Publications

2019

1. Tzoumas, V., Antonante, P., & Carlone, L. (2019). Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
   Bibtex

   @techreport{Tzoumas19tr-adapt,
     author = {Tzoumas, V. and Antonante, P. and Carlone, L.},
     title = {Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees},
     year = {2019}
   }
   

2. Yang, H., & Carlone, L. (2019). A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates.
   Bibtex

   @techreport{Yang19tr-teaser,
     author = {Yang, H. and Carlone, L.},
     title = {A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates},
     note = {arxiv preprint: 1903.08588,
     	\linkToPdf{https://arxiv.org/pdf/1903.08588.pdf}},
     pdf = {https://arxiv.org/pdf/1903.08588.pdf},
     year = {2019}
   }
   

3. Tzoumas, V., Carlone, L., Pappas, G. J., & Jadbabaie, A. (2019). Sensing-Constrained LQG Control.
   Bibtex

   @techreport{Tzoumas17tr-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},
     year = {2019}
   }
   

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).
   Bibtex

   @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}
   }
   

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

   @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}
   }
   

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).
   Bibtex

   @inproceedings{Rosinol19icra-mesh,
     author = {Rosinol, A. and Sattler, T. and Pollefeys, M. and Carlone, L.},
     title = {Incremental Visual-Inertial {3D} Mesh Generation with Structural Regularities},
     note = {Extended arxiv version: 1903.01067, \linkToPdf{https://arxiv.org/pdf/1903.01067.pdf}, 
     		\linkToWeb{https://www.mit.edu/~arosinol/research/struct3dmesh.html}},
     pdf = {https://arxiv.org/pdf/1903.01067.pdf},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     year = {2019}
   }
   

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

   @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

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

   @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}
   }
   

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

   @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}
   }
   

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

   @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}
   }
   

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.
   Bibtex

   @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 = {accepted, arxiv preprint: 1611.00128,
     	\linkToPdf{https://arxiv.org/abs/1611.00128}},
     pdf = {https://arxiv.org/abs/1611.00128},
     year = {2018}
   }
   

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.
   Bibtex

   @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}
   }
   

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.
   Bibtex

   @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}
   }
   

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.
   Bibtex

   @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}
   }
   

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.
   Bibtex

   @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}
   }
   

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).
   Bibtex

   @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{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}
   }
   

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.
    Bibtex

    @article{Suleiman18jssc-navion,
      author = {Suleiman, A. and Zhang, Z. and Carlone, L. and Karaman, S. and Sze, V.},
      title = {Navion: A {2mW} Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones},
      journal = {IEEE Journal of Solid-State Circuits},
      year = {2018}
    }
    

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).
    Bibtex

    @inproceedings{SayreMcCord18icra-droneSystem,
      fullauthor = {Roswell Thomas Sayre-McCord*, Winter Guerra, Amado Antonini, Jasper Arneberg, Austin Brown, Guilherme Cavalheiro, Yajun Fang, Alex Gorodetsky, Dave McCoy, Sebastian Quilter, Fabian Riether, Ezra Tal, Yunus Terzioglu, Luca Carlone, Sertac Karaman},
      author = {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}
    }
    

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.
   Bibtex

   @inproceedings{Carlone17icra-vioAttention,
     author = {Carlone, L. and Karaman, S.},
     title = {Attention and Anticipation in Fast Visual-Inertial Navigation},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     pages = {3886--3893},
     month = may,
     address = {Singapore},
     note = {extended arxiv preprint: 1610.03344 \linkToPdf{https://arxiv.org/pdf/1610.03344.pdf}},
     pdf = {https://arxiv.org/pdf/1610.03344.pdf},
     year = {2017}
   }
   

2. Chiu, H.-P., Carlone, L., Dellaert, F., Samarasekera, S., & Kumar, R. (2017). Plug-and-Play Navigation Using Factor Graphs.
   Bibtex

   @techreport{Chiu17tr-plugAndPlayNav,
     author = {Chiu, H-P. and Carlone, L. and Dellaert, F. and Samarasekera, S. and Kumar, R.},
     title = {Plug-and-Play Navigation Using Factor Graphs},
     year = {2017}
   }
   

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.
   Bibtex

   @article{Choudhary17ijrr-distributedPGO3D,
     author = {Choudhary, S. and Carlone, L. and Nieto, C. and Rogers, J. and Christensen, H.I. and Dellaert, F.},
     journal = {Intl. J. of Robotics Research},
     title = {Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, accepted},
     note = {arxiv preprint: 1702.03435,
     	\linkToPdf{http://arxiv.org/abs/1702.03435}
     	\linkToWeb{https://www.economist.com/science-and-technology/2017/12/14/military-robots-are-getting-smaller-and-more-capable}
     	\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
     	\linkToCode{https://github.com/uzh-rpg/dslam_open} 
     	\linkToCode{https://bitbucket.org/itzsid/object_slam/src/demo/cpp/ros/runDistributedORBSLAM_ROS_Robot.cpp} 
     	\linkToVideo{https://youtu.be/nXJamypPvVY} 
     	\linkToVideo{https://youtu.be/nYm2sSHuGjo}
     	\linkToVideo{https://youtu.be/urZiIJK2IYk} 
     	\linkToVideo{https://youtu.be/-F6JpVmOrc0}},
     pdf = {http://arxiv.org/abs/1702.03435},
     year = {2017}
   }
   

4. Rosen, D. M., & Carlone, L. (2017). Computational Enhancements for Certifiably Correct SLAM. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).
   Bibtex

   @inproceedings{Rosen17irosws-SEsyncImplementation,
     author = {Rosen, D.M. and Carlone, L.},
     title = {Computational Enhancements for Certifiably Correct {SLAM}},
     booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
     note = {Workshop on ``Introspective Methods for Reliable Autonomy'', \linkToPdf{https://www.dropbox.com/s/m4oxua0n1cr73d8/2017c-irosws-SEsyncImplementation.pdf?dl=0}},
     pdf = {https://www.dropbox.com/s/m4oxua0n1cr73d8/2017c-irosws-SEsyncImplementation.pdf?dl=0},
     year = {2017}
   }
   

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).
   Bibtex

   @inproceedings{Zhang17rss-vioChip,
     author = {Zhang, Z. and Suleiman, A. and Carlone, L. and Sze, V. and Karaman, S.},
     title = {Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach},
     booktitle = {Robotics: Science and Systems (RSS)},
     note = {\linkToPdf{http://rss2017.lids.mit.edu/static/papers/74.pdf}
       	\linkToWeb{http://navion.mit.edu/}, highlighted in the MIT News:
     	\linkToWeb{http://news.mit.edu/2017/miniaturizing-brain-smart-drones-0712}},
     pdf = {http://www.roboticsconference.org/static/papers/74.pdf},
     year = {2017}
   }
   

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).
   Bibtex

   @inproceedings{Singh17acc-submodularity,
     author = {Singh, P. and Chen, M. and Carlone, L. and Karaman, S. and Frazzoli, E. and Hsu, D.},
     title = {Supermodular Mean Squared Error Minimization for Sensor Scheduling in 		Optimal {Kalman Filtering}},
     booktitle = {American Control Conference},
     pages = {5787--5794},
     note = {\linkToPdf{https://www.dropbox.com/s/wyv7vzd8wolndc2/2017c-acc-submodularSensorScheduling.pdf?dl=0}},
     pdf = {https://www.dropbox.com/s/wyv7vzd8wolndc2/2017c-acc-submodularSensorScheduling.pdf?dl=0},
     year = {2017}
   }
   

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).
   Bibtex

   @inproceedings{Paull17icra-duckietown,
     author = {Paull, L. and Tani, J. and Ahn, H. and Alonso-Mora, J. and Carlone, L. and Cap, M. and Chen, Y.F. and Choi, C. and Dusek, J. and Fang, Y. and Hoehener, D. and Liu, S.-Y. and Novitzky, M. and Okuyama, I.F. and Pazis, J. and Rosman, G. and Varricchio, V. and Wang, H.-C. and Yershov, D. and Zhao, H. and Benjamin, M. and Carr, C. and Zuber, M. and Karaman, S. and Frazzoli, E. and Del~Vecchio, D. and Rus, D. and How, J. and Leonard, J. and Censi, A.},
     title = {Duckietown: an Open,  Inexpensive and Flexible and Capable  
     			Platform for Autonomy Education and Research},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     pages = {1497--1504},
     note = {\linkToPdf{https://www.dropbox.com/s/idqg2r2613anc07/2017c-icra-teachingDuckietown.pdf?dl=0}},
     pdf = {https://www.dropbox.com/s/idqg2r2613anc07/2017c-icra-teachingDuckietown.pdf?dl=0},
     year = {2017}
   }
   

2016

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.
   Bibtex

   @inproceedings{Rosen16wafr-sesync,
     author = {Rosen, D.M. and Carlone, L. and Bandeira, A.S. and Leonard, J.J.},
     booktitle = {Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR)},
     title = {{SE-Sync}: A Certifiably Correct Algorithm for Synchronization over the {Special Euclidean} Group},
     month = dec,
     address = {San Francisco, CA},
     note = {
     	extended arxiv preprint: 1611.00128,
     	\linkToPdf{http://arxiv.org/abs/1611.00128}
     	\linkToPdf{http://wafr2016.berkeley.edu/papers/WAFR_2016_paper_138.pdf}
     	\linkToCode{https://github.com/david-m-rosen/SE-Sync}\award{, best paper award}},
     pdf = {http://arxiv.org/abs/1611.00128},
     year = {2016}
   }
   

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
   Bibtex

   @article{Cadena16tro-SLAMsurvey,
     author = {Cadena, C. and Carlone, L. and Carrillo, H. and Latif, Y. and Scaramuzza, D. and Neira, J. and Reid, I. and Leonard, J. J.},
     journal = {{IEEE} Trans. Robotics},
     title = {Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age},
     volume = {32},
     number = {6},
     pages = {1309-1332},
     keywords = {SLAM (robots);SLAM community;SLAM users;critical eye;long-term mapping;semantic representations;simultaneous-localization-and-mapping;Graph theory;Localization;Robustness;Service robots;Simultaneous location and mapping;Factor graphs;localization;mapping;maximum a posteriori estimation;perception;robots;sensing;simultaneous localization and mapping (SLAM)},
     doi = {10.1109/TRO.2016.2624754},
     issn = {1552-3098},
     pdf = {https://arxiv.org/abs/1606.05830},
     note = {arxiv preprint: 1606.05830, 
     	\linkToPdf{https://arxiv.org/abs/1606.05830}},
     year = {2016}
   }
   

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.
   Bibtex

   @article{Carlone16tro-duality2D,
     author = {Carlone, L. and Calafiore, G. and Tommolillo, C. and Dellaert, F.},
     journal = {{IEEE} Trans. Robotics},
     title = {Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification},
     volume = {32},
     number = {3},
     pages = {545--565},
     note = {\linkToPdf{https://www.dropbox.com/s/peoktkct0cw42av/2015j-TRO-dualityPGO2D.pdf?dl=0}
     	\linkToCode{https://www.bitbucket.org/lucacarlone/pgo2d-duality-opencode}},
     pdf = {https://www.dropbox.com/s/peoktkct0cw42av/2015j-TRO-dualityPGO2D.pdf?dl=0},
     year = {2016}
   }
   

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.
   Bibtex

   @incollection{Calafiore16opt-dualityPGO2D,
     author = {Calafiore, G. and Carlone, L. and Dellaert, F.},
     title = {Lagrangian Duality in Complex Pose Graph Optimization},
     editor = {Goldengorin, Boris},
     booktitle = {Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak's 80th Birthday},
     publisher = {Springer Optimization and Its Applications},
     volume = {115},
     year = {2016},
     note = {\linkToPdf{http://www.springer.com/us/book/9783319420547}},
     pdf = {http://www.springer.com/us/book/9783319420547},
     pages = {139--184},
     chapter = {10}
   }
   

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.).
   Bibtex

   @aarticle{aCalafiore16opt-dualityPGO2D,
     author = {Calafiore, G.C. and Carlone, L. and Dellaert, F.},
     journal = {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.)},
     volume = {115},
     pages = {139--184},
     title = {Lagrangian Duality in Complex Pose Graph Optimization},
     note = {\linkToPdf{http://www.springer.com/us/book/9783319420547}},
     pdf = {http://www.springer.com/us/book/9783319420547},
     year = {2016}
   }
   

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).
   Bibtex

   @inproceedings{Ma16iros-sparseSensing,
     author = {Ma, F. and Carlone, L. and Ayaz, U. and Karaman, S.},
     booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
     pages = {96--103},
     title = {Sparse Sensing for Resource-Constrained Depth Reconstruction},
     note = {
     	\linkToPdf{https://www.dropbox.com/s/pajli7dc5ytaix5/2016c-IROS-sparseSensing.pdf?dl=0}
     	\linkToVideo{https://www.youtube.com/watch?v=SazG6aljGSc}
     	\linkToCode{https://github.mit.edu/sparseSensing/sparse-depth-sensing}
     	(supplemental material: 
      	\linkToPdf{https://www.dropbox.com/s/5mdiozmw1ehcuth/2016c-IROS-sparseSensing-supplemental.pdf?dl=0})},
     pdf = {https://www.dropbox.com/s/pajli7dc5ytaix5/2016c-IROS-sparseSensing.pdf?dl=0},
     year = {2016}
   }
   

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).
   Bibtex

   @inproceedings{Choudhary16iser-multiRobotPGO3D,
     author = {Choudhary, S. and Carlone, L. and Nieto, C. and Rogers, J. and Liu, Z. and Christensen, H.I. and Dellaert, F.},
     booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
     title = {Multi Robot Object-based {SLAM}},
     note = {
             \linkToPdf{https://www.dropbox.com/s/27w4junpejskbqg/2016c-ISER-objectBasedMultiRobot.pdf?dl=0}
      		\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
     		\linkToVideo{https://youtu.be/nXJamypPvVY} 
     		\linkToVideo{https://youtu.be/nYm2sSHuGjo}
     		\linkToVideo{https://youtu.be/urZiIJK2IYk} 
     		\linkToVideo{https://youtu.be/-F6JpVmOrc0}
             },
     pdf = {https://www.dropbox.com/s/27w4junpejskbqg/2016c-ISER-objectBasedMultiRobot.pdf?dl=0},
     year = {2016}
   }
   

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).
   Bibtex

   @inproceedings{Axelrod16cdc-evar,
     author = {Axelrod, A. and Carlone, L. and Chowdhary, G. and Karaman, S.},
     booktitle = {IEEE Conf. on Decision and Control (CDC)},
     pages = {5833--5838},
     title = {Data-driven Prediction of {EVAR} with Confidence in 
     	Time-varying Datasets},
     year = {2016}
   }
   

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).
   Bibtex

   @inproceedings{Choudhary16icra-multiRobotPGO3D,
     author = {Choudhary, S. and Carlone, L. and Nieto, C. and Rogers, J. and Christensen, H.I. and Dellaert, F.},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     pages = {5261--5268},
     title = {Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed {G}auss-{S}eidel Approach},
     note = {
     	\linkToPdf{https://www.dropbox.com/s/t4ytage7l32wiij/2016c-ICRA-multiRobotPGO3D.pdf?dl=0}
      	\linkToCode{https://cognitiverobotics.github.io/distributed-mapper/}
     	\linkToVideo{http://bit.ly/1QY5w00}
     	},
     pdf = {https://www.dropbox.com/s/t4ytage7l32wiij/2016c-ICRA-multiRobotPGO3D.pdf?dl=0},
     year = {2016}
   }
   

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.
    Bibtex

    @article{Forster16tro,
      author = {Forster, C. and Carlone, L. and Dellaert, F. and Scaramuzza, D.},
      journal = {{IEEE} Trans. Robotics},
      title = {On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation},
      volume = {33},
      number = {1},
      pages = {1--21},
      note = {arxiv preprint: 1512.02363, \linkToPdf{http://arxiv.org/abs/1512.02363},
      	technical report GT-IRIM-CP\&R-2015-001\award{, Transactions on Robotics Best paper award}},
      pdf = {http://arxiv.org/abs/1512.02363},
      year = {2016}
    }
    

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).
    Bibtex

    @iinproceedings{Carlone16dddas-aidedOptimalSearch,
      author = {Carlone, L. and Axelrod, A. and Karaman, S. and Chowdhary, G.},
      booktitle = {Intl. Conf. on Dynamic Data Driven Applications Systems (DDDAS)},
      title = {Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations},
      year = {2016}
    }