Publications

2025

2024

Zhang, H., & Carlone, L. (2024). CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators. ArXiv Preprint: 2407.06141.

@article{Zhang24arxiv-CHAMP,
  author = {Zhang, H. and Carlone, L.},
  title = {{CHAMP}: Conformalized {3D} Human Multi-Hypothesis Pose Estimators},
  journal = {arXiv preprint: 2407.06141},
  pdf = {https://arxiv.org/pdf/2407.06141},
  year = {2024}
}

Shaikewitz, L., Ubellacker, S., & Carlone, L. (2024). A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking. ArXiv Preprint: 2406.16837.

@article{Shaikewitz24arxiv-CAST,
  author = {Shaikewitz, L. and Ubellacker, S. and Carlone, L.},
  title = {A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking},
  journal = {arXiv preprint: 2406.16837},
  note = {\linkToPdf{https://arxiv.org/pdf/2406.16837}, \linkToVideo{https://www.youtube.com/watch?v=eTIlVD9pDtc}, \linkToCode{https://github.com/MIT-SPARK/certifiable_tracking}},
  pdf = {https://arxiv.org/pdf/2406.16837},
  funding = {ONRRAPID,NSFCAREER,Mathworks2},
  year = {2024}
}

Gorlo, N., Schmid, L., & Carlone, L. (2024). Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs. ArXiv Preprint: 2405.00552.

@article{Gorlo24arxiv-LP2,
  author = {Gorlo, N. and Schmid, L. and Carlone, L.},
  title = {Long-Term Human Trajectory Prediction using {3D} Dynamic Scene Graphs},
  journal = {arXiv preprint: 2405.00552},
  note = {\linkToPdf{https://arxiv.org/pdf/2405.00552}, \linkToVideo{https://youtu.be/mzumT3T0dYw?feature=shared}, \linkToCode{https://github.com/MIT-SPARK/LP2}},
  pdf = {https://arxiv.org/pdf/2405.00552},
  funding = {LAB126,Lockheed,SwissNSF},
  year = {2024}
}

Teng, S., Zhang, H., Jin, D., Jasour, A., Ghaffari, M., & Carlone, L. (2024). GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. ArXiv Preprint: 2403.04712v1.

@article{Teng24arxiv-gmkf,
  author = {Teng, S. and Zhang, H. and Jin, D. and Jasour, A. and Ghaffari, M. and Carlone, L.},
  title = {{GMKF}: Generalized Moment {K}alman Filter for Polynomial Systems with Arbitrary Noise},
  journal = {arXiv preprint: 2403.04712v1},
  note = {\linkToPdf{https://arxiv.org/pdf/2403.04712v1.pdf}},
  pdf = {https://arxiv.org/pdf/2403.04712v1.pdf},
  funding = {NSFCAREER,DCIST,ONRRAPID},
  year = {2024}
}

Ray, A., Bradley, C., Carlone, L., & Roy, N. (2024). Task and Motion Planning in Hierarchical 3D Scene Graphs. ArXiv Preprint: 2403.08094.

@article{Ray24arxiv-tamp,
  author = {Ray, A. and Bradley, C. and Carlone, L. and Roy, N.},
  title = {Task and Motion Planning in Hierarchical {3D} Scene Graphs},
  journal = {arXiv preprint: 2403.08094},
  note = {\linkToPdf{https://arxiv.org/pdf/2403.08094.pdf},\linkToVideo{https://youtu.be/63xuCCaN0I4}},
  pdf = {https://arxiv.org/pdf/2403.08094.pdf},
  funding = {DCIST,LL4FRESCO},
  year = {2024}
}

Maggio, D., Chang, Y., Hughes, N., Trang, M., Griffith, D., Dougherty, C., Cristofalo, E., Schmid, L., & Carlone, L. (2024). Clio: Real-time Task-Driven Open-Set 3D Scene Graphs. IEEE Robotics and Automation Letters (RA-L).

@article{Maggio24ral-clio,
  author = {Maggio, D. and Chang, Y. and Hughes, N. and Trang, M. and Griffith, D. and Dougherty, C. and Cristofalo, E. and Schmid, L. and Carlone, L.},
  title = {Clio: Real-time Task-Driven Open-Set {3D} Scene Graphs},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {\linkToPdf{https://arxiv.org/pdf/2404.13696},\linkToVideo{https://youtu.be/m-HJO10qhSQ}},
  pdf = {https://arxiv.org/pdf/2404.13696},
  funding = {DCIST,LL4FRESCO, SwissNSF, DominicNSF,ONRRAPID},
  year = {2024}
}

Ubellacker, S., Ray, A., Bern, J., Strader, J., & Carlone, L. (2024). High-speed aerial grasping using a soft drone with onboard perception. Nature Robotics.

@article{Ubellacker24npj-softDrone3,
  author = {Ubellacker, S. and Ray, A. and Bern, J. and Strader, J. and Carlone, L.},
  title = {High-speed aerial grasping using a soft drone with onboard perception},
  journal = {Nature Robotics},
  note = {\linkToPdf{https://rdcu.be/dR0sM},\linkToVideo{https://youtu.be/HF4M7TooqfE},\linkToWeb{https://spectrum.ieee.org/video-friday-robots-table-tennis}},
  pdf = {https://rdcu.be/dR0sM},
  funding = {MIT-RSC, ARA2, MathWorks},
  year = {2024}
}

Strader, J., Hughes, N., Chen, W., Speranzon, A., & Carlone, L. (2024). Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies. IEEE Robotics and Automation Letters (RA-L), 9(6), 4886–4893.

@article{Strader24ral-automaticAbstractions,
  author = {Strader, J. and Hughes, N. and Chen, W. and Speranzon, A. and Carlone, L.},
  title = {Indoor and Outdoor {3D} Scene Graph Generation via Language-Enabled Spatial Ontologies},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  volume = {9},
  number = {6},
  pages = {4886--4893},
  note = {arXiv preprint: 2312.11713, \linkToPdf{https://arxiv.org/pdf/2312.11713.pdf}},
  pdf = {https://arxiv.org/pdf/2312.11713.pdf},
  funding = {DCIST,ONRLITTORAL,Lockheed,AIA},
  year = {2024}
}

Hughes, N., Chang, Y., Hu, S., Talak, R., Abdulhai, R., Strader, J., & Carlone, L. (2024). Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. Intl. J. of Robotics Research.

@article{Hughes24ijrr-hydraFoundations,
  author = {Hughes, N. and Chang, Y. and Hu, S. and Talak, R. and Abdulhai, R. and Strader, J. and Carlone, L.},
  title = {Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems},
  journal = {Intl. J. of Robotics Research},
  note = {arXiv preprint: 2305.07154, \linkToPdf{https://arxiv.org/pdf/2305.07154.pdf},\linkToVideo{https://youtu.be/AEaBq2-FeY0}},
  pdf = {https://arxiv.org/pdf/2305.07154.pdf},
  funding = {DCIST, ONRRAIDER, AIA, LL4FRESCO, Lockheed, ARA2},
  year = {2024}
}

Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C. E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petrác̆ek P., Petrlík, P., Reinke, A., Krátký, V., Zhao, S., Agha-mohammadi, A., Alexis, K., … Carlone, L. (2024). Present and Future of SLAM in Extreme Underground Environments. IEEE Trans. Robotics, 40, 936–959.

@article{Ebadi24tro-surveySLAMSubt,
  fullauthor = {Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, 	Simon-Pierre Desch\^{e}nes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petracek, Matej Petrlik, Andrzej Reinke, Vıt Kratky, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling,Francois Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone},
  author = {Ebadi, K. and Bernreiter, L. and Biggie, H. and Catt, G. and Chang, Y. and Chatterjee, A. and Denniston, C.E. and Desch\^{e}nes, S-P. and Harlow, K. and Khattak, S. and Nogueira, L. and Palieri, M. and Petr\'{a}\u{c}ek, P. and Petrl\'{i}k, P. and Reinke, A. and Kr\'{a}tk\'{y}, V. and Zhao, S. and Agha-mohammadi, A. and Alexis, K. and Heckman, C. and Khosoussi, K. and Kottege, N. and Morrell, B. and Hutter, M. and Pauling, F. and Pomerleau, F. and Saska, M. and Scherer, S. and Siegwart, R. and Williams, J.L. and Carlone, L.},
  title = {Present and Future of {SLAM} in Extreme Underground Environments},
  journal = {{IEEE} Trans. Robotics},
  volume = {40},
  pages = {936--959},
  note = {\linkToPdf{https://arxiv.org/pdf/2208.01787.pdf}},
  pdf = {https://arxiv.org/pdf/2208.01787.pdf},
  funding = {DARPASubT, ONRRAPID},
  year = {2024}
}

Jin, D., Karmalkar, S., Zhang, H., & Carlone, L. (2024). Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Jin24icra-multiModelRegistration,
  author = {Jin, D. and Karmalkar, S. and Zhang, H. and Carlone, L.},
  title = {Multi-Model {3D} Registration: Finding Multiple Moving Objects in Cluttered Point Clouds},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  funding = {DCIST,ONRRAIDER,NSFCAREER},
  year = {2024}
}

2023

Maggio, D., Mario, C., & Carlone, L. (2023). VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields. IEEE Robotics and Automation Letters (RA-L).

@article{Maggio23ral-VERF,
  author = {Maggio, D. and Mario, C. and Carlone, L.},
  title = {{VERF}: Runtime Monitoring of Pose Estimation with Neural Radiance Fields},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {\linkToPdf{https://arxiv.org/pdf/2308.05939.pdf}},
  pdf = {https://arxiv.org/pdf/2308.05939.pdf},
  funding = {NASA-Dominic, NSFCAREER, NSF-Dominic},
  year = {2023}
}

Chang, Y., Ballotta, L., & Carlone, L. (2023). D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints. IEEE Robotics and Automation Letters (RA-L).

@article{Chang23ral-DLite,
  author = {Chang, Y. and Ballotta, L. and Carlone, L.},
  title = {{D-Lite}: Navigation-Oriented Compression of {3D} Scene Graphs under Communication Constraints},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {\linkToPdf{https://arxiv.org/pdf/2209.06111.pdf},\linkToVideo{https://youtu.be/nKYXU5VC6A8}},
  pdf = {https://arxiv.org/pdf/2209.06111.pdf},
  funding = {DCIST, ONRRAIDER, LL3},
  year = {2023}
}

Antonante, P., Nilsen, H., & Carlone, L. (2023). Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification. Artificial Intelligence Journal (AIJ), ArXiv Preprint: 2205.10906.

@article{Antonante23aij-perceptionMonitoring,
  title = {Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification},
  fullauthor = {Pasquale Antonante and Heath Nilsen and Luca Carlone},
  author = {Antonante, P. and Nilsen, H. and Carlone, L.},
  journal = {Artificial Intelligence Journal (AIJ), arXiv preprint: 2205.10906},
  note = {\linkToPdf{https://arxiv.org/pdf/2205.10906.pdf}},
  pdf = {https://arxiv.org/pdf/2205.10906.pdf},
  funding = {NSFCAREER},
  year = {2023}
}

Shi, J., Yang, H., & Carlone, L. (2023). Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints. IEEE Trans. Robotics, 39(5), 4131–4151.

@article{Shi23tro-PACE,
  author = {Shi, J. and Yang, H. and Carlone, L.},
  title = {Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from {2D and 3D} Semantic Keypoints},
  journal = {{IEEE} Trans. Robotics},
  volume = {39},
  number = {5},
  pages = {4131--4151},
  note = {\linkToPdf{https://arxiv.org/pdf/2206.12498.pdf}},
  pdf = {https://arxiv.org/pdf/2206.12498.pdf},
  funding = {DCIST,ONRRAIDER,NSFCAREER,LL3},
  year = {2023}
}

Talak, R., Peng, L., & Carlone, L. (2023). Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training. IEEE Trans. Robotics, 39(4), 2805–2824.

@article{Talak23tro-c3po,
  title = {Certifiable {3D} Object Pose Estimation: Foundations, Learning Models, and Self-Training},
  author = {Talak, R. and Peng, L. and Carlone, L.},
  journal = {{IEEE} Trans. Robotics},
  volume = {39},
  number = {4},
  pages = {2805--2824},
  note = {\linkToPdf{https://arxiv.org/pdf/2206.11215.pdf}},
  pdf = {https://arxiv.org/pdf/2206.11215.pdf},
  funding = {DCIST, ONRRAIDER, NSFCAREER},
  year = {2023}
}

Carlone, L. (2023). Estimation Contracts for Outlier-Robust Geometric Perception. Foundations and Trends (FnT) in Robotics, ArXiv Preprint: 2208.10521.

@article{Carlone23fnt-estimationContracts,
  author = {Carlone, L.},
  title = {Estimation Contracts for Outlier-Robust Geometric Perception},
  journal = {Foundations and Trends (FnT) in Robotics, arXiv preprint: 2208.10521},
  note = {\linkToPdf{https://arxiv.org/pdf/2208.10521.pdf}},
  pdf = {https://arxiv.org/pdf/2208.10521.pdf},
  funding = {DCIST, NSFCAREER},
  year = {2023}
}

Placed, J. A., Strader, J., Carrillo, H., Atanasov, N., Indelman, V., Carlone, L., & Castellanos, J. A. (2023). A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. IEEE Trans. Robotics, 39(3), 1686–1705.

@article{Placed23tro-activeSLAMsurvey,
  author = {Placed, J.A. and Strader, J. and Carrillo, H. and Atanasov, N. and Indelman, V. and Carlone, L. and Castellanos, J.A.},
  title = {A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers},
  journal = {{IEEE} Trans. Robotics},
  volume = {39},
  number = {3},
  pages = {1686--1705},
  note = {arXiv preprint: 2207.00254, \linkToPdf{https://arxiv.org/pdf/2207.00254.pdf}},
  pdf = {https://arxiv.org/pdf/2207.00254.pdf},
  funding = {DCIST},
  year = {2023}
}

Abate, M., Schwartz, A., Wong, X. I., Luo, W., Littman, R., Klinger, M., Kuhnert, L., Blue, D., & Carlone, L. (2023). Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking. Intl. Sym. on Experimental Robotics (ISER).

@inproceedings{Abate23iser-KimeraSelfDriving,
  fullauthor = {Marcus Abate, Ariel Schwartz, Xue Iuan Wong, Wangdong Luo, Rotem Littman, Marc Klinger, Lars Kuhnert, Douglas Blue, Luca Carlone},
  author = {Abate, M. and Schwartz, A. and Wong, X.I. and Luo, W. and Littman, R. and Klinger, M. and Kuhnert, L. and Blue, D. and Carlone, L.},
  title = {Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking},
  booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
  note = {\linkToPdf{https://arxiv.org/pdf/2304.13182.pdf},\linkToVideo{https://www.youtube.com/watch?v=H8CpzDpXOI8}},
  pdf = {https://arxiv.org/pdf/2304.13182.pdf},
  funding = {Ford},
  year = {2023}
}

Abate, M., Chang, Y., Hughes, N., & Carlone, L. (2023). Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. Intl. Sym. on Experimental Robotics (ISER).

@inproceedings{Abate23iser-Kimera2,
  author = {Abate, M. and Chang, Y. and Hughes, N. and Carlone, L.},
  title = {Kimera2: Robust and Accurate Metric-Semantic {SLAM} in the Real World},
  booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
  pdf = {},
  funding = {DCIST, ARA2, MathWorks},
  year = {2023}
}

Tian, Y., Chang, Y., Quang, L., Schang, A., Nieto-Granda, C., How, J. P., & Carlone, L. (2023). Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Tian23iros-KimeraMultiExperiments,
  author = {Tian, Y. and Chang, Y. and Quang, L. and Schang, A. and Nieto-Granda, C. and How, J.P. and Carlone, L.},
  title = {Resilient and Distributed Multi-Robot Visual {SLAM}: Datasets, Experiments, and Lessons Learned},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2304.04362.pdf},\linkToVideo{https://youtu.be/7yYMRNMdKjY},\linkToCode{https://github.com/MIT-SPARK/Kimera-Multi},\linkToWeb{https://github.com/MIT-SPARK/Kimera-Multi-Data}\award{, Open Data prize honorable mention}},
  pdf = {https://arxiv.org/pdf/2304.04362.pdf},
  funding = {DCIST, MathWorks},
  year = {2023}
}

Chang, Y., Hughes, N., Ray, A., & Carlone, L. (2023). Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Chang23iros-HydraMulti,
  author = {Chang, Y. and Hughes, N. and Ray, A. and Carlone, L.},
  title = {{Hydra-Multi}: Collaborative Online Construction of {3D} Scene Graphs with Multi-Robot Teams},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2304.13487.pdf}},
  pdf = {https://arxiv.org/pdf/2304.13487.pdf},
  funding = {DCIST, MathWorks},
  year = {2023}
}

Rosinol, A., Leonard, J. J., & Carlone, L. (2023). NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Rosinol23iros-nerfSLAM,
  author = {Rosinol, A. and Leonard, J.J. and Carlone, L.},
  title = {{NeRF-SLAM}: Real-Time Dense Monocular {SLAM} with Neural Radiance Fields},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2210.13641.pdf}},
  pdf = {https://arxiv.org/pdf/2210.13641.pdf},
  funding = {DCIST, ONRRAIDER},
  year = {2023}
}

Shi, J., Talak, R., Maggio, D., & Carlone, L. (2023). A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. Robotics: Science and Systems (RSS).

@inproceedings{Shi23rss-ensemble,
  title = {A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training},
  author = {Shi, J. and Talak, R. and Maggio, D. and Carlone, L.},
  booktitle = {Robotics: Science and Systems (RSS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2302.06019.pdf}},
  pdf = {https://arxiv.org/pdf/2302.06019.pdf},
  funding = {DCIST, ONRRAIDER, NSFCAREER, LAB126},
  year = {2023}
}

Antonante, P., Veer, S., Leung, K., Weng, X., Carlone, L., & Pavone, M. (2023). Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. Robotics: Science and Systems (RSS).

@inproceedings{Antonante23rss-riskEstimation,
  title = {Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles},
  author = {Antonante, P. and Veer, S. and Leung, K. and Weng, X. and Carlone, L. and Pavone, M.},
  booktitle = {Robotics: Science and Systems (RSS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2305.01870.pdf}, linkToCode{https://github.com/NVlabs/persevere}},
  pdf = {https://arxiv.org/pdf/2305.01870.pdf},
  funding = {NSFCAREER},
  year = {2023}
}

Wang, C., Gao, D., Xu, K., Geng, J., Hu, Y., Qiu, Y., Li, B., Yang, F., Moon, B., Pandey, A., Aryan, A., Xu, J., Wu, T., He, H., Huang, D., Ren, Z., Zhao, S., Fu, T., Anthireddy, P. R., … Scherer, S. (2023). PyPose: A Library for Robot Learning with Physics-based Optimization. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR).

@inproceedings{Wang23cvpr-PyPose,
  fullauthor = {Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Aryan Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng FU, Pranay Reddy Anthireddy, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian Scherer },
  author = {Wang, C. and Gao, D. and Xu, K. and Geng, J. and Hu, Y. and Qiu, Y. and Li, B. and Yang, F. and Moon, B. and Pandey, A. and Aryan, A. and Xu, J. and Wu, T. and He, H. and Huang, D. and Ren, Z. and Zhao, S. and Fu, T. and Anthireddy, P.R. and Wang, W. and Shi, J. and Talak, R. and Wang, H. and Yu, H. and Wang, S. and Kashyap, A. and Bandaru, R. and Dantu, K. and Wu, J. and Carlone, L. and Hutter, M. and Scherer, S.},
  title = {{PyPose}: A Library for Robot Learning with Physics-based Optimization},
  note = {\linkToPdf{https://arxiv.org/pdf/2209.15428.pdf}},
  pdf = {https://arxiv.org/pdf/2209.15428.pdf},
  booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)},
  year = {2023}
}

Zhang, Y., Severinsen, O. A., Leonard, J. J., Carlone, L., & Khosoussi, K. (2023). Data-Association-Free Landmark-based SLAM. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Zhang23icra-dataAssociation,
  title = {Data-Association-Free Landmark-based {SLAM}},
  note = {\linkToPdf{https://arxiv.org/pdf/2302.13264.pdf}},
  pdf = {https://arxiv.org/pdf/2302.13264.pdf},
  author = {Zhang, Y. and Severinsen, O.A. and Leonard, J.J. and Carlone, L. and Khosoussi, K.},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2023}
}

Maggio, D. R., Mario, C., Streetman, B., Steiner, T. J., & Carlone, L. (2023). Vision-Based Terrain Relative Navigation on High Altitude Balloon and Sub-Orbital Rocket. AIAA SciTech Forum.

@inproceedings{Maggio23scitech-IBAL,
  title = {Vision-Based Terrain Relative Navigation on High Altitude Balloon and Sub-Orbital Rocket},
  fullauthor = {Dominic R. Maggio and Courtney Mario and Brett Streetman and Ted J. Steiner and Luca Carlone},
  author = {Maggio, D.R. and Mario, C. and Streetman, B. and Steiner, T.J. and Carlone, L.},
  booktitle = {AIAA SciTech Forum},
  note = {\linkToPdf{https://arxiv.org/pdf/2302.08011.pdf}},
  pdf = {https://arxiv.org/pdf/2302.08011.pdf},
  year = {2023}
}

Rosinol, A., Leonard, J. J., & Carlone, L. (2023). Uncertainty propagation for 3D Reconstruction with Deep Dense Monocular SLAM. IEEE/CVF Winter Conference on Applications of Computer Vision (WACV).

@inproceedings{Rosinol23wacv-denseSLAM,
  author = {Rosinol, A. and Leonard, J.J. and Carlone, L.},
  title = {Uncertainty propagation for {3D} Reconstruction with Deep Dense Monocular {SLAM}},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  note = {\linkToVideo{https://m.youtube.com/watch?v=tFZfKsah2jM}\award{, finalist for Best Paper Award}},
  funding = {DCIST, ONRRAIDER},
  year = {2023}
}

2022

Chen, W., Hu, S., Talak, R., & Carlone, L. (2022). Leveraging Large (Visual) Language Models for Robot 3D Scene Understanding. ArXiv Preprint: 2209.05629.

@article{Chen22arxiv-LLM2,
  author = {Chen, W. and Hu, S. and Talak, R. and Carlone, L.},
  title = {Leveraging Large (Visual) Language Models for Robot 3D Scene Understanding},
  journal = {arXiv preprint: 2209.05629},
  note = {\linkToPdf{https://arxiv.org/pdf/2209.05629.pdf}},
  pdf = {https://arxiv.org/pdf/2209.05629.pdf},
  funding = {DCIST, ONRRAIDER, Lockheed},
  year = {2022}
}

Chen, W., Hu, S., Talak, R., & Carlone, L. (2022). Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding. RSS Workshop on Scaling Robot Learning, ArXiv Preprint: 2206.04585.

@article{Chen22arxiv-LLM1,
  title = {Extracting Zero-shot Common Sense from Large Language Models for Robot {3D} Scene Understanding},
  fullauthor = {William Chen and Siyi Hu and Rajat Talak and Luca Carlone},
  author = {Chen, W. and Hu, S. and Talak, R. and Carlone, L.},
  journal = {RSS Workshop on Scaling Robot Learning, arXiv preprint: 2206.04585},
  note = {\linkToPdf{https://arxiv.org/pdf/2206.04585.pdf}},
  pdf = {https://arxiv.org/pdf/2206.04585.pdf},
  year = {2022}
}

Shi, J., Yang, H., & Carlone, L. (2022). Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints. ArXiv Preprint: 2206.12498.

@article{Shi22arxiv-PACE,
  author = {Shi, J. and Yang, H. and Carlone, L.},
  title = {Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from {2D and 3D} Semantic Keypoints},
  journal = {arXiv preprint: 2206.12498},
  note = {\linkToPdf{https://arxiv.org/pdf/2206.12498.pdf}},
  pdf = {https://arxiv.org/pdf/2206.12498.pdf},
  funding = {DCIST,ONRRAIDER,NSFCAREER,LL3},
  year = {2022}
}

Maggio, D., Abate, M., Shi, J., Mario, C., & Carlone, L. (2022). Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. ArXiv Preprint: 2209.09050.

@article{Maggio22arxiv-LocNerf,
  author = {Maggio, D. and Abate, M. and Shi, J. and Mario, C. and Carlone, L.},
  title = {{Loc-NeRF}: Monte Carlo Localization using Neural Radiance Fields},
  journal = {arXiv preprint: 2209.09050},
  note = {\linkToPdf{https://arxiv.org/pdf/2209.09050.pdf},\linkToVideo{https://youtu.be/yIgl3kbpbXY}},
  pdf = {https://arxiv.org/pdf/2209.09050.pdf},
  funding = {DCIST, NASA, ARA2},
  year = {2022}
}

Yang, H., Liang, L., Carlone, L., & Toh, K. (2022). An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization. Mathematical Programming (MAPR).

@article{Yang22mapr-stride,
  title = {An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization},
  author = {Yang, H. and Liang, L. and Carlone, L. and Toh, K.},
  journal = {Mathematical Programming (MAPR)},
  note = {\linkToPdf{https://arxiv.org/pdf/2105.14033.pdf}},
  pdf = {https://arxiv.org/pdf/2105.14033.pdf},
  funding = {DCIST, NSFCAREER},
  year = {2022}
}

Yang, H., & Carlone, L. (2022). Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization. IEEE Trans. Pattern Anal. Machine Intell.

@article{Yang22pami-certifiablePerception,
  title = {Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization},
  author = {Yang, H. and Carlone, L.},
  journal = {{IEEE} Trans. Pattern Anal. Machine Intell.},
  note = {\linkToPdf{https://arxiv.org/pdf/2109.03349.pdf}},
  pdf = {https://arxiv.org/pdf/2109.03349.pdf},
  funding = {DCIST, ONRRAIDER, NSFCAREER, MathWorks, LL3},
  year = {2022}
}

Chang, Y., Ebadi, K., Denniston, C., Ginting, M. F., Rosinol, A., Reinke, A., Palieri, M., Shi, J., A, C., Morrell, B., Agha-mohammadi, A., & Carlone, L. (2022). LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. IEEE Robotics and Automation Letters (RA-L), 7(4), 9175–9182.

@article{Chang22ral-LAMP2,
  title = {{LAMP 2.0}: A Robust Multi-Robot {SLAM} System for Operation in Challenging Large-Scale Underground Environments},
  author = {Chang, Y. and Ebadi, K. and Denniston, C. and Ginting, M. Fadhil and Rosinol, A. and Reinke, A. and Palieri, M. and Shi, J. and A, Chatterjee and Morrell, B. and Agha-mohammadi, A. and Carlone, L.},
  note = {\linkToPdf{https://arxiv.org/pdf/2205.13135.pdf}},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  volume = {7},
  number = {4},
  pages = {9175--9182},
  pdf = {https://arxiv.org/pdf/2205.13135.pdf},
  year = {2022}
}

Denniston, C., Chang, Y., Reinke, A., Ebadi, K., Sukhatme, G., Carlone, L., Morrell, B., & Agha-mohammadi, A. (2022). Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. IEEE Robotics and Automation Letters (RA-L).

@article{Dennison22ral-loopPrioritization,
  title = {Loop Closure Prioritization for Efficient and Scalable Multi-Robot {SLAM}},
  author = {Denniston, C. and Chang, Y. and Reinke, A. and Ebadi, K. and Sukhatme, G. and Carlone, L. and Morrell, B. and Agha-mohammadi, A.},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {\linkToPdf{https://arxiv.org/pdf/2205.12402.pdf}},
  pdf = {https://arxiv.org/pdf/2205.12402.pdf},
  year = {2022}
}

Reinke, A., Palieri, M., Morrell, B., Chang, Y., Ebadi, K., Carlone, L., & Agha-mohammadi, A. (2022). LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground 3D Mapping. 7(4), 9043–9050.

@article{Reinke22ral-LOCUS2,
  title = {{LOCUS 2.0}: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground {3D} Mapping},
  author = {Reinke, A. and Palieri, M. and Morrell, B. and Chang, Y. and Ebadi, K. and Carlone, L. and Agha-mohammadi, A.},
  note = {\linkToPdf{https://arxiv.org/pdf/2205.11784.pdf}},
  volume = {7},
  number = {4},
  pages = {9043--9050},
  pdf = {https://arxiv.org/pdf/2205.11784.pdf},
  year = {2022}
}

A. Agha et al. (2022). NeBula: TEAM CoSTAR’s Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics, 2, 1432–1506.

@article{Agha22fr-Nebula,
  title = {{NeBula}: {TEAM CoSTAR’s} Robotic Autonomy Solution that Won {Phase II of DARPA Subterranean Challenge}},
  author = {{A. Agha et al.}},
  fullauthor = {Agha, A., Otsu, K., Morrell, B., Fan, D., Thakker, R., Santamaria-Navarro, A., Kim, S., Bouman, A., Lei, X., Edlund, J., Ginting, M., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J.,  Salhotra, G., Saboia Da Silva, M., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H., Melikyan, H., Choi, H., Daftry, S., Toupet, O., Wee, I.,  Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, J.},
  journal = {Field Robotics},
  volume = {2},
  pages = {1432--1506},
  note = {\linkToPdf{https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf}},
  pdf = {https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf},
  year = {2022}
}

Tian, Y., Chang, Y., Arias, F. H., Nieto-Granda, C., How, J. P., & Carlone, L. (2022). Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. IEEE Trans. Robotics.

@article{Tian22tro-KimeraMulti,
  title = {{Kimera-Multi}: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems},
  author = {Tian, Y. and Chang, Y. and Arias, F. Herrera and Nieto-Granda, C. and How, J.P. and Carlone, L.},
  journal = {{IEEE} Trans. Robotics},
  note = {accepted, arXiv preprint: 2106.14386, \linkToPdf{https://arxiv.org/pdf/2106.14386.pdf}},
  pdf = {https://arxiv.org/pdf/2106.14386.pdf},
  funding = {DCIST, LL3, ARA, MathWorks},
  year = {2022}
}

Maggio, D., Abate, M., Shi, J., Mario, C., & Carlone, L. (2022). Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Maggio23icra-LocNerf,
  author = {Maggio, D. and Abate, M. and Shi, J. and Mario, C. and Carlone, L.},
  title = {{Loc-NeRF}: Monte Carlo Localization using Neural Radiance Fields},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  note = {\linkToPdf{https://arxiv.org/pdf/2209.09050.pdf},\linkToVideo{https://youtu.be/yIgl3kbpbXY}},
  pdf = {https://arxiv.org/pdf/2209.09050.pdf},
  funding = {DCIST, NASA, ARA2},
  year = {2022}
}

Antonante, P., & Carlone, L. (2022). Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification. NeurIPS 2022 Machine Learning for Autonomous Driving Workshop.

@inproceedings{Antonante22neuripsws-perceptionMonitoring,
  title = {Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification},
  author = {Antonante, P. and Carlone, Luca},
  booktitle = {NeurIPS 2022 Machine Learning for Autonomous Driving Workshop},
  year = {2022}
}

Hughes, N., Chang, Y., & Carlone, L. (2022). Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. Robotics: Science and Systems (RSS).

@inproceedings{Hughes22rss-hydra,
  title = {{Hydra:} A Real-time Spatial Perception Engine for {3D} Scene Graph Construction and Optimization},
  fullauthor = {Nathan Hughes, Yun Chang, Luca Carlone},
  author = {Hughes, N. and Chang, Y. and Carlone, L.},
  booktitle = {Robotics: Science and Systems (RSS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2201.13360.pdf}},
  pdf = {https://arxiv.org/pdf/2201.13360.pdf},
  funding = {AIA, DCIST, ONRRAIDER},
  year = {2022}
}

Ravichandran, Z., Peng, L., Hughes, N., Griffith, J. D., & Carlone, L. (2022). Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Ravichandran22icra-RLwithSceneGraphs,
  title = {Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on {3D} Scene Graphs using Graph Neural Networks},
  author = {Ravichandran, Z. and Peng, L. and Hughes, N. and Griffith, J.D. and Carlone, L.},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  note = {\linkToPdf{https://arxiv.org/pdf/2108.01176.pdf}},
  pdf = {https://arxiv.org/pdf/2108.01176.pdf},
  funding = {AIA},
  year = {2022}
}

Carlone, L., Khosoussi, K., Tzoumas, V., Habibi, G., Ryll, M., Talak, R., Shi, J., & Antonante, P. (2022). Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT. IEEE Integrated STEM Education Conference (ISEC).

@inproceedings{Carlone22isec-VNAV,
  title = {Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at {MIT}},
  author = {Carlone, L. and Khosoussi, K. and Tzoumas, V. and Habibi, G. and Ryll, M. and Talak, R. and Shi, J. and Antonante, P.},
  booktitle = {IEEE Integrated STEM Education Conference (ISEC)},
  funding = {NSFCAREERs},
  year = {2022}
}

2021

Prorok, A., Malencia, M., Carlone, L., Sukhatme, G. S., Sadler, B. M., & Kumar, V. (2021). Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems. ArXiv Preprint: 2109.12343.

@article{Prorok21arxiv-resilience,
  title = {Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems},
  fullauthor = {Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar},
  author = {Prorok, A. and Malencia, M. and Carlone, L. and Sukhatme, G.S. and Sadler, B.M. and Kumar, V.},
  journal = {arXiv preprint: 2109.12343},
  note = {\linkToPdf{https://arxiv.org/pdf/2109.12343.pdf}},
  pdf = {https://arxiv.org/pdf/2109.12343.pdf},
  year = {2021}
}

Talak, R., Hu, S., Peng, L., & Carlone, L. (2021). Neural Trees for Learning on Graphs. ArXiv Preprint: 2105.07264.

@article{Talak21arxiv-neuralTree,
  title = {Neural Trees for Learning on Graphs},
  author = {Talak, R. and Hu, S. and Peng, L. and Carlone, L.},
  journal = {arXiv preprint: 2105.07264},
  note = {\linkToPdf{https://arxiv.org/pdf/2105.07264.pdf}},
  pdf = {https://arxiv.org/pdf/2105.07264.pdf},
  year = {2021}
}

Fishman, J., Ubellacker, S., Hughes, N., & Carlone, L. (2021). Dynamic Grasping with a “Soft” Drone: From Theory to Practice. ArXiv Preprint: 2103.06465.

@article{Fishman21arxiv-softDrone2,
  title = {Dynamic Grasping with a ``Soft'' Drone: From Theory to Practice},
  author = {Fishman, J. and Ubellacker, S. and Hughes, N. and Carlone, L.},
  journal = {arXiv preprint: 2103.06465},
  note = {\linkToPdf{https://arxiv.org/pdf/2103.06465.pdf}},
  pdf = {https://arxiv.org/pdf/2103.06465.pdf},
  year = {2021}
}

Rosinol, A., Violette, A., Abate, M., Hughes, N., Chang, Y., Shi, J., Gupta, A., & Carlone, L. (2021). Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs. Intl. J. of Robotics Research, 40(12–14), 1510–1546.

@article{Rosinol21ijrr-Kimera,
  title = {Kimera: from {SLAM} to Spatial Perception with {3D} Dynamic Scene Graphs},
  author = {Rosinol, A. and Violette, A. and Abate, M. and Hughes, N. and Chang, Y. and Shi, J. and Gupta, A. and Carlone, L.},
  journal = {Intl. J. of Robotics Research},
  volume = {40},
  number = {12--14},
  pages = {1510--1546},
  note = {arXiv preprint: 2101.06894, \linkToPdf{https://arxiv.org/pdf/2101.06894.pdf}},
  pdf = {https://arxiv.org/pdf/2101.06894.pdf},
  year = {2021}
}

Antonante, P., Tzoumas, V., Yang, H., & Carlone, L. (2021). Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications. IEEE Trans. Robotics, 38(1), 281–301.

@article{Antonante21tro-outlierRobustEstimation,
  title = {Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications},
  author = {Antonante, P. and Tzoumas, V. and Yang, H. and Carlone, L.},
  journal = {{IEEE} Trans. Robotics},
  volume = {38},
  number = {1},
  pages = {281--301},
  note = {\linkToPdf{https://arxiv.org/pdf/2007.15109.pdf}},
  pdf = {https://arxiv.org/pdf/2007.15109.pdf},
  year = {2021}
}

Palieri, M., Morrell, B., Thakur, A., Ebadi, K., Nash, J., Chatterjee, A., Kanellakis, C., Carlone, L., Guaragnella, C., & Agha-mohammadi, A. (2021). LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. IEEE Robotics and Automation Letters (RA-L), 6(2), 421–428.

@article{Palieri21ral-locus,
  title = {{LOCUS}: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and {3D} Mapping in Real-Time},
  author = {Palieri, M. and Morrell, B. and Thakur, A and Ebadi, K. and Nash, J. and Chatterjee, A. and Kanellakis, C. and Carlone, L. and Guaragnella, C. and Agha-mohammadi, A.},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {\linkToPdf{https://arxiv.org/abs/2012.14447}, \linkToVideo{https://youtu.be/5QQkkQ_YrbU}},
  volume = {6},
  number = {2},
  pages = {421--428},
  pdf = {https://arxiv.org/abs/2012.14447},
  year = {2021}
}

Talak, R., Hu, S., Peng, L., & Carlone, L. (2021). Neural Trees for Learning on Graphs. Conf. on Neural Information Processing Systems (NeurIPS).

@inproceedings{Talak21neurips-neuralTree,
  title = {Neural Trees for Learning on Graphs},
  author = {Talak, R. and Hu, S. and Peng, L. and Carlone, L.},
  booktitle = {Conf. on Neural Information Processing Systems (NeurIPS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2105.07264.pdf}},
  pdf = {https://arxiv.org/pdf/2105.07264.pdf},
  year = {2021}
}

Rosinol, A., & Carlone, L. (2021). Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Rosinol21iros-mesh,
  title = {Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization},
  author = {Rosinol, A. and Carlone, L.},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  year = {2021},
  pdf = {https://arxiv.org/pdf/2108.02957.pdf},
  note = {\linkToPdf{https://arxiv.org/pdf/2108.02957.pdf}}
}

Fishman, J., Ubellacker, S., Hughes, N., & Carlone, L. (2021). Dynamic Grasping with a “Soft” Drone: From Theory to Practice. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Fishman21iros-softDrone2,
  title = {Dynamic Grasping with a ``Soft'' Drone: From Theory to Practice},
  author = {Fishman, J. and Ubellacker, S. and Hughes, N. and Carlone, L.},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2103.06465.pdf}\award{, IROS Best Student Paper Award and finalist for the Best Paper Award on Mobile Manipulation}},
  pdf = {https://arxiv.org/pdf/2103.06465.pdf},
  year = {2021}
}

Antonante, P., Spivak, D. I., & Carlone, L. (2021). Monitoring and Diagnosability of Perception Systems. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Antonante21iros-perSysMonitoring2,
  title = {Monitoring and Diagnosability of Perception Systems},
  author = {Antonante, P. and Spivak, D.I. and Carlone, L.},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  note = {\linkToPdf{https://arxiv.org/pdf/2011.07010.pdf}},
  pdf = {https://arxiv.org/pdf/2011.07010.pdf},
  year = {2021}
}

Tripathi, V., Ballotta, L., Carlone, L., & Modiano, E. (2021). Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. Intl. Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt).

@inproceedings{Tripathi21wiopt-compCommCodesign,
  title = {Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems},
  author = {Tripathi, V. and Ballotta, L. and Carlone, L. and Modiano, E.},
  booktitle = {Intl. Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt)},
  year = {2021}
}

Shi, J., Yang, H., & Carlone, L. (2021). Optimal Pose and Shape Estimation for Category-level 3D Object Perception. Robotics: Science and Systems (RSS).

@inproceedings{Shi21rss-pace,
  title = {Optimal Pose and Shape Estimation for Category-level {3D} Object Perception},
  author = {Shi, J. and Yang, H. and Carlone, L.},
  booktitle = {Robotics: Science and Systems (RSS)},
  note = {arXiv preprint: 2104.08383, \linkToPdf{https://arxiv.org/pdf/2104.08383.pdf}, \linkToVideo{https://youtu.be/kiNBS0IF2-g}\award{, finalist for Best Paper Award}},
  pdf = {https://arxiv.org/pdf/2104.08383.pdf},
  year = {2021}
}

Yang, H., Dong, W., Carlone, L., & Koltun, V. (2021). Self-supervised Geometric Perception. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR).

@inproceedings{Yang21cvpr-sgp,
  title = {Self-supervised Geometric Perception},
  author = {Yang, H. and Dong, W. and Carlone, L. and Koltun, V.},
  booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)},
  note = {Oral Presentation, arXiv preprint: 2103.03114, \linkToPdf{https://arxiv.org/pdf/2103.03114.pdf}, \linkToCode{https://github.com/theNded/SGP}},
  pdf = {https://arxiv.org/pdf/2103.03114.pdf},
  year = {2021}
}

Chang, Y., Tian, Y., How, J. P., & Carlone, L. (2021). Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Chang21icra-KimeraMulti,
  title = {{Kimera-Multi}: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping},
  author = {Chang, Y. and Tian, Y. and How, J.P. and Carlone, L.},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  note = {arXiv preprint: 2011.04087, \linkToPdf{https://arxiv.org/pdf/2011.04087.pdf}},
  pdf = {https://arxiv.org/pdf/2011.04087.pdf},
  year = {2021}
}

Shi, J., Yang, H., & Carlone, L. (2021). ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Shi21icra-robin,
  title = {{ROBIN:} a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants},
  author = {Shi, J. and Yang, H. and Carlone, L.},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  note = {arXiv preprint: 2011.03659, \linkToPdf{https://arxiv.org/pdf/2011.03659.pdf}},
  pdf = {https://arxiv.org/pdf/2011.03659.pdf},
  year = {2021}
}

Fishman, J., & Carlone, L. (2021). Control and Trajectory Optimization for Soft Aerial Manipulation. IEEE Aerospace Conference.

@inproceedings{Fishman21aeroconf-softDrone,
  title = {Control and Trajectory Optimization for Soft Aerial Manipulation},
  author = {Fishman, J. and Carlone, L.},
  booktitle = {IEEE Aerospace Conference},
  note = {arXiv preprint: 2004.04238, \linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}\award{, Track Best Student Paper Award}},
  pdf = {https://arxiv.org/pdf/2004.04238.pdf},
  year = {2021}
}

2020

Shi, J., Yang, H., & Carlone, L. (2020). ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. ArXiv Preprint: 2011.03659.

@article{Shi20tr-robin,
  title = {{ROBIN:} a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants},
  author = {Shi, J. and Yang, H. and Carlone, L.},
  journal = {arXiv preprint: 2011.03659},
  note = {\linkToPdf{https://arxiv.org/pdf/2011.03659.pdf}},
  pdf = {https://arxiv.org/pdf/2011.03659.pdf},
  year = {2020}
}

Antonante, P., Spivak, D. I., & Carlone, L. (2020). Monitoring and Diagnosability of Perception Systems. ArXiv Preprint: 2011.07010.

@article{Antonante20tr-perSysMonitoring2,
  title = {Monitoring and Diagnosability of Perception Systems},
  author = {Antonante, P. and Spivak, D.I. and Carlone, L.},
  journal = {arXiv preprint: 2011.07010},
  note = {\linkToPdf{https://arxiv.org/pdf/2011.07010.pdf}},
  pdf = {https://arxiv.org/pdf/2011.07010.pdf},
  year = {2020}
}

Antonante, P., Spivak, D. I., & Carlone, L. (2020). Monitoring and Diagnosability of Perception Systems. ArXiv Preprint: 2005.11816.

@article{Antonante20tr-perSysMonitoring,
  title = {Monitoring and Diagnosability of Perception Systems},
  author = {Antonante, P. and Spivak, D.I. and Carlone, L.},
  journal = {arXiv preprint: 2005.11816},
  note = {\linkToPdf{https://arxiv.org/pdf/2005.11816.pdf}},
  pdf = {https://arxiv.org/pdf/2005.11816.pdf},
  year = {2020}
}

Fishman, J., & Carlone, L. (2020). Control and Trajectory Optimization for Soft Aerial Manipulation. ArXiv Preprint: 2004.04238.

@article{Fishman20arxiv-softDrone,
  title = {Control and Trajectory Optimization for Soft Aerial Manipulation},
  author = {Fishman, J. and Carlone, L.},
  journal = {arXiv preprint: 2004.04238},
  note = {\linkToPdf{https://arxiv.org/pdf/2004.04238.pdf}},
  pdf = {https://arxiv.org/pdf/2004.04238.pdf},
  year = {2020}
}

Yang, H., Shi, J., & Carlone, L. (2020). TEASER: Fast and Certifiable Point Cloud Registration. ArXiv Preprint: 2001.07715.

@article{Yang20arxiv-teaser,
  title = {{TEASER: Fast and Certifiable Point Cloud Registration}},
  author = {Yang, H. and Shi, J. and Carlone, L.},
  journal = {arXiv preprint: 2001.07715},
  note = {\linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
  pdf = {https://arxiv.org/pdf/2001.07715.pdf},
  year = {2020}
}

Ballotta, L., Schenato, L., & Carlone, L. (2020). Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks. IEEE Transactions on Network Science and Engineering, 7(4), 2952–2965.

@article{Ballotta20tnse-processingNetworks,
  title = {Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks},
  author = {Ballotta, L. and Schenato, L. and Carlone, L.},
  journal = {IEEE Transactions on Network Science and Engineering},
  note = {\linkToPdf{https://arxiv.org/pdf/1911.05859.pdf}},
  volume = {7},
  number = {4},
  pages = {2952--2965},
  pdf = {https://arxiv.org/pdf/1911.05859.pdf},
  year = {2020}
}

Yang, H., Shi, J., & Carlone, L. (2020). TEASER: Fast and Certifiable Point Cloud Registration. IEEE Trans. Robotics, 37(2), 314–333.

@article{Yang20tro-teaser,
  title = {{TEASER: Fast and Certifiable Point Cloud Registration}},
  author = {Yang, H. and Shi, J. and Carlone, L.},
  journal = {{IEEE} Trans. Robotics},
  volume = {37},
  number = {2},
  pages = {314--333},
  note = {extended arXiv version 2001.07715 \linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
  pdf = {https://arxiv.org/pdf/2001.07715.pdf},
  year = {2020}
}

Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2020). LQG Control and Sensing Co-Design. IEEE Trans. on Automatic Control.

@article{Tzoumas20tac-sLQG,
  author = {Tzoumas, V. and Carlone, L. and Pappas, G.J. and Jadbabaie, A.},
  fullauthor = {Vasileios Tzoumas and Luca Carlone and George J. Pappas and Ali Jadbabaie},
  title = {{LQG} Control and Sensing Co-Design},
  note = {arxiv preprint: 1709.08826,
  	\linkToPdf{https://arxiv.org/pdf/1709.08826.pdf}},
  pdf = {https://arxiv.org/pdf/1709.08826.pdf},
  journal = {IEEE Trans. on Automatic Control},
  year = {2020}
}

Yang, H., Antonante, P., Tzoumas, V., & Carlone, L. (2020). 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.

@article{Yang20ral-GNC,
  author = {Yang, H. and Antonante, P. and Tzoumas, V. and Carlone, L.},
  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},
  note = {arXiv preprint: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 = {{IEEE} Robotics and Automation Letters ({RA-L})},
  year = {2020}
}

Lajoie, P., Ramtoula, B., Chang, Y., Carlone, L., & Beltrame, G. (2020). DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. IEEE Robotics and Automation Letters (RA-L), 5(2), 1656–1663.

@article{Lajoie20ral-doorSLAM,
  author = {Lajoie, P. and Ramtoula, B. and Chang, Y. and Carlone, L. and Beltrame, G.},
  title = {{DOOR-SLAM:} Distributed, Online, and Outlier Resilient SLAM for Robotic Teams},
  note = {\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 = {{IEEE} Robotics and Automation Letters ({RA-L})},
  year = {2020}
}

Tagliabue, A., Torres, J. T., Cai, X., Santamaria-Navarro, A., How, J. P., Carlone, L., & Agha-mohammadi, A. (2020). LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. Intl. Sym. on Experimental Robotics (ISER).

@inproceedings{Tagliabue20iser-lion,
  title = {{LION:} Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments},
  author = {Tagliabue, A. and Torres, J. Tordesillas and Cai, X. and Santamaria-Navarro, A. and How, J.P. and Carlone, L. and Agha-mohammadi, A.},
  booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
  year = {2020}
}

Yang, H., & Carlone, L. (2020). One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. Conf. on Neural Information Processing Systems (NeurIPS), 33, 18846–18859. https://proceedings.neurips.cc/paper/2020/file/da6ea77475918a3d83c7e49223d453cc-Paper.pdf

@inproceedings{Yang20neurips-certifiablePerception,
  fullauthor = {Yang, Heng and Carlone, Luca},
  author = {Yang, H. and Carlone, L.},
  booktitle = {Conf. on Neural Information Processing Systems (NeurIPS)},
  pages = {18846--18859},
  title = {One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers},
  url = {https://proceedings.neurips.cc/paper/2020/file/da6ea77475918a3d83c7e49223d453cc-Paper.pdf},
  note = {\linkToPdf{https://arxiv.org/pdf/2006.06769.pdf}},
  pdf = {https://arxiv.org/pdf/2006.06769.pdf},
  volume = {33},
  year = {2020}
}

Milano, F., Loquercio, A., Rosinol, A., Scaramuzza, D., & Carlone, L. (2020). Primal-Dual Mesh Convolutional Neural Networks. Conf. on Neural Information Processing Systems (NeurIPS). https://doi.org/arxiv-2010.12455

@inproceedings{Milano20neurips-PDMeshNet,
  title = {Primal-Dual Mesh Convolutional Neural Networks},
  author = {Milano, F. and Loquercio, A. and Rosinol, A. and Scaramuzza, D. and Carlone, L.},
  booktitle = {Conf. on Neural Information Processing Systems (NeurIPS)},
  year = {2020},
  code = {https://github.com/MIT-SPARK/PD-MeshNet},
  pdf = {https://proceedings.neurips.cc/paper/2020/file/0a656cc19f3f5b41530182a9e03982a4-Paper.pdf},
  doi = {arxiv-2010.12455}
}

Dellaert, F., Rosen, D. M., Wu, J., Mahony, R., & Carlone, L. (2020). Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n. European Conf. on Computer Vision (ECCV).

@inproceedings{Dellaert20eccv-shonan,
  title = {Shonan Rotation Averaging: Global Optimality by Surfing {$SO(p)^n$}},
  author = {Dellaert, F. and Rosen, D.M. and Wu, J. and Mahony, R. and Carlone, L.},
  booktitle = {European Conf. on Computer Vision (ECCV)},
  note = {accepted as spotlight presentation (acceptance rate $5\%$) \linkToPdf{https://arxiv.org/pdf/2008.02737.pdf}, \linkToWeb{https://dellaert.github.io/ShonanAveraging/}},
  pdf = {https://arxiv.org/pdf/2008.02737.pdf},
  year = {2020}
}

Gupta, A., & Carlone, L. (2020). Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. Intl. Conf. on Intelligent Transportation Systems.

@inproceedings{Gupta20itsc-atom,
  title = {Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation},
  author = {Gupta, A. and Carlone, L.},
  booktitle = {Intl. Conf. on Intelligent Transportation Systems},
  note = {\linkToPdf{https://arxiv.org/pdf/2005.05451.pdf}},
  pdf = {https://arxiv.org/pdf/2005.05451.pdf},
  year = {2020}
}

Ballotta, L., Schenato, L., & Carlone, L. (2020). From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency. IFAC World Congress.

@inproceedings{Ballotta20ifac-processingNetworks,
  title = {From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency},
  author = {Ballotta, L. and Schenato, L. and Carlone, L.},
  note = {arXiv preprint: 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}
}

Rosinol, A., Gupta, A., Abate, M., Shi, J., & Carlone, L. (2020). 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. Robotics: Science and Systems (RSS). https://doi.org/10.15607/RSS.2020.XVI.079

@inproceedings{Rosinol20rss-dynamicSceneGraphs,
  title = {{3D} Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},
  author = {Rosinol, A. and Gupta, A. and Abate, M. and Shi, J. and Carlone, L.},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = {2020},
  pdf = {https://arxiv.org/pdf/2002.06289.pdf},
  url = {http://news.mit.edu/2020/robots-spatial-perception-0715},
  video = {https://www.youtube.com/watch?v=SWbofjhyPzI},
  doi = {10.15607/RSS.2020.XVI.079},
  note = {\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}}
}

Rosinol, A., Abate, M., Chang, Y., & Carlone, L. (2020). Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA40945.2020.9196885

@inproceedings{Rosinol20icra-Kimera,
  title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
  author = {Rosinol, A. and Abate, M. and Chang, Y. and Carlone, L.},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2020},
  pdf = {https://arxiv.org/pdf/1910.02490.pdf},
  video = {https://www.youtube.com/watch?v=-5XxXRABXJs},
  code = {https://github.com/MIT-SPARK/Kimera},
  doi = {10.1109/ICRA40945.2020.9196885},
  note = {arXiv preprint: 1910.02490,
  	\linkToVideo{https://www.youtube.com/watch?v=-5XxXRABXJs},
  	\linkToCode{https://github.com/MIT-SPARK/Kimera},
  	\linkToPdf{https://arxiv.org/pdf/1910.02490.pdf}}
}

Ebadi, K., Chang, Y., Palieri, M., Stephens, A., Hatteland, A., Heiden, E., Thakur, A., Morrell, B., Carlone, L., & Aghamohammadi, A. (2020). LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Ebadi20icra-LAMP,
  author = {Ebadi, K. and Chang, Y. and Palieri, M. and Stephens, A. and Hatteland, A. and Heiden, E. and Thakur, A. and Morrell, B. and Carlone, L. and Aghamohammadi, A.},
  title = {{LAMP:} Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2020}
}

Yang, H., & Carlone, L. (2020). In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR).

@inproceedings{Yang20cvpr-shapeStar,
  title = {In Perfect Shape: Certifiably Optimal {3D} Shape Reconstruction from {2D} Landmarks},
  author = {Yang, H. and Carlone, L.},
  booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)},
  note = {Arxiv version: 1911.11924, \linkToPdf{https://arxiv.org/pdf/1911.11924.pdf}},
  pdf = {https://arxiv.org/pdf/1911.11924.pdf},
  year = {2020}
}

2019

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).

@article{Lajoie19ral-DCGM,
  author = {Lajoie, P. and Hu, S. and Beltrame, G. and Carlone, L.},
  title = {Modeling Perceptual Aliasing in {SLAM} via Discrete-Continuous Graphical Models},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {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}
}

Hu, S., & Carlone, L. (2019). Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. IEEE Robotics and Automation Letters (RA-L).

@article{Hu19ral-fuses,
  author = {Hu, S. and Carlone, L.},
  title = {Accelerated Inference in {Markov Random Fields} via Smooth {Riemannian} Optimization},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  note = {extended ArXiv version:
  	\linkToPdf{https://arxiv.org/pdf/1810.11689.pdf}},
  pdf = {https://arxiv.org/pdf/1810.11689.pdf},
  year = {2019}
}

Suleiman, A., Zhang, Z., Carlone, L., Karaman, S., & Sze, V. (2019). 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).

@article{Suleiman19jssc-navion,
  author = {Suleiman, A. and Zhang, Z. and Carlone, L. and Karaman, S. and Sze, V.},
  volume = {54},
  number = {4},
  title = {Navion: A {2mW} Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones},
  note = {\linkToPdf{https://lnkd.in/gcGDz5z}},
  pdf = {https://arxiv.org/pdf/1810.11689.pdf},
  journal = {IEEE Journal of Solid-State Circuits},
  year = {2019}
}

Rosinol, A., Sattler, T., Pollefeys, M., & Carlone, L. (2019). Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. IEEE Intl. Conf. on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2019.8794456

@inproceedings{Rosinol19icra-mesh,
  author = {Rosinol, A. and Sattler, T. and Pollefeys, M. and Carlone, L.},
  title = {Incremental {V}isual-{I}nertial {3D} {M}esh {G}eneration with {S}tructural {R}egularities},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2019},
  pdf = {https://arxiv.org/pdf/1903.01067.pdf},
  video = {https://www.youtube.com/watch?v=C5fFDEJ9cFQ},
  url = {https://www.mit.edu/\%7Earosinol/research/struct3dmesh.html},
  doi = {10.1109/ICRA.2019.8794456},
  note = {\linkToPdf{https://arxiv.org/pdf/1903.01067.pdf},
  	\linkToWeb{https://www.mit.edu/~arosinol/research/struct3dmesh.html}}
}

Yang, H., & Carlone, L. (2019). A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers. Intl. Conf. on Computer Vision (ICCV).

@inproceedings{Yang19iccv-QUASAR,
  title = {A Quaternion-based Certifiably Optimal Solution to the {Wahba} Problem with Outliers},
  author = {Yang, H. and Carlone, L.},
  fullauthor = {Yang, Heng and Carlone, Luca},
  booktitle = {Intl. Conf. on Computer Vision (ICCV)},
  note = {(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}
}

Yang, H., & Carlone, L. (2019). A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. Robotics: Science and Systems (RSS).

@inproceedings{Yang19rss-teaser,
  author = {Yang, H. and Carlone, L.},
  title = {A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates},
  note = {\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 = {Robotics: Science and Systems (RSS)},
  pdf = {http://rss2019.informatik.uni-freiburg.de/papers/0013_FI.pdf},
  year = {2019}
}

Tzoumas, V., Antonante, P., & Carlone, L. (2019). Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

@inproceedings{Tzoumas19iros-outliers,
  author = {Tzoumas, V. and Antonante, P. and Carlone, L.},
  title = {Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees},
  note = {Extended arxiv version: 1903.11683, \linkToPdf{https://arxiv.org/pdf/1903.11683.pdf}},
  pdf = {https://arxiv.org/pdf/1903.11683.pdf},
  booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
  year = {2019}
}

Carlone, L., & Pinciroli, C. (2019). Robot Co-design: Beyond the Monotone Case. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@inproceedings{Carlone19icra-codesign,
  author = {Carlone, L. and Pinciroli, C.},
  title = {Robot Co-design: Beyond the Monotone Case},
  note = {Extended arxiv version: 1902.05880, \linkToPdf{https://arxiv.org/pdf/1902.05880.pdf}},
  pdf = {https://arxiv.org/pdf/1902.05880.pdf},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2019}
}

2018

Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2018). Sensing-Constrained LQG Control. American Control Conference, 197–202.

@inproceedings{Tzoumas18acc-sLQG,
  author = {Tzoumas, V. and Carlone, L. and Pappas, G.J. and Jadbabaie, A.},
  fullauthor = {Vasileios Tzoumas and Luca Carlone and George J. Pappas and Ali Jadbabaie},
  title = {Sensing-Constrained {LQG} Control},
  note = {arxiv preprint: 1709.08826, \linkToPdf{https://arxiv.org/pdf/1709.08826.pdf}},
  pdf = {https://arxiv.org/pdf/1709.08826.pdf},
  booktitle = {American Control Conference},
  address = {Milwaukee, WI},
  month = jun,
  pages = {197--202},
  year = {2018}
}

Ma, F., Carlone, L., Ayaz, U., & Karaman, S. (2018). Sparse Depth Sensing for Resource-Constrained Robot Perception. Intl. J. of Robotics Research.

@article{Ma18ijrr-sparseSensing,
  author = {Ma, F. and Carlone, L. and Ayaz, U. and Karaman, S.},
  title = {Sparse Depth Sensing for Resource-Constrained Robot Perception},
  journal = {Intl. J. of Robotics Research},
  note = {arxiv preprint: 1703.01398,
  	\linkToPdf{https://arxiv.org/pdf/1703.01398.pdf}},
  pdf = {https://arxiv.org/pdf/1703.01398.pdf},
  year = {2018}
}

Carlone, L., & Karaman, S. (2018). Attention and Anticipation in Fast Visual-Inertial Navigation. IEEE Trans. Robotics.

@article{Carlone18tro-attentionVIN,
  author = {Carlone, L. and Karaman, S.},
  title = {Attention and Anticipation in Fast Visual-Inertial Navigation},
  journal = {{IEEE} Trans. Robotics},
  note = {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}
}

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.

@article{Rosen18ijrr-sesync,
  author = {Rosen, D.M. and Carlone, L. and Bandeira, A.S. and Leonard, J.J.},
  title = {{SE-Sync}: a certifiably correct algorithm for synchronization over the
  	{Special Euclidean} group},
  journal = {Intl. J. of Robotics Research},
  note = {arxiv preprint: 1611.00128,
  	\linkToPdf{https://arxiv.org/abs/1611.00128}},
  pdf = {https://arxiv.org/abs/1611.00128},
  year = {2018}
}

Carlone, L., & Calafiore, G. (2018). Convex Relaxations for Pose Graph Optimization with Outliers. IEEE Robotics and Automation Letters (RA-L), 3(2), 1160–1167.

@article{Carlone18ral-robustPGO2D,
  author = {Carlone, L. and Calafiore, G.},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  title = {Convex Relaxations for Pose Graph Optimization with Outliers},
  volume = {3},
  number = {2},
  pages = {1160--1167},
  note = {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}
}

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.

@incollection{Carlone18chapter-optimalSearch,
  author = {Carlone, L. and Axelrod, A. and Karaman, S. and Chowdhary, G.},
  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},
  note = {\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}
}

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.

@incollection{Axelrod18chapter-evar,
  author = {Axelrod, A.M. and Carlone, L. and Chowdhary, G. and Karaman, S.},
  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}
}

Rosinol, A. (2018). Densifying Sparse VIO: a mesh-based approach using Structural Regularities [Master's thesis, ETH Zurich]. https://doi.org/10.3929/ethz-b-000297645

@mastersthesis{Rosinol18thesis,
  author = {Rosinol, A.},
  title = {{D}ensifying {S}parse {VIO}: a mesh-based approach using {S}tructural {R}egularities},
  year = {2018},
  language = {en},
  copyright = {Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International},
  keywords = {Visual Inertial Odometry; Dense Mapping; State Estimation; SLAM; Robotics},
  doi = {10.3929/ethz-b-000297645},
  school = {ETH Zurich},
  pdf = {https://www.research-collection.ethz.ch/handle/20.500.11850/297645},
  note = {\linkToPdf{https://www.research-collection.ethz.ch/handle/20.500.11850/297645}}
}

Rosinol, A., Rebecq, H., Horstschaefer, T., & Scaramuzza, D. (2018). Ultimate SLAM? Combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios. IEEE Robotics and Automation Letters, 3(2), 994–1001. https://doi.org/10.1109/LRA.2018.2793357

@article{Rosinol18ral-ultimate,
  title = {{U}ltimate {SLAM}? {C}ombining events, images, and {IMU} for robust visual {SLAM} in {HDR} and high-speed scenarios},
  author = {Rosinol, A. and Rebecq, H. and Horstschaefer, T. and Scaramuzza, D.},
  journal = {IEEE Robotics and Automation Letters},
  volume = {3},
  number = {2},
  doi = {10.1109/LRA.2018.2793357},
  video = {https://www.youtube.com/watch?v=jIvJuWdmemE},
  pdf = {https://arxiv.org/abs/1709.06310},
  pages = {994--1001},
  year = {2018},
  publisher = {IEEE},
  url = {http://rpg.ifi.uzh.ch/ultimateslam.html},
  award = {Best Paper Award 
 Finalist},
  note = {\linkToPdf{https://arxiv.org/abs/1709.06310},
  	\linkToWeb{http://rpg.ifi.uzh.ch/ultimateslam.html}}
}

Suleiman, A., Zhang, Z., Carlone, L., Karaman, S., & Sze, V. (2018). Navion: An Energy-Efficient Visual-Inertial Odometry Accelerator for Micro Robotics and Beyond. IEEE Hot Chips: A Symposium for High-Performance Chips.

@inproceedings{Suleiman18hc-navion,
  author = {Suleiman, A. and Zhang, Z. and Carlone, L. and Karaman, S. and Sze, V.},
  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}
}

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. IEEE Symposium on VLSI Circuits (VLSI-Circuits).

@inproceedings{Suleiman18vlsi-navion,
  author = {Suleiman, A. and Zhang, Z. and Carlone, L. and Karaman, S. and Sze, V.},
  title = {Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones},
  note = {\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}
}

Sayre-McCord, R. T., Guerra, W., Antonini, A., Arneberg, J., Brown, A., Cavalheiro, G., Fang, Y., Gorodetsky, A., McCoy, D., Quilter, S., Riether, F., Tal, E., Terzioglu, Y., Carlone, L., & Karaman, S. (2018). Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop. IEEE Intl. Conf. on Robotics and Automation (ICRA).

@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 = {Sayre-McCord, R.T. and Guerra, W. and Antonini, A. and Arneberg, J. and Brown, A. and Cavalheiro, G. and Fang, Y. and Gorodetsky, A. and McCoy, D. and Quilter, S. and Riether, F. and Tal, E. and Terzioglu, Y. and Carlone, L. and Karaman, S.},
  note = {
  	\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 = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2018}
}