}

Publications

2019

  1. Tzoumas, V., Antonante, P., & Carlone, L. (2019). Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
  2. Yang, H., & Carlone, L. (2019). A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates.
  3. Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2019). Sensing-Constrained LQG Control.
  4. Lajoie, P., Hu, S., Beltrame, G., & Carlone, L. (2019). Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. IEEE Robotics and Automation Letters (RA-L).
  5. Hu, S., & Carlone, L. (2019). Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. IEEE Robotics and Automation Letters (RA-L).
  6. Rosinol, A., Sattler, T., Pollefeys, M., & Carlone, L. (2019). Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. In IEEE Intl. Conf. on Robotics and Automation (ICRA).
  7. Carlone, L., & Pinciroli, C. (2019). Robot Co-design: Beyond the Monotone Case. In IEEE Intl. Conf. on Robotics and Automation (ICRA).

2018

  1. Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2018). Sensing-Constrained LQG Control. In American Control Conference (pp. 197–202). Milwaukee, WI.
  2. Ma, F., Carlone, L., Ayaz, U., & Karaman, S. (2018). Sparse Depth Sensing for Resource-Constrained Robot Perception. Intl. J. of Robotics Research.
  3. Carlone, L., & Karaman, S. (2018). Attention and Anticipation in Fast Visual-Inertial Navigation. IEEE Trans. Robotics.
  4. Rosen, D. M., Carlone, L., Bandeira, A. S., & Leonard, J. J. (2018). SE-Sync: a certifiably correct algorithm for synchronization over the Special Euclidean group. Intl. J. of Robotics Research.
  5. Carlone, L., & Calafiore, G. (2018). Convex Relaxations for Pose Graph Optimization with Outliers. IEEE Robotics and Automation Letters (RA-L), 3(2), 1160–1167.
  6. Carlone, L., Axelrod, A., Karaman, S., & Chowdhary, G. (2018). Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. In A. A. Erik Blasch Sai Ravela (Ed.), Handbook of Dynamic Data Driven Application Systems. Springer International Publishing.
  7. Axelrod, A. M., Carlone, L., Chowdhary, G., & Karaman, S. (2018). Prediction of EVaR-based Upper Bound in Time-based Datasets. In A. A. Erik Blasch Sai Ravela (Ed.), Handbook of Dynamic Data Driven Application Systems. Springer International Publishing.
  8. Suleiman, A., Zhang, Z., Carlone, L., Karaman, S., & Sze, V. (2018). Navion: An Energy-Efficient Visual-Inertial Odometry Accelerator for Micro Robotics and Beyond. In IEEE Hot Chips: A Symposium for High-Performance Chips.
  9. Suleiman, A., Zhang, Z., Carlone, L., Karaman, S., & Sze, V. (2018). Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. In IEEE Symposium on VLSI Circuits (VLSI-Circuits).
  10. Suleiman, A., Zhang, Z., Carlone, L., Karaman, S., & Sze, V. (2018). Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. IEEE Journal of Solid-State Circuits.
  11. Sayre-McCord, R. T., Guerra, W., Antonini, A., Arneberg, J., Brown, A., Cavalheiro, G., … Karaman, S. (2018). Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop. In IEEE Intl. Conf. on Robotics and Automation (ICRA).

2017

  1. Carlone, L., & Karaman, S. (2017). Attention and Anticipation in Fast Visual-Inertial Navigation. In IEEE Intl. Conf. on Robotics and Automation (ICRA) (pp. 3886–3893). Singapore.
  2. Chiu, H.-P., Carlone, L., Dellaert, F., Samarasekera, S., & Kumar, R. (2017). Plug-and-Play Navigation Using Factor Graphs.
  3. Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Christensen, H. I., & Dellaert, F. (2017). Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, accepted. Intl. J. of Robotics Research.
  4. Rosen, D. M., & Carlone, L. (2017). Computational Enhancements for Certifiably Correct SLAM. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).
  5. Zhang, Z., Suleiman, A., Carlone, L., Sze, V., & Karaman, S. (2017). Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach. In Robotics: Science and Systems (RSS).
  6. Singh, P., Chen, M., Carlone, L., Karaman, S., Frazzoli, E., & Hsu, D. (2017). Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal Kalman Filtering. In American Control Conference (pp. 5787–5794).
  7. Paull, L., Tani, J., Ahn, H., Alonso-Mora, J., Carlone, L., Cap, M., … Censi, A. (2017). Duckietown: an Open, Inexpensive and Flexible and Capable Platform for Autonomy Education and Research. In IEEE Intl. Conf. on Robotics and Automation (ICRA) (pp. 1497–1504).

2016

  1. Rosen, D. M., Carlone, L., Bandeira, A. S., & Leonard, J. J. (2016). 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.
  2. Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., … Leonard, J. J. (2016). Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. IEEE Trans. Robotics, 32(6), 1309–1332. https://doi.org/10.1109/TRO.2016.2624754
  3. Carlone, L., Calafiore, G., Tommolillo, C., & Dellaert, F. (2016). Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification. IEEE Trans. Robotics, 32(3), 545–565.
  4. Calafiore, G., Carlone, L., & Dellaert, F. (2016). Lagrangian Duality in Complex Pose Graph Optimization. In B. Goldengorin (Ed.), Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday (Vol. 115, pp. 139–184). Springer Optimization and Its Applications.
  5. Calafiore, G. C., Carlone, L., & Dellaert, F. (2016). Lagrangian Duality in Complex Pose Graph Optimization. Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday. Springer Optimization and Its Applications, Boris Goldengorin (Ed.).
  6. Ma, F., Carlone, L., Ayaz, U., & Karaman, S. (2016). Sparse Sensing for Resource-Constrained Depth Reconstruction. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) (pp. 96–103).
  7. Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Liu, Z., Christensen, H. I., & Dellaert, F. (2016). Multi Robot Object-based SLAM. In Intl. Sym. on Experimental Robotics (ISER).
  8. Axelrod, A., Carlone, L., Chowdhary, G., & Karaman, S. (2016). Data-driven Prediction of EVAR with Confidence in Time-varying Datasets. In IEEE Conf. on Decision and Control (CDC) (pp. 5833–5838).
  9. Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Christensen, H. I., & Dellaert, F. (2016). Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach. In IEEE Intl. Conf. on Robotics and Automation (ICRA) (pp. 5261–5268).
  10. Forster, C., Carlone, L., Dellaert, F., & Scaramuzza, D. (2016). On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation. IEEE Trans. Robotics, 33(1), 1–21.
  11. Carlone, L., Axelrod, A., Karaman, S., & Chowdhary, G. (2016). Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. Intl. Conf. on Dynamic Data Driven Applications Systems (DDDAS).