Publications

BibTeX

@article{unifiedmultimod-2021/4,
  title={Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry},
  author={Wisth D et al.},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={6},
  pages={1004-1011},
  year = "2021"
}

BibTeX

@article{skdkeypointdete-2021/3,
  title={SKD: keypoint detection for point clouds using saliency estimation},
  author={Tinchev G, Penate Sanchez A & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  pages={3785-3792},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2021"
}

BibTeX

@inproceedings{hapticsequentia-2021/2,
  title={Haptic sequential Monte Carlo localization for quadrupedal locomotion in vision-denied scenarios},
  author={Buchanan R, Camurri M & Fallon M},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3657-3663},
  year = "2021"
}

BibTeX

@inproceedings{thenewercollege-2020/10,
  title={The newer college dataset: Handheld LiDAR, inertial and vision with ground truth},
  author={Ramezani M et al.},
  pages={4353-4360},
  year = "2020"
}

BibTeX

@article{onlinelidarslam-2020/9,
  title={Online LiDAR-SLAM for legged robots with robust registration and deep-learned loop closure},
  author={Ramezani M et al.},
  journal={IEEE Robotics and Automation Letters},
  pages={4158-4164},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

BibTeX

@inproceedings{preintegratedve-2020/9,
  title={Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry},
  author={Wisth D, Camurri M & Fallon M},
  booktitle={ICRA 2020},
  pages={392-398},
  year = "2020"
}

BibTeX

@inproceedings{reliabletraject-2020/9,
  title={Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations},
  author={Melon O et al.},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1410-1416},
  year = "2020"
}

BibTeX

@inproceedings{activelymapping-2020/8,
  title={Actively mapping industrial structures with information gain-based planning on a quadruped robot},
  author={Wang Y, Ramezani M & Fallon M},
  booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.},
  year = "2020"
}

BibTeX

@article{prontoamultisen-2020/6,
  title={Pronto: A multi-sensor state estimator for legged robots in real-world scenarios},
  author={Camurri M et al.},
  journal={Frontiers in Robotics and AI},
  volume={7},
  publisher={Frontiers Media },
  year = "2020"
}

BibTeX

@article{towardsautonomo-2020/5,
  title={Towards autonomous inspection of concrete deterioration in sewers with legged robots},
  author={Kolvenbach H et al.},
  journal={Journal of Field Robotics},
  publisher={Wiley},
  year = "2020"
}

BibTeX

@inproceedings{leggedrobotsfor-2020/4,
  title={Legged robots for autonomous inspection and monitoring of offshore assets},
  author={Ramezani M et al.},
  booktitle={Offshore Technology Conference},
  year = "2020"
}

BibTeX

@inproceedings{learningdrivenc-2019/8,
  title={Learning-driven coarse-to-fine articulated robot tracking},
  author={Rauch C et al.},
  pages={6604-6610},
  year = "2019"
}

BibTeX

@article{robustleggedrob-2019/8,
  title={Robust legged robot state estimation using factor graph optimization},
  author={Wisth D, Camurri M & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2019"
}

BibTeX

@article{learningtoseeth-2019/4,
  title={Learning to see the wood for the trees: Deep laser localization in urban and natural environments on a CPU},
  author={Tinchev G, Penate-Sanchez A & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  pages={1327-1334},
  year = "2019"
}

BibTeX

@inproceedings{seeingthewoodfo-2019/1,
  title={Seeing the wood for the trees: reliable localization in urban and natural environments},
  author={Tinchev G, Nobili S & Fallon M},
  pages={8239-8246},
  year = "2019"
}

BibTeX

@inproceedings{learningtoseeth-2019/1,
  title={Learning to see the wood for the trees: Deep laser localization in urban and natural environments on a CPU},
  author={Fallon M, Tinchev G & Penate-Sanchez A},
  pages={1327-1334},
  year = "2019"
}

BibTeX

@inproceedings{predictingalign-2018/9,
  title={Predicting alignment risk to prevent localization failure},
  author={Nobili S, Tinchev G & Fallon M},
  year = "2018"
}

BibTeX

@inproceedings{visualarticulat-2018/9,
  title={Visual articulated tracking in the presence of occlusions},
  author={Rauch C et al.},
  pages={643-650},
  year = "2018"
}

BibTeX

@inproceedings{staticfusionbac-2018/9,
  title={StaticFusion: background reconstruction for dense RGB-D SLAM in dynamic environments},
  author={Scona R et al.},
  pages={3849-3856},
  year = "2018"
}

BibTeX

@article{accurateandrobu-2018/6,
  title={Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR},
  author={Fallon M},
  journal={Interface Focus},
  volume={8},
  publisher={Royal Society Publishing},
  year = "2018"
}

BibTeX

@misc{directorauserin-2018/1,
  title={Director: A user interface designed for robot operation with shared autonomy},
  author={Marion P et al.},
  year = "2018"
}

BibTeX

@inproceedings{directvisualsla-2017/12,
  title={Direct visual SLAM fusing proprioception for a humanoid robot},
  author={Scona R et al.},
  pages={1419-1426},
  year = "2017"
}

BibTeX

@inproceedings{heterogeneousse-2017/7,
  title={Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots},
  author={Nobili S et al.},
  year = "2017"
}

BibTeX

@inproceedings{overlapbasedicp-2017/7,
  title={Overlap-based ICP tuning for robust localization of a humanoid robot},
  author={Nobili S et al.},
  pages={4721-4728},
  year = "2017"
}

BibTeX

@article{probabilisticco-2017/4,
  title={Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
  author={Camurri M et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={2},
  pages={1023-1030},
  year = "2017"
}

@inproceedings{robustsharedaut-2017/,
  title={Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring},
  author={Merkt W et al.},
  pages={130-137},
  year = "2017"
}

BibTeX

@article{directorauserin-2016/12,
  title={Director: A user interface designed for robot operation with shared autonomy},
  author={Marion P et al.},
  journal={Journal of Field Robotics},
  volume={34},
  pages={262-280},
  publisher={John Wiley and Sons, Ltd.},
  year = "2016"
}

BibTeX

@inproceedings{idrmhumanoidmot-2016/12,
  title={IDRM: Humanoid motion planning with realtime end-pose selection in complex environments},
  author={Yang Y et al.},
  pages={271-278},
  year = "2016"
}

BibTeX

@article{optimizationbas-2016/3,
  title={Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot},
  author={Kuindersma S et al.},
  journal={Autonomous Robots},
  volume={40},
  pages={429-455},
  year = "2016"
}

BibTeX

@inproceedings{perceptionandes-2016/1,
  title={Perception and estimation challenges for humanoid robotics: DARPA Robotics Challenge and NASA Valkyrie},
  author={Fallon M},
  year = "2016"
}

BibTeX

@inproceedings{continuoushuman-2015/12,
  title={Continuous humanoid locomotion over uneven terrain using stereo fusion},
  author={Fallon MF et al.},
  pages={881-888},
  year = "2015"
}

BibTeX

@inproceedings{driftfreehumano-2015/2,
  title={Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing},
  author={Fallon MF et al.},
  pages={112-119},
  year = "2015"
}

BibTeX

@article{realtimelargesc-2015/1,
  title={Real-time large-scale dense RGB-D SLAM with volumetric fusion},
  author={Whelan T et al.},
  journal={International Journal of Robotics Research},
  volume={34},
  pages={598-626},
  year = "2015"
}

BibTeX

@article{anarchitecturef-2015/1,
  title={An architecture for online affordance-based perception and whole-body planning},
  author={Fallon M et al.},
  journal={Journal of Field Robotics},
  volume={32},
  pages={229-254},
  year = "2015"
}

BibTeX

@inproceedings{spatiallypriori-2014/1,
  title={Spatially prioritized and persistent text detection and decoding},
  author={Wang HC et al.},
  pages={3-17},
  year = "2014"
}

BibTeX

@inproceedings{asummaryofteamm-2014/1,
  title={A summary of team MIT's approach to the virtual robotics challenge},
  author={Tedrake R et al.},
  pages={2087},
  year = "2014"
}

BibTeX

@inproceedings{mappingcomplexm-2014/1,
  title={Mapping complex marine environments with autonomous surface craft},
  author={Leedekerken JC, Fallon MF & Leonard JJ},
  pages={525-539},
  year = "2014"
}

BibTeX

@article{themitstatacent-2013/12,
  title={The MIT Stata Center dataset},
  author={Fallon M et al.},
  journal={International Journal of Robotics Research},
  volume={32},
  pages={1695-1699},
  year = "2013"
}

BibTeX

@misc{simultaneousloc-2013/11,
  title={Simultaneous localization and mapping in marine environments},
  author={Fallon MF et al.},
  year = "2013"
}

BibTeX

@inproceedings{temporallyscala-2013/11,
  title={Temporally scalable visual SLAM using a reduced pose graph},
  author={Johannsson H et al.},
  pages={54-61},
  year = "2013"
}

BibTeX

@article{relocatingunder-2013/4,
  title={Relocating underwater features autonomously using sonar-based SLAM},
  author={Fallon MF et al.},
  journal={IEEE Journal of Oceanic Engineering},
  volume={38},
  pages={500-513},
  year = "2013"
}

@inproceedings{jointacousticso-2013/1,
  title={Joint acoustic source location and orientation estimation using Sequential Monte Carlo},
  author={Fallon M, Godsill S & Blake A},
  pages={203-208},
  year = "2013"
}

BibTeX

@inproceedings{sensorfusionfor-2012/12,
  title={Sensor fusion for flexible human-portable building-scale mapping},
  author={Fallon MF et al.},
  pages={4405-4412},
  year = "2012"
}

BibTeX

@article{acousticsourcel-2012/3,
  title={Acoustic source localization and tracking of a time-varying number of speakers},
  author={Fallon MF & Godsill SJ},
  journal={IEEE Transactions on Audio, Speech and Language Processing},
  volume={20},
  pages={1409-1415},
  year = "2012"
}

BibTeX

@inproceedings{efficientscenes-2012/1,
  title={Efficient scene simulation for robust monte carlo localization using an RGB-D camera},
  author={Fallon MF, Johannsson H & Leonard JJ},
  pages={1663-1670},
  year = "2012"
}

BibTeX

@inproceedings{efficientauvnav-2011/12,
  title={Efficient AUV navigation fusing acoustic ranging and side-scan sonar},
  author={Fallon MF et al.},
  pages={2398-2405},
  year = "2011"
}

BibTeX

@inproceedings{cooperativeloca-2010/12,
  title={Cooperative localization of marine vehicles using nonlinear state estimation},
  author={Papadopoulos G et al.},
  pages={4874-4879},
  year = "2010"
}

BibTeX

@inproceedings{cooperativeauvn-2010/10,
  title={Cooperative AUV navigation using a single maneuvering surface craft},
  author={Fallon MF et al.},
  pages={1461-1474},
  year = "2010"
}

BibTeX

@article{acousticsourcel-2010/8,
  title={Acoustic source localization and tracking using track before detect},
  author={Fallon MF & Godsill S},
  journal={IEEE Transactions on Audio, Speech and Language Processing},
  volume={18},
  pages={1228-1242},
  year = "2010"
}

BibTeX

@inproceedings{ameasurementdis-2010/8,
  title={A measurement distribution framework for cooperative navigation using multiple AUVs},
  author={Fallon MF, Papadopoulos G & Leonard JJ},
  pages={4256-4263},
  year = "2010"
}

BibTeX

@article{cooperativeauvn-2010/1,
  title={Cooperative AUV navigation using a single surface craft},
  author={Fallon MF, Papadopoulos G & Leonard JJ},
  journal={Springer Tracts in Advanced Robotics},
  volume={62},
  pages={331-340},
  year = "2010"
}

BibTeX

@article{cooperativeloca-2009/6,
  title={Cooperative localization for autonomous underwater vehicles},
  author={Bahr A, Leonard JJ & Fallon MF},
  journal={International Journal of Robotics Research},
  volume={28},
  pages={714-728},
  year = "2009"
}

BibTeX

@inproceedings{multitargetacou-2008/9,
  title={Multi target acoustic source tracking with an unknown and time varying number of targets},
  author={Fallon M & Godsill S},
  pages={77-80},
  year = "2008"
}

BibTeX

@inproceedings{multitargetacou-2007/12,
  title={Multi target acoustic source tracking using track before detect},
  author={Fallon M & Godsill S},
  pages={102-105},
  year = "2007"
}

@inproceedings{learninganexper-/,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D et al.},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)}
}

@inproceedings{robustleggedrob-/,
  title={Robust Legged Robot State Estimation Using Factor Graph Optimization},
  author={Fallon M, Wisth D & Camurri M}
}

@inproceedings{multicontroller-/,
  title={Multi-controller multi-objective locomotion planning for legged robots},
  author={Havoutis I, Brandao M & Fallon M}
}

@inproceedings{realtimetraject-/,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S et al.},
  booktitle={ICRA}
}

@inproceedings{learningcamerap-/,
  title={Learning camera performance models for active multi-camera visual teach and repeat},
  author={Mattamala Aravena ME et al.},
  booktitle={ICRA}
}

@inproceedings{recedinghorizon-/,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O et al.},
  booktitle={ICRA}
}

@inproceedings{elasticandeffic-/,
  title={Elastic and efficient LiDAR reconstruction for large-scale exploration tasks},
  author={Wang Y et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA 2021)}
}