Publications

2022

  1. Talak, R., Peng, L., & Carlone, L. (2022). Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception. ArXiv Preprint ArXiv: 2206.11215.
  2. 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 ArXiv: 2206.12498.
  3. Antonante, P., Nilsen, H., & Carlone, L. (2022). Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification. ArXiv Preprint ArXiv: 2205.10906.
  4. 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 ArXiv: 2206.04585.
  5. 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.
  6. 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.
  7. 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.
  8. 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).
  9. 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).
  10. 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).

2021

  1. 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 ArXiv: 2109.12343.
  2. Yang, H., Liang, L., Carlone, L., & Toh, K. (2021). An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization. ArXiv Preprint ArXiv: 2105.14033.
  3. Talak, R., Hu, S., Peng, L., & Carlone, L. (2021). Neural Trees for Learning on Graphs. ArXiv Preprint ArXiv: 2105.07264.
  4. Fishman, J., Ubellacker, S., Hughes, N., & Carlone, L. (2021). Dynamic Grasping with a “Soft” Drone: From Theory to Practice. ArXiv Preprint ArXiv: 2103.06465.
  5. Yang, H., & Carlone, L. (2021). Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization. IEEE Trans. Pattern Anal. Machine Intell.
  6. Tian, Y., Chang, Y., Arias, F. H., Nieto-Granda, C., How, J. P., & Carlone, L. (2021). Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. IEEE Trans. Robotics.
  7. 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.
  8. A. Agha et al. (2021). NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. Journal of Field Robotics.
  9. 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.
  10. 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.
  11. Talak, R., Hu, S., Peng, L., & Carlone, L. (2021). Neural Trees for Learning on Graphs. Conf. on Neural Information Processing Systems (NeurIPS).
  12. 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).
  13. 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).
  14. Antonante, P., Spivak, D. I., & Carlone, L. (2021). Monitoring and Diagnosability of Perception Systems. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).
  15. 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).
  16. Shi, J., Yang, H., & Carlone, L. (2021). Optimal Pose and Shape Estimation for Category-level 3D Object Perception. Robotics: Science and Systems (RSS).
  17. Yang, H., Dong, W., Carlone, L., & Koltun, V. (2021). Self-supervised Geometric Perception. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR).
  18. 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).
  19. 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).
  20. Fishman, J., & Carlone, L. (2021). Control and Trajectory Optimization for Soft Aerial Manipulation. IEEE Aerospace Conference.

2020

  1. Shi, J., Yang, H., & Carlone, L. (2020). ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. ArXiv Preprint ArXiv: 2011.03659.
  2. Antonante, P., Spivak, D. I., & Carlone, L. (2020). Monitoring and Diagnosability of Perception Systems. ArXiv Preprint ArXiv: 2011.07010.
  3. Antonante, P., Spivak, D. I., & Carlone, L. (2020). Monitoring and Diagnosability of Perception Systems. ArXiv Preprint ArXiv: 2005.11816.
  4. Fishman, J., & Carlone, L. (2020). Control and Trajectory Optimization for Soft Aerial Manipulation. ArXiv Preprint ArXiv: 2004.04238.
  5. Yang, H., Shi, J., & Carlone, L. (2020). TEASER: Fast and Certifiable Point Cloud Registration. ArXiv Preprint ArXiv: 2001.07715.
  6. 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.
  7. Yang, H., Shi, J., & Carlone, L. (2020). TEASER: Fast and Certifiable Point Cloud Registration. IEEE Trans. Robotics, 37(2), 314–333.
  8. Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2020). LQG Control and Sensing Co-Design. IEEE Trans. on Automatic Control.
  9. 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.
  10. 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.
  11. 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).
  12. 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
  13. 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
  14. 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).
  15. Gupta, A., & Carlone, L. (2020). Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. Intl. Conf. on Intelligent Transportation Systems.
  16. Ballotta, L., Schenato, L., & Carlone, L. (2020). From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency. IFAC World Congress.
  17. 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
  18. 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
  19. 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).
  20. 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).

2019

  1. 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).
  2. Hu, S., & Carlone, L. (2019). Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. IEEE Robotics and Automation Letters (RA-L).
  3. 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).
  4. 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
  5. Yang, H., & Carlone, L. (2019). A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers. Intl. Conf. on Computer Vision (ICCV).
  6. Yang, H., & Carlone, L. (2019). A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. Robotics: Science and Systems (RSS).
  7. 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).
  8. Carlone, L., & Pinciroli, C. (2019). Robot Co-design: Beyond the Monotone Case. IEEE Intl. Conf. on Robotics and Automation (ICRA).

2018

  1. Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2018). Sensing-Constrained LQG Control. American Control Conference, 197–202.
  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. 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
  9. 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
  10. 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.
  11. 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).
  12. 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).