Publications

BibTeX

@article{autoinspecttowa-2025/7,
  title={AutoInspect: towards long-term autonomous inspection and monitoring},
  author={Staniaszek M, Flatscher T, Rowell J, Niu H, Liu W et al.},
  journal={IEEE Transactions on Field Robotics},
  publisher={IEEE},
  year = "2025"
}

BibTeX

@article{theoxfordrobotc-2025/5,
  title={The Oxford RobotCycle Project: A Multimodal Urban Cycling Dataset for Assessing the Safety of Vulnerable Road Users},
  author={Panagiotaki E, Thuremella D, Baghabrah J, Sze S, Fu LFT et al.},
  journal={IEEE Transactions on Field Robotics},
  volume={PP},
  pages={1-1},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2025"
}

BibTeX

@article{bayesianradarco-2025/3,
  title={Bayesian Radar Cosplace: Directly estimating location uncertainty in radar place recognition},
  author={Agarwal S, Yuan J, Newman P, De Martini D & Gadd M},
  journal={IET Radar Sonar & Navigation},
  volume={19},
  publisher={Institution of Engineering and Technology (IET)},
  year = "2025"
}

@inproceedings{tinylidarsforma-2025/3,
  title={Tiny Lidars for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments},
  author={Caroleo G, Albini A, De Martini D, Barfoot TD & Maiolino P},
  booktitle={IEEE/RSJ International Conference  on Intelligent Robots and Systems},
  year = "2025"
}

BibTeX

@inproceedings{neuralfloorscon-2024/12,
  title={NeuralFloors++: consistent street-level scene generation from BEV semantic maps},
  author={Musat V, De Martini D, Gadd M & Newman P},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={12872-12879},
  year = "2024"
}

@inproceedings{graphsceneondem-2024/10,
  title={GraphSCENE: On-Demand Critical Scenario Generation for Autonomous
  Vehicles in Simulation},
  author={Panagiotaki E, Pramatarov G, Kunze L & Martini DD},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = "2024"
}

@misc{naricpneuralexe-2024/10,
  title={NAR-*ICP: Neural Execution of Classical ICP-based Pointcloud Registration Algorithms},
  author={Panagiotaki E, De Martini D, Kunze L & Veličković P},
  year = "2024"
}

BibTeX

@inproceedings{robotrelaybuild-2024/8,
  title={Robot-relay:building-wide, calibration-less visual servoing with learned sensor handover networks},
  author={Robinson L, Gadd M, Newman P & De Martini D},
  booktitle={18th International Symposium on Experimental Robotics (ISER 2023)},
  pages={129-140},
  year = "2024"
}

BibTeX

@inproceedings{vdnaprusinggene-2024/8,
  title={VDNA-PR: using general dataset representations for robust sequential visual place recognition},
  author={Ramtoula B, De Martini D, Gadd M & Newman P},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={15883-15889},
  year = "2024"
}

BibTeX

@inproceedings{whatyouseeiswha-2024/8,
  title={What you see is what you get: experience ranking with deep neural dataset-to-dataset similarity for topological localisation},
  author={Gadd M, Ramtoula B, De Martini D & Newman P},
  booktitle={18th International Symposium on Experimental Robotics (ISER 2023)},
  pages={595-607},
  year = "2024"
}

BibTeX

@inproceedings{thatsmypointcom-2024/8,
  title={That's my point: compact object-centric LiDAR pose estimation for large-scale outdoor localisation},
  author={Pramatarov G, Gadd M, Newman P & De Martini D},
  booktitle={ 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={12276-12282},
  year = "2024"
}

BibTeX

@inproceedings{maskedssllearni-2024/8,
  title={Masked γ-SSL: learning uncertainty estimation via masked image modeling},
  author={Williams DSW, Gadd M, Newman P & De Martini D},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={16192-16198},
  year = "2024"
}

BibTeX

@misc{robotcycleasses-2024/6,
  title={RobotCycle: Assessing Cycling Safety in Urban Environments},
  author={Panagiotaki E, Reinmund T, Mouton S, Pitt L, Shanthini AS et al.},
  year = "2024"
}

@misc{watchinggrassgr-2024/5,
  title={Watching grass grow: long-term visual navigation and mission planning for autonomous biodiversity monitoring},
  author={Gadd M, De Martini D, Pitt L, Tubby W, Towlson M et al.},
  year = "2024"
}

BibTeX

@inproceedings{tagictaskguided-2024/5,
  title={TAGIC: Task-Guided Image Communication Framework for Seamless Teleoperation},
  author={Diao Y, Zhang Y, Zhao PG & De Martini D},
  booktitle={IEEE INFOCOM 2024 - IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS)},
  pages={1-2},
  year = "2024"
}

BibTeX

@article{mitigatingdistr-2024/5,
  title={Mitigating distributional shift in semantic segmentation via uncertainty estimation from unlabeled data},
  author={Williams DSW, De Martini D, Gadd M & Newman P},
  journal={IEEE Transactions on Robotics},
  volume={40},
  pages={3146-3165},
  publisher={IEEE},
  year = "2024"
}

BibTeX

@article{realtimecyberph-2024/4,
  title={Real-time cyber/physical interplay in scheduling for peak load optimization in cyber-physical energy systems},
  author={De Martini D, Benetti G & Facchinetti T},
  journal={Intelligent Systems with Applications},
  volume={22},
  number={200380},
  publisher={Elsevier},
  year = "2024"
}

BibTeX

@misc{oordtheoxfordof-2024/3,
  title={OORD: The Oxford Offroad Radar Dataset},
  author={Gadd M, De Martini D, Bartlett O, Murcutt P, Towlson M et al.},
  year = "2024"
}

BibTeX

@inproceedings{dopplerawareodo-2024/2,
  title={Doppler-aware odometry from FMCW scanning radar},
  author={Rennie F, Williams D, Newman P & De Martini D},
  booktitle={26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)},
  pages={5126-5132},
  year = "2024"
}

BibTeX

@misc{semanticinterpr-2024/2,
  title={Semantic interpretation and validation of graph attention-based explanations for GNN models},
  author={Panagiotaki E, De Martini D & Kunze L},
  year = "2024"
}

BibTeX

@inproceedings{semgatexplainab-2024/2,
  title={SEM-GAT: explainable semantic pose estimation using learned graph attention},
  author={Panagiotaki E, De Martini D, Pramatarov G, Gadd M & Kunze L},
  booktitle={21st International Conference on Advanced Robotics (ICAR 2023)},
  pages={367-374},
  year = "2024"
}

BibTeX

@article{oordtheoxfordof-2024/1,
  title={OORD: The Oxford Offroad Radar Dataset},
  author={Gadd M, De Martini D, Bartlett O, Murcutt P, Towlson M et al.},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  volume={25},
  pages={18779-18790},
  year = "2024"
}

BibTeX

@inproceedings{visualservoingo-2023/12,
  title={Visual servoing on wheels: robust robot orientation estimation in remote viewpoint control},
  author={Robinson L, De Martini D, Gadd M & Newman P},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)},
  pages={6364-6370},
  year = "2023"
}

BibTeX

@inproceedings{selfsupervisedl-2023/10,
  title={Self-supervised Lidar place recognition in overhead imagery using unpaired data},
  author={Tang TY, De Martini D & Newman PM},
  booktitle={19th Robotics: Science and Systems (RSS 2023)},
  year = "2023"
}

BibTeX

@inproceedings{visualdnarepres-2023/8,
  title={Visual DNA: representing and comparing images using distributions of neuron activations},
  author={Ramtoula B, Gadd M, Newman P & De Martini D},
  booktitle={IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR 2023)},
  pages={11113-11123},
  year = "2023"
}

BibTeX

@inproceedings{explainableacti-2023/7,
  title={Explainable action prediction through self-supervision on scene graphs},
  author={Kochakarn P, De Martini D, Omeiza D & Kunze L},
  booktitle={International Conference on Robotics and Automation (ICRA 2023)},
  pages={1479-1485},
  year = "2023"
}

@inproceedings{rolldropaccount-2023/6,
  title={Roll-Drop: accounting for observation noise with a single parameter},
  author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
  booktitle={5th Annual Learning for Dynamics and Control Conference (L4DC 2023)},
  pages={718-730},
  year = "2023"
}

BibTeX

@article{pointbasedmetri-2023/3,
  title={Point-based metric and topological localisation between lidar and overhead imagery},
  author={Tang TY, De Martini D & Newman P},
  journal={Autonomous Robots},
  volume={47},
  pages={595-615},
  publisher={Springer},
  year = "2023"
}

BibTeX

@article{samplingcommuni-2023/1,
  title={Sampling, Communication, and Prediction Co-Design for Synchronizing the Real-World Device and Digital Model in Metaverse},
  author={Meng Z, She C, Zhao G & De Martini D},
  journal={IEEE Journal on Selected Areas in Communications},
  volume={41},
  pages={288-300},
  year = "2023"
}

@inproceedings{semgatexplainab-2023/,
  title={SEM-GAT: Explainable Semantic Pose Estimation using Learned Graph Attention},
  author={Panagiotaki E, De Martini D, Pramatarov G, Gadd M & Kunze L},
  pages={367-374},
  year = "2023"
}

@inproceedings{semanticinterpr-2023/,
  title={Semantic Interpretation and Validation of Graph Attention-based Explanations for GNN Models},
  author={Panagiotaki E, De Martini D & Kunze L},
  pages={375-380},
  year = "2023"
}

BibTeX

@article{visuotactilerec-2022/10,
  title={Visuo-tactile recognition of partial point clouds using PointNet and curriculum learning: enabling tactile perception from visual data},
  author={Parsons C, Albini A, Martini D & Maiolino P},
  journal={IEEE Robotics and Automation Magazine},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@article{ravnunsupervise-2022/10,
  title={RaVÆn: unsupervised change detection of extreme events using ML on-board satellites},
  author={Růžička V, Vaughan A, De Martini D, Fulton J, Salvatelli V et al.},
  journal={Scientific reports},
  volume={12},
  number={16939},
  publisher={Springer Nature},
  year = "2022"
}

BibTeX

@inproceedings{fastmbymleverag-2022/7,
  title={Fast-MbyM: leveraging translational invariance of the fourier transform for efficient and accurate radar odometry},
  author={Weston R, Gadd M, De Martini D, Newman P & Posner H},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA 2022)},
  pages={2186-2192},
  year = "2022"
}

BibTeX

@inproceedings{depthsimssemipa-2022/7,
  title={Depth-SIMS: semi-parametric image and depth synthesis},
  author={Musat V, De Martini D, Gadd M & Newman P},
  booktitle={ International Conference on Robotics and Automation (ICRA 2022)},
  pages={2388-2394},
  year = "2022"
}

BibTeX

@article{whatgoesaroundl-2022/6,
  title={What goes around: leveraging a constant-curvature motion constraint in radar odometry},
  author={Aldera R, Gadd M, De Martini D & Newman P},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={7865-7872},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@inproceedings{theoxfordroadbo-2022/1,
  title={The Oxford Road Boundaries Dataset},
  author={Suleymanov T, Gadd M, De Martini D & Newman P},
  booktitle={32nd IEEE Intelligent Vehicles Symposium (IV21) -- Workshop on 3D-Deep Learning for Automated Driving (3D-DLAD)},
  year = "2022"
}

BibTeX

@inproceedings{contrastivelear-2022/1,
  title={Contrastive learning for unsupervised radar place recognition},
  author={Gadd M, De Martini D & Newman P},
  booktitle={20th International Conference on Advanced Robotics (ICAR 2021)},
  pages={344-349},
  year = "2022"
}

@inproceedings{unsupervisedcha-2021/12,
  title={Unsupervised change detection of extreme events using ML on-board},
  author={Ruzicka V, Vaughan A, De Martini D, Fulton J, Salvatelli V et al.},
  booktitle={NeurIPS Workshop on Artificial Intelligence for Humanitarian Assistance and Disaster Response Workshop (AI+HADR), 2021},
  year = "2021"
}

BibTeX

@inproceedings{boxgraphsemanti-2021/12,
  title={BoxGraph: semantic place recognition and pose estimation from 3D LiDAR},
  author={Pramatarov G, De Martini D, Gadd M & Newman P},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={7004-7011},
  year = "2021"
}

BibTeX

@inproceedings{foolmeoncerobus-2021/10,
  title={Fool me once: robust selective segmentation via out-of-distribution detection with contrastive learning},
  author={Williams D, Gadd M, De Martini D & Newman P},
  booktitle={ICRA 2021},
  pages={9536-9542},
  year = "2021"
}

BibTeX

@inproceedings{cpgactorreinfor-2021/10,
  title={CPG-ACTOR: reinforcement learning for central pattern generators},
  author={Campanaro L, Gangapurwala S, De Martini D, Merkt W & Havoutis I},
  booktitle={Towards Autonomous Robotic Systems Conference (TAROS 2021)},
  pages={25-35},
  year = "2021"
}

BibTeX

@article{selfsupervisedl-2021/9,
  title={Self-supervised learning for using overhead imagery as maps in outdoor range sensor localization},
  author={Tang TY, De Martini D, Wu S & Newman P},
  journal={The International Journal of Robotics Research},
  volume={40},
  pages={1488-1509},
  publisher={SAGE Publications},
  year = "2021"
}

BibTeX

@article{gettothepointle-2021/7,
  title={Get to the point: learning lidar place recognition and metric localisation using overhead imagery},
  author={Tang TY, De Martini D & Newman P},
  journal={Proceedings of Robotics: Science and Systems, 2021},
  publisher={Robotics: Science and Systems},
  year = "2021"
}

@inproceedings{unsupervisedpla-2021/5,
  title={Unsupervised place recognition with deep embedding learning over radar videos},
  author={Gadd M, De Martini D & Newman P},
  booktitle={2021 ICRA Workshop: Radar Perception for All-Weather Autonomy},
  year = "2021"
}

@inproceedings{rainbenchtoward-2021/5,
  title={RainBench: Towards global precipitation forecasting from satellite imagery},
  author={de Witt CS, Tong C, Zantedeschi V, De Martini D, Kalaitzis A et al.},
  booktitle={35th AAAI Conference on Artificial Intelligence (AAAI 2021)},
  pages={14902-14910},
  year = "2021"
}

BibTeX

@misc{foolmeoncerobus-2021/3,
  title={Fool Me Once: Robust Selective Segmentation via Out-of-Distribution Detection with Contrastive Learning},
  author={Williams D, Gadd M, De Martini D & Newman P},
  year = "2021"
}

BibTeX

@inproceedings{thehulkdesignan-2021/1,
  title={The hulk: design and development of a weather-proof vehicle for long-term autonomy in outdoor environments},
  author={Kyberd S, Attias J, Get P, Murcutt P, Prahacs C et al.},
  pages={101-114},
  year = "2021"
}

BibTeX

@inproceedings{rssnetweaklysup-2021/1,
  title={RSS-Net: weakly-supervised multi-class semantic segmentation with FMCW radar},
  author={Kaul P, De Martini D, Gadd M & Newman P},
  booktitle={IEEE Intelligent Vehicles Symposium (IV)},
  pages={431-436},
  year = "2021"
}

BibTeX

@inproceedings{senseassessexpl-2021/1,
  title={Sense-Assess-eXplain (SAX): building trust in autonomous vehicles in challenging real-world driving scenarios},
  author={Gadd M, De Martini D, Marchegiani M, Newman P & Kunze L},
  booktitle={IEEE Intelligent Vehicles Symposium (IV), Workshop on Ensuring and Validating Safety for Automated Vehicles (EVSAV)},
  pages={150-155},
  year = "2021"
}