, Luca; Khosoussi, Kasra (2023)

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. - Rosinol, Antoni; Leonard, John J.; Carlone, Luca (2023)

Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. - Chang, Yun; Hughes, Nathan; Ray, Aaron; Carlone, Luca (2023)

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. - Tian, Yulun; Chang, Yun; Quang, Long; Schang, Arthur; Nieto-Granda, Carlos; How, Jonathan P.; Carlone, Luca (2023)

Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. - Abate, Marcus; Chang, Yun; Hughes, Nathan; Carlone, Luca (2023)

Multi-camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking. - Abate, Marcus; Schwartz, Ariel; Wong, Xue Iuan; Luo, Wangdong; Littman, Rotem; Klinger, Marc; Kuhnert, Lars; Blue, Douglas; Carlone, Luca (2023)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Antonante, Pasquale; Veer, Sushant; Leung, Karen; Weng, Xinshuo; Carlone, Luca; Pavone, Marco (2023)

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. - Shi, Jingnan; Talak, Rajat; Maggio, Dominic; Carlone, Luca (2023)

Probabilistic Volumetric Fusion for Dense Monocular SLAM. - Rosinol, Antoni; Leonard, John J.; Carlone, Luca (2023)

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. - Shi, Jingnan; Talak, Rajat; Maggio, Dominic; Carlone, Luca (CoRR, 2023)

Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket. - Maggio, Dominic; Mario, Courtney; Streetman, Brett; Steiner, Ted J.; Carlone, Luca (CoRR, 2023)

Data-Association-Free Landmark-based SLAM. - Zhang, Yihao; Severinsen, Odin A.; Leonard, John J.; Carlone, Luca; Khosoussi, Kasra (CoRR, 2023)

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. - Tian, Yulun; Chang, Yun; Quang, Long; Schang, Arthur; Nieto-Granda, Carlos; How, Jonathan P.; Carlone, Luca (CoRR, 2023)

Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking. - Abate, Marcus; Schwartz, Ariel; Wong, Xue Iuan; Luo, Wangdong; Littman, Rotem; Klinger, Marc; Kuhnert, Lars; Blue, Douglas; Carlone, Luca (CoRR, 2023)

Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. - Chang, Yun; Hughes, Nathan; Ray, Aaron; Carlone, Luca (CoRR, 2023)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Antonante, Pasquale; Veer, Sushant; Leung, Karen; Weng, Xinshuo; Carlone, Luca; Pavone, Marco (CoRR, 2023)

Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. - Hughes, Nathan; Chang, Yun; Hu, Siyi; Talak, Rajat; Abdulhai, Rumaisa; Strader, Jared; Carlone, Luca (CoRR, 2023)

VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields. - Maggio, Dominic; Mario, Courtney; Carlone, Luca (CoRR, 2023)

Aggressive Aerial Grasping using a Soft Drone with Onboard Perception. - Ubellacker, Samuel; Ray, Aaron; Bern, James; Strader, Jared; Carlone, Luca (CoRR, 2023)

PyPose v0.6: The Imperative Programming Interface for Robotics. - Zhan, Zitong; Li, Xiangfu; Li, Qihang; He, Haonan; Pandey, Abhinav; Xiao, Haitao; Xu, Yangmengfei; Chen, Xiangyu; Xu, Kuan; Cao, Kun; Zhao, Zhipeng; Wang, Zihan; et al. (CoRR, 2023)

Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies. - Strader, Jared; Hughes, Nathan; Chen, William; Speranzon, Alberto; Carlone, Luca (CoRR, 2023)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Agha, Ali; Otsu, Kyohei; Morrell, Benjamin; Fan, David D.; Thakker, Rohan; Santamaria-Navarro, Angel; Kim, Sung-Kyun; Bouman, Amanda; Lei, Xianmei; Edlund, Jeffrey A.; Ginting, Muhammad Fadhil; Ebadi, Kamak; et al. (Field Robotics, 2022)

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping. - Reinke, Andrzej; Palieri, Matteo; Morrell, Benjamin; Chang, Yun; Ebadi, Kamak; Carlone, Luca; Agha-Mohammadi, Ali-Akbar (IEEE Robotics Autom. Lett., 2022)

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. - Chang, Yun; Ebadi, Kamak; Denniston, Christopher E.; Ginting, Muhammad Fadhil; Rosinol, Antoni; Reinke, Andrzej; Palieri, Matteo; Shi, Jingnan; Chatterjee, Arghya; Morrell, Benjamin; Agha-mohammadi, Ali-akbar; Carlone, Luca (IEEE Robotics Autom. Lett., 2022)

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. - Denniston, Christopher E.; Chang, Yun; Reinke, Andrzej; Ebadi, Kamak; Sukhatme, Gaurav S.; Carlone, Luca; Morrell, Benjamin; Agha-mohammadi, Ali-akbar (IEEE Robotics Autom. Lett., 2022)

Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications. - Antonante, Pasquale; Tzoumas, Vasileios; Yang, Heng; Carlone, Luca (IEEE Trans. Robotics, 2022)

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. - Tian, Yulun; Chang, Yun; Arias, Fernando Herrera; Nieto-Granda, Carlos; How, Jonathan P.; Carlone, Luca (IEEE Trans. Robotics, 2022)

Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. - Ravichandran, Zachary; Peng, Lisa; Hughes, Nathan; Griffith, J. Daniel; Carlone, Luca (2022)

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization. - Hughes, Nathan; Chang, Yun; Carlone, Luca (2022)

Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. - Hughes, Nathan; Chang, Yun; Carlone, Luca (CoRR, 2022)

Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification. - Antonante, Pasquale; Nilsen, Heath; Carlone, Luca (CoRR, 2022)

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping. - Reinke, Andrzej; Palieri, Matteo; Morrell, Benjamin; Chang, Yun; Ebadi, Kamak; Carlone, Luca; Agha-mohammadi, Ali-akbar (CoRR, 2022)

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. - Denniston, Christopher E.; Chang, Yun; Reinke, Andrzej; Ebadi, Kamak; Sukhatme, Gaurav S.; Carlone, Luca; Morrell, Benjamin; Agha-mohammadi, Ali-akbar (CoRR, 2022)

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. - Chang, Yun; Ebadi, Kamak; Denniston, Christopher E.; Ginting, Muhammad Fadhil; Rosinol, Antoni; Reinke, Andrzej; Palieri, Matteo; Shi, Jingnan; Chatterjee, Arghya; Morrell, Benjamin; Agha-mohammadi, Ali-akbar; Carlone, Luca (CoRR, 2022)

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT. - Carlone, Luca; Khosoussi, Kasra; Tzoumas, Vasileios; Habibi, Golnaz; Ryll, Markus; Talak, Rajat; Shi, Jingnan; Antonante, Pasquale (CoRR, 2022)

Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding. - Chen, William; Hu, Siyi; Talak, Rajat; Carlone, Luca (CoRR, 2022)

Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception. - Talak, Rajat; Peng, Lisa; Carlone, Luca (CoRR, 2022)

Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints. - Shi, Jingnan; Yang, Heng; Carlone, Luca (CoRR, 2022)

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. - Placed, Julio A.; Strader, Jared; Carrillo, Henry; Atanasov, Nikolay; Indelman, Vadim; Carlone, Luca; Castellanos, José A. (CoRR, 2022)

Present and Future of SLAM in Extreme Underground Environments. - Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher E.; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar; Nogueira, Lucas; Palieri, Matteo; et al. (CoRR, 2022)

Estimation Contracts for Outlier-Robust Geometric Perception. - Carlone, Luca (CoRR, 2022)

Leveraging Large Language Models for Robot 3D Scene Understanding. - Chen, William; Hu, Siyi; Talak, Rajat; Carlone, Luca (CoRR, 2022)

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints. - Chang, Yun; Ballotta, Luca; Carlone, Luca (CoRR, 2022)

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. - Maggio, Dominic; Abate, Marcus; Shi, Jingnan; Mario, Courtney; Carlone, Luca (CoRR, 2022)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Wang, Chen; Gao, Dasong; Xu, Kuan; Geng, Junyi; Hu, Yaoyu; Qiu, Yuheng; Li, Bowen; Yang, Fan; Moon, Brady G.; Pandey, Abhinav; Aryan; Xu, Jiahe; et al. (CoRR, 2022)

Probabilistic Volumetric Fusion for Dense Monocular SLAM. - Rosinol, Antoni; Leonard, John J.; Carlone, Luca (CoRR, 2022)

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. - Rosinol, Antoni; Leonard, John J.; Carlone, Luca (CoRR, 2022)

Kimera: From SLAM to spatial perception with 3D dynamic scene graphs. - Rosinol, Antoni; Violette, Andrew; Abate, Marcus; Hughes, Nathan; Chang, Yun; Shi, Jingnan; Gupta, Arjun; Carlone, Luca (Int. J. Robotics Res., 2021)

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. - Palieri, Matteo; Morrell, Benjamin; Thakur, Abhishek; Ebadi, Kamak; Nash, Jeremy; Chatterjee, Arghya; Kanellakis, Christoforos; Carlone, Luca; Guaragnella, Cataldo; Agha-mohammadi, Ali-akbar (IEEE Robotics Autom. Lett., 2021)

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time". - Palieri, Matteo; Morrell, Benjamin; Thakur, Abhishek; Ebadi, Kamak; Nash, Jeremy; Chatterjee, Arghya; Kanellakis, Christoforos; Carlone, Luca; Guaragnella, Cataldo; Agha-mohammadi, Ali-akbar (IEEE Robotics Autom. Lett., 2021)

LQG Control and Sensing Co-Design. - Tzoumas, Vasileios; Carlone, Luca; Pappas, George J.; Jadbabaie, Ali (IEEE Trans. Autom. Control., 2021)

TEASER: Fast and Certifiable Point Cloud Registration. - Yang, Heng; Shi, Jingnan; Carlone, Luca (IEEE Trans. Robotics, 2021)

Self-Supervised Geometric Perception. - Yang, Heng; Dong, Wei; Carlone, Luca; Koltun, Vladlen (2021)

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. - Chang, Yun; Tian, Yulun; How, Jonathan P.; Carlone, Luca (2021)

ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. - Shi, Jingnan; Yang, Heng; Carlone, Luca (2021)

Monitoring and Diagnosability of Perception Systems. - Antonante, Pasquale; Spivak, David I.; Carlone, Luca (2021)

Dynamic Grasping with a "Soft" Drone: From Theory to Practice. - Fishman, Joshua; Ubellacker, Samuel; Hughes, Nathan; Carlone, Luca (2021)

Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. - Rosinol, Antoni; Carlone, Luca (2021)

Neural Trees for Learning on Graphs. - Talak, Rajat; Hu, Siyi; Peng, Lisa; Carlone, Luca (2021)

Optimal Pose and Shape Estimation for Category-level 3D Object Perception. - Shi, Jingnan; Yang, Heng; Carlone, Luca (2021)

Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. - Tripathi, Vishrant; Ballotta, Luca; Carlone, Luca; Modiano, Eytan H. (2021)

Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs. - Rosinol, Antoni; Violette, Andrew; Abate, Marcus; Hughes, Nathan; Chang, Yun; Shi, Jingnan; Gupta, Arjun; Carlone, Luca (CoRR, 2021)

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. - Tagliabue, Andrea; Tordesillas, Jesus; Cai, Xiaoyi; Santamaria-Navarro, Angel; How, Jonathan P.; Carlone, Luca; Agha-mohammadi, Ali-akbar (CoRR, 2021)

Self-supervised Geometric Perception. - Yang, Heng; Dong, Wei; Carlone, Luca; Koltun, Vladlen (CoRR, 2021)

Dynamic Grasping with a "Soft" Drone: From Theory to Practice. - Fishman, Joshua; Ubellacker, Samuel; Hughes, Nathan; Carlone, Luca (CoRR, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Agha, Ali; Otsu, Kyohei; Morrell, Benjamin; Fan, David D.; Thakker, Rohan; Santamaria-Navarro, Angel; Kim, Sung-Kyun; Bouman, Amanda; Lei, Xianmei; Edlund, Jeffrey A.; Ginting, Muhammad Fadhil; Ebadi, Kamak; et al. (CoRR, 2021)

Optimal Pose and Shape Estimation for Category-level 3D Object Perception. - Shi, Jingnan; Yang, Heng; Carlone, Luca (CoRR, 2021)

Neural Trees for Learning on Graphs. - Talak, Rajat; Hu, Siyi; Peng, Lisa; Carlone, Luca (CoRR, 2021)

STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations. - Yang, Heng; Liang, Ling; Toh, Kim-Chuan; Carlone, Luca (CoRR, 2021)

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. - Tian, Yulun; Chang, Yun; Arias, Fernando Herrera; Nieto-Granda, Carlos; How, Jonathan P.; Carlone, Luca (CoRR, 2021)

Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. - Ravichandran, Zachary; Peng, Lisa; Hughes, Nathan; Griffith, J. Daniel; Carlone, Luca (CoRR, 2021)

Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. - Rosinol, Antoni; Carlone, Luca (CoRR, 2021)

Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. - Tripathi, Vishrant; Ballotta, Luca; Carlone, Luca; Modiano, Eytan H. (CoRR, 2021)

Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization. - Yang, Heng; Carlone, Luca (CoRR, 2021)

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems. - Prorok, Amanda; Malencia, Matthew; Carlone, Luca; Sukhatme, Gaurav S.; Sadler, Brian M.; Kumar, Vijay (CoRR, 2021)

Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection. - Yang, Heng; Antonante, Pasquale; Tzoumas, Vasileios; Carlone, Luca (IEEE Robotics Autom. Lett., 2020)

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. - Lajoie, Pierre-Yves; Ramtoula, Benjamin; Chang, Yun; Carlone, Luca; Beltrame, Giovanni (IEEE Robotics Autom. Lett., 2020)

Computation-Communication Trade-Offs and Sensor Selection in Real-Time Estimation for Processing Networks. - Ballotta, Luca; Schenato, Luca; Carlone, Luca (IEEE Trans. Netw. Sci. Eng., 2020)

In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction From 2D Landmarks. - Yang, Heng; Carlone, Luca (2020)

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. - Dellaert, Frank; Rosen, David M.; Wu, Jing; Mahony, Robert E.; Carlone, Luca (2020)

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. - Ebadi, Kamak; Chang, Yun; Palieri, Matteo; Stephens, Alex; Hatteland, Alex; Heiden, Eric; Thakur, Abhishek; Funabiki, Nobuhiro; Morrell, Benjamin; Wood, Sally L.; Carlone, Luca; Agha-mohammadi, Ali-akbar (2020)

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. - Rosinol, Antoni; Abate, Marcus; Chang, Yun; Carlone, Luca (2020)

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. - Tagliabue, Andrea; Tordesillas, Jesus; Cai, Xiaoyi; Santamaria-Navarro, Angel; How, Jonathan P.; Carlone, Luca; Agha-mohammadi, Ali-akbar (2020)

Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. - Gupta, Arjun; Carlone, Luca (2020)

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. - Yang, Heng; Carlone, Luca (2020)

Primal-Dual Mesh Convolutional Neural Networks. - Milano, Francesco; Loquercio, Antonio; Rosinol, Antoni; Scaramuzza, Davide; Carlone, Luca (2020)

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. - Rosinol, Antoni; Gupta, Arjun; Abate, Marcus; Shi, Jingnan; Carlone, Luca (2020)

TEASER: Fast and Certifiable Point Cloud Registration. - Yang, Heng; Shi, Jingnan; Carlone, Luca (CoRR, 2020)

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. - Rosinol, Antoni; Gupta, Arjun; Abate, Marcus; Shi, Jingnan; Carlone, Luca (CoRR, 2020)

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. - Ebadi, Kamak; Chang, Yun; Palieri, Matteo; Stephens, Alex; Hatteland, Alex; Heiden, Eric; Thakur, Abhishek; Funabiki, Nobuhiro; Morrell, Benjamin; Wood, Sally L.; Carlone, Luca; Agha-mohammadi, Ali-akbar (CoRR, 2020)

From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency. - Ballotta, Luca; Schenato, Luca; Carlone, Luca (CoRR, 2020)

Control and Trajectory Optimization for Soft Aerial Manipulation. - Fishman, Joshua; Carlone, Luca (CoRR, 2020)

Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. - Gupta, Arjun; Carlone, Luca (CoRR, 2020)

Monitoring and Diagnosability of Perception Systems. - Antonante, Pasquale; Spivak, David I.; Carlone, Luca (CoRR, 2020)

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. - Yang, Heng; Carlone, Luca (CoRR, 2020)

Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications. - Antonante, Pasquale; Tzoumas, Vasileios; Yang, Heng; Carlone, Luca (CoRR, 2020)

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. - Dellaert, Frank; Rosen, David M.; Wu, Jing; Mahony, Robert E.; Carlone, Luca (CoRR, 2020)

Primal-Dual Mesh Convolutional Neural Networks. - Milano, Francesco; Loquercio, Antonio; Rosinol, Antoni; Scaramuzza, Davide; Carlone, Luca (CoRR, 2020)

ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. - Shi, Jingnan; Yang, Heng; Carlone, Luca (CoRR, 2020)

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. - Chang, Yun; Tian, Yulun; How, Jonathan P.; Carlone, Luca (CoRR, 2020)

Monitoring and Diagnosability of Perception Systems. - Antonante, Pasquale; Spivak, David I.; Carlone, Luca (CoRR, 2020)

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. - Palieri, Matteo; Morrell, Benjamin; Thakur, Abhishek; Ebadi, Kamak; Nash, Jeremy; Chatterjee, Arghya; Kanellakis, Christoforos; Carlone, Luca; Guaragnella, Cataldo; Agha-Mohammadi, Ali-Akbar (CoRR, 2020)

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. - Rosen, David M.; Carlone, Luca; Bandeira, Afonso S.; Leonard, John J. (Int. J. Robotics Res., 2019)

Sparse depth sensing for resource-constrained robots. - Ma, Fangchang; Carlone, Luca; Ayaz, Ulas; Karaman, Sertac (Int. J. Robotics Res., 2019)

Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Suleiman, Amr; Zhang, Zhengdong; Carlone, Luca; Karaman, Sertac; Sze, Vivienne (IEEE J. Solid State Circuits, 2019)

Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. - Lajoie, Pierre-Yves; Hu, Siyi; Beltrame, Giovanni; Carlone, Luca (IEEE Robotics Autom. Lett., 2019)

Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. - Hu, Siyi; Carlone, Luca (IEEE Robotics Autom. Lett., 2019)

Attention and Anticipation in Fast Visual-Inertial Navigation. - Carlone, Luca; Karaman, Sertac (IEEE Trans. Robotics, 2019)

A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers. - Yang, Heng; Carlone, Luca (2019)

Robot Co-design: Beyond the Monotone Case. - Carlone, Luca; Pinciroli, Carlo (2019)

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. - Rosinol, Antoni; Sattler, Torsten; Pollefeys, Marc; Carlone, Luca (2019)

Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. - Tzoumas, Vasileios; Antonante, Pasquale; Carlone, Luca (2019)

A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. - Yang, Heng; Carlone, Luca (2019)

Robot Co-design: Beyond the Monotone Case. - Carlone, Luca; Pinciroli, Carlo (CoRR, 2019)

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. - Rosinol, Antoni; Sattler, Torsten; Pollefeys, Marc; Carlone, Luca (CoRR, 2019)

A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. - Yang, Heng; Carlone, Luca (CoRR, 2019)

Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. - Tzoumas, Vasileios; Antonante, Pasquale; Carlone, Luca (CoRR, 2019)

A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers. - Yang, Heng; Carlone, Luca (CoRR, 2019)

Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection. - Yang, Heng; Antonante, Pasquale; Tzoumas, Vasileios; Carlone, Luca (CoRR, 2019)

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. - Lajoie, Pierre-Yves; Ramtoula, Benjamin; Chang, Yun; Carlone, Luca; Beltrame, Giovanni (CoRR, 2019)

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. - Rosinol, Antoni; Abate, Marcus; Chang, Yun; Carlone, Luca (CoRR, 2019)

Optimal Computation-Communication Trade-offs in Processing Networks. - Ballotta, Luca; Schenato, Luca; Carlone, Luca (CoRR, 2019)

In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks. - Yang, Heng; Carlone, Luca (CoRR, 2019)

Convex Relaxations for Pose Graph Optimization With Outliers. - Carlone, Luca; Calafiore, Giuseppe Carlo (IEEE Robotics Autom. Lett., 2018)

Sensing-Constrained LQG Control. - Tzoumas, Vasileios; Carlone, Luca; Pappas, George J.; Jadbabaie, Ali (2018)

Visual-Inertial Navigation Algorithm Development Using Photorealistic Camera Simulation in the Loop. - Sayre-McCord, Thomas; Guerra, Winter; Antonini, Amado; Arneberg, Jasper; Brown, Austin; Cavalheiro, Guilherme Venturelli; Fang, Yajun; Gorodetsky, Alex A.; McCoy, Dave; Quilter, Sebastian; Riether, Fabian; Tal, Ezra; et al. (2018)

Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Suleiman, Amr; Zhang, Zhengdong; Carlone, Luca; Karaman, Sertac; Sze, Vivienne (2018)

Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. - Carlone, Luca; Axelrod, Allan; Karaman, Sertac; Chowdhary, Girish (2018)

Data-Driven Prediction of Confidence for EVAR in Time-Varying Datasets. - Axelrod, Allan; Carlone, Luca; Chowdhary, Girish; Karaman, Sertac (2018)

Convex Relaxations for Pose Graph Optimization with Outliers. - Carlone, Luca; Calafiore, Giuseppe Carlo (CoRR, 2018)

Control and Sensing Co-design. - Tzoumas, Vasileios; Carlone, Luca; Pappas, George J.; Jadbabaie, Ali (CoRR, 2018)

Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Suleiman, Amr; Zhang, Zhengdong; Carlone, Luca; Karaman, Sertac; Sze, Vivienne (CoRR, 2018)

Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. - Hu, Siyi; Carlone, Luca (CoRR, 2018)

Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. - Lajoie, Pierre-Yves; Hu, Siyi; Beltrame, Giovanni; Carlone, Luca (CoRR, 2018)

Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models. - Choudhary, Siddharth; Carlone, Luca; Nieto-Granda, Carlos; Rogers, John G., III; Christensen, Henrik I.; Dellaert, Frank (Int. J. Robotics Res., 2017)

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry. - Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (IEEE Trans. Robotics, 2017)

Supermodular mean squared error minimization for sensor scheduling in optimal Kalman Filtering. - Singh, Prince; Chen, Min; Carlone, Luca; Karaman, Sertac; Frazzoli, Emilio; Hsu, David (2017)

Duckietown: An open, inexpensive and flexible platform for autonomy education and research. - Paull, Liam; Tani, Jacopo; Ahn, Heejin; Alonso-Mora, Javier; Carlone, Luca; Cáp, Michal; Chen, Yu Fan; Choi, Changhyun; Dusek, Jeff; Fang, Yajun; Hoehener, Daniel; Liu, Shih-Yuan; et al. (2017)

Attention and anticipation in fast visual-inertial navigation. - Carlone, Luca; Karaman, Sertac (2017)

Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach. - Zhang, Zhengdong; Suleiman, Amr; Carlone, Luca; Sze, Vivienne; Karaman, Sertac (2017)

Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models. - Choudhary, Siddharth; Carlone, Luca; Nieto-Granda, Carlos; Rogers, John G., III; Christensen, Henrik I.; Dellaert, Frank (CoRR, 2017)

Sparse Depth Sensing for Resource-Constrained Robots. - Ma, Fangchang; Carlone, Luca; Ayaz, Ulas; Karaman, Sertac (CoRR, 2017)

Sensing-Constrained LQG Control. - Tzoumas, Vasileios; Carlone, Luca; Pappas, George J.; Jadbabaie, Ali (CoRR, 2017)

Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification. - Carlone, Luca; Calafiore, Giuseppe Carlo; Tommolillo, Carlo; Dellaert, Frank (IEEE Trans. Robotics, 2016)

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. - Cadena, Cesar; Carlone, Luca; Carrillo, Henry; Latif, Yasir; Scaramuzza, Davide; Neira, José; Reid, Ian; Leonard, John J. (IEEE Trans. Robotics, 2016)

Data-driven prediction of EVAR with confidence in time-varying datasets. - Axelrod, Allan; Carlone, Luca; Chowdhary, Girish; Karaman, Sertac (2016)

Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach. - Choudhary, Siddharth; Carlone, Luca; Nieto-Granda, Carlos; Rogers, John G., III; Christensen, Henrik I.; Dellaert, Frank (2016)

Sparse sensing for resource-constrained depth reconstruction. - Ma, Fangchang; Carlone, Luca; Ayaz, Ulas; Karaman, Sertac (2016)

Multi Robot Object-Based SLAM. - Choudhary, Siddharth; Carlone, Luca; Nieto, Carlos; Rogers, John G., III; Liu, Zhen; Christensen, Henrik I.; Dellaert, Frank (2016)

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - Rosen, David M.; Carlone, Luca; Bandeira, Afonso S.; Leonard, John J. (2016)

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. - Cadena, Cesar; Carlone, Luca; Carrillo, Henry; Latif, Yasir; Scaramuzza, Davide; Neira, José; Reid, Ian D.; Leonard, John J. (CoRR, 2016)

Attention and Anticipation in Fast Visual-Inertial Navigation. - Carlone, Luca; Karaman, Sertac (CoRR, 2016)

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - Rosen, David M.; Carlone, Luca; Bandeira, Afonso S.; Leonard, John J. (CoRR, 2016)

SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - Rosen, David M.; Carlone, Luca; Bandeira, Afonso S.; Leonard, John J. (CoRR, 2016)

Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments. - Indelman, Vadim; Carlone, Luca; Dellaert, Frank (Int. J. Robotics Res., 2015)

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications. - Carlone, Luca; Macchia, Vito; Tibaldi, Federico; Bona, Basilio (Robotica, 2015)

Rigid components identification and rigidity control in bearing-only localization using the graph cycle basis. - Tron, Roberto; Carlone, Luca; Dellaert, Frank; Daniilidis, Kostas (2015)

Structural Symmetries from Motion for Scene Reconstruction and Understanding. - Srinivasan, Natesh; Carlone, Luca; Dellaert, Frank (2015)

Duality-based verification techniques for 2D SLAM. - Carlone, Luca; Dellaert, Frank (2015)

Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization. - Carlone, Luca; Tron, Roberto; Daniilidis, Kostas; Dellaert, Frank (2015)

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions. - Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe Carlo; Leonard, John J.; Dellaert, Frank (2015)

Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers. - Choudhary, Siddharth; Carlone, Luca; Christensen, Henrik I.; Dellaert, Frank (2015)

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation. - Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (2015)

Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions. - Calafiore, Giuseppe Carlo; Carlone, Luca; Dellaert, Frank (CoRR, 2015)

Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. - Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe Carlo; Leonard, John J.; Dellaert, Frank (CoRR, 2015)

On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation. - Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (CoRR, 2015)

A fast and accurate approximation for planar pose graph optimization. - Carlone, Luca; Aragues, Rosario; Castellanos, José A.; Bona, Basilio (Int. J. Robotics Res., 2014)

Supervision and monitoring of logistic spaces by a cooperative robot team: methodologies, problems, and solutions. - Bona, Basilio; Carlone, Luca; Indri, Marina; Rosa, Stefano (Intell. Serv. Robotics, 2014)

Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence. - Carlone, Luca; Du, Jingjing; Ng, Miguel Efrain Kaouk; Bona, Basilio; Indri, Marina (J. Intell. Robotic Syst., 2014)

Distributed Random Convex Programming via Constraints Consensus. - Carlone, Luca; Srivastava, Vaibhav; Bullo, Francesco; Calafiore, Giuseppe Carlo (SIAM J. Control. Optim., 2014)

From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization. - Carlone, Luca; Censi, Andrea (IEEE Trans. Robotics, 2014)

Mining Structure Fragments for Smart Bundle Adjustment. - Carlone, Luca; Alcantarilla, Pablo Fernández; Chiu, Han-Pang; Kira, Zsolt; Dellaert, Frank (2014)

Scan Matching for Graph SLAM in Indoor Dynamic Scenarios. - Yin, Jingchun; Carlone, Luca; Rosa, Stefano; Anjum, Muhammad Latif; Bona, Basilio (2014)

An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring. - Rosa, Stefano; Russo, Ludovico Orlando; Farulla, Giuseppe Airo; Carlone, Luca; Antonini, Roberto; Gaspardone, Marco; Bona, Basilio (2014)

Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs. - Chiu, Han-Pang; Zhou, Xun S.; Carlone, Luca; Dellaert, Frank; Samarasekera, Supun; Kumar, Rakesh (2014)

Uncertainty-constrained robot exploration: A mixed-integer linear programming approach. - Carlone, Luca; Lyons, Daniel (2014)

Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors. - Carlone, Luca; Kira, Zsolt; Beall, Chris; Indelman, Vadim; Dellaert, Frank (2014)

Planning under uncertainty in the continuous domain: A generalized belief space approach. - Indelman, Vadim; Carlone, Luca; Dellaert, Frank (2014)

Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs. - Carlone, Luca; Censi, Andrea; Dellaert, Frank (2014)

A convergence analysis for pose graph optimization via Gauss-Newton methods. - Carlone, Luca (2013)

Towards Planning in Generalized Belief Space. - Indelman, Vadim; Carlone, Luca; Dellaert, Frank (2013)

Distributed centroid estimation from noisy relative measurements. - Aragues, Rosario; Carlone, Luca; Sagüés, Carlos; Calafiore, Giuseppe Carlo (Syst. Control. Lett., 2012)

A Distributed Technique for Localization of Agent Formations From Relative Range Measurements. - Calafiore, Giuseppe Carlo; Carlone, Luca; Wei, Mingzhu (IEEE Trans. Syst. Man Cybern. Part A, 2012)

Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation. - Carlone, Luca; Yin, Jingchun; Rosa, Stefano; Yuan, Zehui (2012)

From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization - Carlone, Luca; Censi, Andrea (CoRR, 2012)

Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems. - Carlone, Luca; Ng, Miguel Efrain Kaouk; Du, Jingjing; Bona, Basilio; Indri, Marina (J. Intell. Robotic Syst., 2011)

Multi-agent localization from noisy relative pose measurements. - Aragues, Rosario; Carlone, Luca; Calafiore, Giuseppe Carlo; Sagüés, Carlos (2011)

A first-order solution to simultaneous localization and mapping with graphical models. - Carlone, Luca; Aragues, Rosario; Castellanos, José A.; Bona, Basilio (2011)

A distributed algorithm for random convex programming. - Carlone, Luca; Srivastava, Vaibhav; Bullo, Francesco; Calafiore, Giuseppe Carlo (2011)

A Linear Approximation for Graph-based Simultaneous Localization and Mapping. - Carlone, Luca; Aragues, Rosario; Castellanos, José A.; Bona, Basilio (2011)

A distributed gradient method for localization of formations using relative range measurements. - Calafiore, Giuseppe Carlo; Carlone, Luca; Wei, Mingzhu (2010)

A distributed Gauss-Newton approach for range-based localization of multi agent formations. - Calafiore, Giuseppe Carlo; Carlone, Luca; Wei, Mingzhu (2010)

Distributed optimization techniques for range localization in networked systems. - Calafiore, Giuseppe Carlo; Carlone, Luca; Wei, Mingzhu (2010)

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications. - Abrate, Fabrizio; Bona, Basilio; Indri, Marina; Carlone, Luca (2010)

Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication. - Carlone, Luca; Ng, Miguel Efrain Kaouk; Du, Jingjing; Bona, Basilio; Indri, Marina (2010)

An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters. - Carlone, Luca; Du, Jingjing; Ng, Miguel Efrain Kaouk; Bona, Basilio; Indri, Marina (2010)

A comparative study on robust localization: Fault tolerance and robustness test on probabilistic filters for range-based positioning. - Carlone, Luca; Bona, Basilio (2009)