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Showing 77 publications by Maurice Fallon

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

Zhang L, Wisth D, Camurri M & Fallon M (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1182-1189

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@article{balancingthebud-2022/4,
  title={Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry},
  author={Zhang L, Wisth D, Camurri M & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={1182-1189},
  year = "2022"
}

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions

Mattamala M, Chebrolu N & Fallon M (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 2353-2360

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@article{anefficientloca-2022/4,
  title={An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions},
  author={Mattamala M, Chebrolu N & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={2353-2360},
  year = "2022"
}

ICP Localization and Walking Experiments on a TALOS Humanoid Robot

Lasguignes T, Maroger I, Fallon M, Ramezani M, Marchionni L et al. (2021), 2021 20th International Conference on Advanced Robotics (ICAR)

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@inproceedings{icplocalization-2021/12,
  title={ICP Localization and Walking Experiments on a TALOS Humanoid Robot},
  author={Lasguignes T, Maroger I, Fallon M, Ramezani M, Marchionni L et al.},
  booktitle={2021 20th International Conference on Advanced Robotics (ICAR)},
  year = "2021"
}

Rapid stability margin estimation for contact-rich locomotion

Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al. (2021), Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 8485-8492

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@inproceedings{rapidstabilitym-2021/12,
  title={Rapid stability margin estimation for contact-rich locomotion},
  author={Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al.},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8485-8492},
  year = "2021"
}

Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles

Surovik D, Melon O, Geisert M, Fallon M & Havoutis I (2021), Proceedings of the 2020 Conference on Robot Learning, 1509-1518

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@inproceedings{learninganexper-2021/10,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D, Melon O, Geisert M, Fallon M & Havoutis I},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)},
  pages={1509-1518},
  year = "2021"
}

Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning

Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I (2021), Proceedings of the 2021 International Conference on Robotics and Automation (ICRA), 5973-5979

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@inproceedings{realtimetraject-2021/10,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  booktitle={2021 International Conference on Robotics and Automation (ICRA)},
  pages={5973-5979},
  year = "2021"
}

Learning camera performance models for active multi-camera visual teach and repeat

Mattamala Aravena ME, Ramezani M, Camurri M & Fallon M (2021), Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), 14346-14352

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@inproceedings{learningcamerap-2021/10,
  title={Learning camera performance models for active multi-camera visual teach and repeat},
  author={Mattamala Aravena ME, Ramezani M, Camurri M & Fallon M},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021) },
  pages={14346-14352},
  year = "2021"
}

Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization

Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al. (2021), Proceedings of the 2021 International Conference on Robotics and Automation (ICRA 2021)

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@inproceedings{recedinghorizon-2021/10,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al.},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021)},
  year = "2021"
}

Elastic and efficient LiDAR reconstruction for large-scale exploration tasks

Wang Y, Funk N, Ramezani M, Papatheodorou S, Popovic M et al. (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA), 5035-5041

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@inproceedings{elasticandeffic-2021/10,
  title={Elastic and efficient LiDAR reconstruction for large-scale exploration tasks},
  author={Wang Y, Funk N, Ramezani M, Papatheodorou S, Popovic M et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA 2021)},
  pages={5035-5041},
  year = "2021"
}

Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification

Buchanan R, Bednarek J, Camurri M, Nowicki MR, Walas K et al. (2021), AUTONOMOUS ROBOTS, 45(6), 843-857

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@article{navigatingbytou-2021/9,
  title={Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification},
  author={Buchanan R, Bednarek J, Camurri M, Nowicki MR, Walas K et al.},
  journal={AUTONOMOUS ROBOTS},
  volume={45},
  pages={843-857},
  year = "2021"
}

Scalable and elastic LiDAR reconstruction in complex environments through spatial analysis

Wang Y, Ramezani M, Mattamala M & Fallon M (2021), 2021 10th European Conference on Mobile Robots, ECMR 2021 - Proceedings

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@inproceedings{scalableandelas-2021/8,
  title={Scalable and elastic LiDAR reconstruction in complex environments through spatial analysis},
  author={Wang Y, Ramezani M, Mattamala M & Fallon M},
  year = "2021"
}

Online estimation of diameter at breast height (DBH) of forest trees using a handheld lidar

Proudman A, Ramezani M & Fallon M (2021), 2021 10th European Conference on Mobile Robots, ECMR 2021 - Proceedings

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@inproceedings{onlineestimatio-2021/8,
  title={Online estimation of diameter at breast height (DBH) of forest trees using a handheld lidar},
  author={Proudman A, Ramezani M & Fallon M},
  year = "2021"
}

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Wisth D, Camurri M, Das S & Fallon M (2021), IEEE ROBOTICS AND AUTOMATION LETTERS, 6(2), 1004-1011

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

SKD: keypoint detection for point clouds using saliency estimation

Tinchev G, Penate Sanchez A & Fallon M (2021), IEEE Robotics and Automation Letters, 6(2), 3785-3792

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@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"
}

Haptic sequential Monte Carlo localization for quadrupedal locomotion in vision-denied scenarios

Buchanan R, Camurri M & Fallon M (2021), 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3657-3663

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@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"
}

Online LiDAR-SLAM for legged robots with robust registration and deep-learned loop closure

Ramezani M, Tinchev G, Iuganov E & Fallon M (2020), IEEE Robotics and Automation Letters, 4158-4164

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

Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry

Wisth D, Camurri M & Fallon M (2020), 2020 International Conference on Robotics and Automation (ICRA), 392-398

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@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"
}

Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations

Melon O, Geisert M, Surovik D, Havoutis I & Fallon M (2020), 2020 IEEE International Conference on Robotics and Automation (ICRA), 1410-1416

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@inproceedings{reliabletraject-2020/9,
  title={Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations},
  author={Melon O, Geisert M, Surovik D, Havoutis I & Fallon M},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1410-1416},
  year = "2020"
}

Actively mapping industrial structures with information gain-based planning on a quadruped robot

Wang Y, Ramezani M & Fallon M (2020), 2020 International Conference on Robotics and Automation (ICRA)

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@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"
}

Pronto: A multi-sensor state estimator for legged robots in real-world scenarios

Camurri M, Ramezani M, Nobili S & Fallon M (2020), Frontiers in Robotics and AI, 7

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

Towards autonomous inspection of concrete deterioration in sewers with legged robots

Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al. (2020), Journal of Field Robotics, 37(8), 1314-1327

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@article{towardsautonomo-2020/5,
  title={Towards autonomous inspection of concrete deterioration in sewers with legged robots},
  author={Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al.},
  journal={Journal of Field Robotics},
  volume={37},
  pages={1314-1327},
  publisher={Wiley},
  year = "2020"
}

Legged robots for autonomous inspection and monitoring of offshore assets

Ramezani M, Brandao M, Casseau B, Havoutis I & Fallon M (2020), Proceedings of the Annual Offshore Technology Conference

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@inproceedings{leggedrobotsfor-2020/4,
  title={Legged robots for autonomous inspection and monitoring of offshore assets},
  author={Ramezani M, Brandao M, Casseau B, Havoutis I & Fallon M},
  booktitle={Offshore Technology Conference},
  year = "2020"
}

The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth

Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al. (2020), 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 4353-4360

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@inproceedings{thenewercollege-2020/,
  title={The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth},
  author={Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al.},
  pages={4353-4360},
  year = "2020"
}

Learning-driven coarse-to-fine articulated robot tracking

Rauch C, Ivan V, Hospedales T, Shotton J & Fallon M (2019), International Conference on Robotics and Automation 2019 (ICRA 2019), 6604-6610

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@inproceedings{learningdrivenc-2019/8,
  title={Learning-driven coarse-to-fine articulated robot tracking},
  author={Rauch C, Ivan V, Hospedales T, Shotton J & Fallon M},
  pages={6604-6610},
  year = "2019"
}

Robust legged robot state estimation using factor graph optimization

Wisth D, Camurri M & Fallon M (2019), IEEE Robotics and Automation Letters

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@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"
}

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU

Tinchev G, Penate-Sanchez A & Fallon M (2019), IEEE ROBOTICS AND AUTOMATION LETTERS, 4(2), 1327-1334

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@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"
}

Seeing the wood for the trees: reliable localization in urban and natural environments

Tinchev G, Nobili S & Fallon M (2019), 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 8239-8246

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@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"
}

Learning to see the wood for the trees: Deep laser localization in urban and natural environments on a CPU

Fallon M, Tinchev G & Penate-Sanchez A (2019), IEEE Robotics and Automation Letters, 4(2), 1327-1334

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@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"
}

Predicting alignment risk to prevent localization failure

Nobili S, Tinchev G & Fallon M (2018), 2018 IEEE International Conference on Robotics and Automation, 21-25 May 2018, Brisbane, Australia

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

Visual articulated tracking in the presence of occlusions

Rauch C, Hospedales T, Shotton J & Fallon M (2018), 2018 IEEE International Conference on Robotics and Automation (ICRA), 643-650

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@inproceedings{visualarticulat-2018/9,
  title={Visual articulated tracking in the presence of occlusions},
  author={Rauch C, Hospedales T, Shotton J & Fallon M},
  pages={643-650},
  year = "2018"
}

StaticFusion: background reconstruction for dense RGB-D SLAM in dynamic environments

Scona R, Jaimez M, Petillot YR, Fallon M & Cremers D (2018), 2018 IEEE International Conference on Robotics and Automation (ICRA), 3849-3856

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@inproceedings{staticfusionbac-2018/9,
  title={StaticFusion: background reconstruction for dense RGB-D SLAM in dynamic environments},
  author={Scona R, Jaimez M, Petillot YR, Fallon M & Cremers D},
  pages={3849-3856},
  year = "2018"
}

Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR

Fallon M (2018), Interface Focus, 8(4)

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@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"
}

Director: A user interface designed for robot operation with shared autonomy

Marion P, Fallon M, Deits R, Valenzuela A, D’Arpino CP et al. (2018), 121, 237-270

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@misc{directorauserin-2018/1,
  title={Director: A user interface designed for robot operation with shared autonomy},
  author={Marion P, Fallon M, Deits R, Valenzuela A, D’Arpino CP et al.},
  year = "2018"
}

Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots

Nobili S, Camurri M, Barasuol V, Focchi M, Caldwell D et al. (2017), Proceedings of Robotics: Science and Systems

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

Overlap-based ICP tuning for robust localization of a humanoid robot

Nobili S, Scona R, Caravagna M & Fallon M (2017), Proceedings - IEEE International Conference on Robotics and Automation, 4721-4728

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@inproceedings{overlapbasedicp-2017/7,
  title={Overlap-based ICP tuning for robust localization of a humanoid robot},
  author={Nobili S, Scona R, Caravagna M & Fallon M},
  pages={4721-4728},
  year = "2017"
}

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots

Catnurri M, Falion M, Bazeille S, Radulescu A, Barasuol V et al. (2017), IEEE ROBOTICS AND AUTOMATION LETTERS, 2(2), 1023-1030

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@article{probabilisticco-2017/4,
  title={Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
  author={Catnurri M, Falion M, Bazeille S, Radulescu A, Barasuol V et al.},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={2},
  pages={1023-1030},
  year = "2017"
}

Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring

Merkt W, Yang Y, Stouraitis T, Mower CE, Fallon M et al. (2017), 2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 130-137

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

Direct Visual SLAM Fusing Proprioception for a Humanoid Robot

Scona R, Nobili S, Petillot YR & Fallon M (2017), 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 1419-1426

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@inproceedings{directvisualsla-2017/,
  title={Direct Visual SLAM Fusing Proprioception for a Humanoid Robot},
  author={Scona R, Nobili S, Petillot YR & Fallon M},
  pages={1419-1426},
  year = "2017"
}

Director: A user interface designed for robot operation with shared autonomy

Marion P, Fallon M, Deits R, Valenzuela A, Pérez D'Arpino C et al. (2016), Journal of Field Robotics, 34(2), 262-280

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

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Kuindersma S, Deits R, Fallon M, Valenzuela A, Dai H et al. (2016), Autonomous Robots, 40(3), 429-455

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

Perception and estimation challenges for humanoid robotics: DARPA Robotics Challenge and the NASA Valkyrie

Fallon M (2016), UNMANNED/UNATTENDED SENSORS AND SENSOR NETWORKS XII, 9986

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

iDRM: Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments

Yang Y, Ivan V, Li Z, Fallon M & Vijayakumar S (2016), 2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 271-278

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@inproceedings{idrmhumanoidmot-2016/,
  title={iDRM: Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments},
  author={Yang Y, Ivan V, Li Z, Fallon M & Vijayakumar S},
  pages={271-278},
  year = "2016"
}

Continuous humanoid locomotion over uneven terrain using stereo fusion

Fallon MF, Marion P, Deits R, Whelan T, Antone M et al. (2015), IEEE-RAS International Conference on Humanoid Robots, 2015-December, 881-888

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

Real-time large-scale dense RGB-D SLAM with volumetric fusion

Whelan T, Kaess M, Johannsson H, Fallon M, Leonard JJ et al. (2015), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 34(4-5), 598-626

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@article{realtimelargesc-2015/4,
  title={Real-time large-scale dense RGB-D SLAM with volumetric fusion},
  author={Whelan T, Kaess M, Johannsson H, Fallon M, Leonard JJ et al.},
  journal={INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
  volume={34},
  pages={598-626},
  year = "2015"
}

An Architecture for Online Affordance-based Perception and Whole-body Planning

Fallon M, Kuindersma S, Karumanchi S, Antone M, Schneider T et al. (2015), JOURNAL OF FIELD ROBOTICS, 32(2), 229-254

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@article{anarchitecturef-2015/3,
  title={An Architecture for Online Affordance-based Perception and Whole-body Planning},
  author={Fallon M, Kuindersma S, Karumanchi S, Antone M, Schneider T et al.},
  journal={JOURNAL OF FIELD ROBOTICS},
  volume={32},
  pages={229-254},
  year = "2015"
}

Spatially prioritized and persistent text detection and decoding

Wang HC, Landa Y, Fallon M & Teller S (2014), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8357 LNCS, 3-17

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@inproceedings{spatiallypriori-2014/1,
  title={Spatially prioritized and persistent text detection and decoding},
  author={Wang HC, Landa Y, Fallon M & Teller S},
  pages={3-17},
  year = "2014"
}

Mapping complex marine environments with autonomous surface craft

Leedekerken JC, Fallon MF & Leonard JJ (2014), Springer Tracts in Advanced Robotics, 79, 525-539

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@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"
}

Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing

Fallon MF, Antone M, Roy N, Teller S & IEEE (2014), 2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 112-119

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@inproceedings{driftfreehumano-2014/,
  title={Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing},
  author={Fallon MF, Antone M, Roy N, Teller S & IEEE },
  pages={112-119},
  year = "2014"
}

A Summary of Team MIT's Approach to the Virtual Robotics Challenge

Tedrake R, Fallon M, Karumanchi S, Kuindersma S, Antone M et al. (2014), 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2087-2087

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@inproceedings{asummaryofteamm-2014/,
  title={A Summary of Team MIT's Approach to the Virtual Robotics Challenge},
  author={Tedrake R, Fallon M, Karumanchi S, Kuindersma S, Antone M et al.},
  pages={2087-2087},
  year = "2014"
}

The MIT Stata Center dataset

Fallon M, Johannsson H, Kaess M & Leonard JJ (2013), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 32(14), 1695-1699

Altmetric score is
BibTeX View PDF
@article{themitstatacent-2013/12,
  title={The MIT Stata Center dataset},
  author={Fallon M, Johannsson H, Kaess M & Leonard JJ},
  journal={INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
  volume={32},
  pages={1695-1699},
  year = "2013"
}

Simultaneous localization and mapping in marine environments

Fallon MF, Johannsson H, Kaess M, Folkesson J, McClelland H et al. (2013), 9781461456599, 329-372

Altmetric score is
BibTeX View PDF
@misc{simultaneousloc-2013/11,
  title={Simultaneous localization and mapping in marine environments},
  author={Fallon MF, Johannsson H, Kaess M, Folkesson J, McClelland H et al.},
  year = "2013"
}

Relocating Underwater Features Autonomously Using Sonar-Based SLAM

Fallon MF, Folkesson J, McClelland H & Leonard JJ (2013), IEEE JOURNAL OF OCEANIC ENGINEERING, 38(3), 500-513

Altmetric score is
BibTeX View PDF
@article{relocatingunder-2013/7,
  title={Relocating Underwater Features Autonomously Using Sonar-Based SLAM},
  author={Fallon MF, Folkesson J, McClelland H & Leonard JJ},
  journal={IEEE JOURNAL OF OCEANIC ENGINEERING},
  volume={38},
  pages={500-513},
  year = "2013"
}

Joint acoustic source location and orientation estimation using Sequential Monte Carlo

Fallon M, Godsill S & Blake A (2013), Proceedings of the 9th International Conference on Digital Audio Effects, DAFx 2006, 203-208

Altmetric score is
BibTeX
@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"
}

Temporally Scalable Visual SLAM using a Reduced Pose Graph

Johannsson H, Kaess M, Fallon M, Leonard JJ & IEEE (2013), 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 54-61

Altmetric score is
BibTeX
@inproceedings{temporallyscala-2013/,
  title={Temporally Scalable Visual SLAM using a Reduced Pose Graph},
  author={Johannsson H, Kaess M, Fallon M, Leonard JJ & IEEE },
  pages={54-61},
  year = "2013"
}

Acoustic source localization and tracking of a time-varying number of speakers

Fallon MF & Godsill SJ (2012), IEEE Transactions on Audio, Speech and Language Processing, 20(4), 1409-1415

Altmetric score is
BibTeX View PDF
@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"
}

Sensor Fusion for Flexible Human-Portable Building-Scale Mapping

Fallon MF, Johannsson H, Brookshire J, Teller S, Leonard JJ et al. (2012), 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 4405-4412

Altmetric score is
BibTeX
@inproceedings{sensorfusionfor-2012/,
  title={Sensor Fusion for Flexible Human-Portable Building-Scale Mapping},
  author={Fallon MF, Johannsson H, Brookshire J, Teller S, Leonard JJ et al.},
  pages={4405-4412},
  year = "2012"
}

Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera

Fallon MF, Johannsson H, Leonard JJ & IEEE (2012), 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 1663-1670

Altmetric score is
BibTeX
@inproceedings{efficientscenes-2012/,
  title={Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera},
  author={Fallon MF, Johannsson H, Leonard JJ & IEEE },
  pages={1663-1670},
  year = "2012"
}

Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

Fallon MF, Kaess M, Johannsson H, Leonard JJ & IEEE (2011), 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2398-2405

Altmetric score is
BibTeX
@inproceedings{efficientauvnav-2011/,
  title={Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar},
  author={Fallon MF, Kaess M, Johannsson H, Leonard JJ & IEEE },
  pages={2398-2405},
  year = "2011"
}

Cooperative AUV Navigation using a Single Maneuvering Surface Craft

Fallon MF, Papadopoulos G, Leonard JJ & Patrikalakis NM (2010), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 29(12), 1461-1474

Altmetric score is
BibTeX View PDF
@inproceedings{cooperativeauvn-2010/10,
  title={Cooperative AUV Navigation using a Single Maneuvering Surface Craft},
  author={Fallon MF, Papadopoulos G, Leonard JJ & Patrikalakis NM},
  pages={1461-1474},
  year = "2010"
}

Acoustic source localization and tracking using track before detect

Fallon MF & Godsill S (2010), IEEE Transactions on Audio, Speech and Language Processing, 18(6), 1228-1242

Altmetric score is
BibTeX View PDF
@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"
}

Cooperative AUV Navigation Using a Single Surface Craft

Fallon MF, Papadopoulos G & Leonard JJ (2010), FIELD AND SERVICE ROBOTICS, 62, 331-340

Altmetric score is
BibTeX
@article{cooperativeauvn-2010/,
  title={Cooperative AUV Navigation Using a Single Surface Craft},
  author={Fallon MF, Papadopoulos G & Leonard JJ},
  journal={FIELD AND SERVICE ROBOTICS},
  volume={62},
  pages={331-340},
  year = "2010"
}

A Measurement Distribution Framework for Cooperative Navigation using Multiple AUVs

Fallon MF, Papadopoulos G, Leonard JJ & IEEE (2010), 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4256-4263

Altmetric score is
BibTeX View PDF
@inproceedings{ameasurementdis-2010/,
  title={A Measurement Distribution Framework for Cooperative Navigation using Multiple AUVs},
  author={Fallon MF, Papadopoulos G, Leonard JJ & IEEE },
  pages={4256-4263},
  year = "2010"
}

Cooperative Localization of Marine Vehicles using Nonlinear State Estimation

Papadopoulos G, Fallon MF, Leonard JJ, Patrikalakis NM & IEEE (2010), IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 4874-4879

Altmetric score is
BibTeX View PDF
@inproceedings{cooperativeloca-2010/,
  title={Cooperative Localization of Marine Vehicles using Nonlinear State Estimation},
  author={Papadopoulos G, Fallon MF, Leonard JJ, Patrikalakis NM & IEEE },
  pages={4874-4879},
  year = "2010"
}

Cooperative Localization for Autonomous Underwater Vehicles

Bahr A, Leonard JJ & Fallon MF (2009), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 28(6), 714-728

Altmetric score is
BibTeX View PDF
@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"
}

Multi target acoustic source tracking with an unknown and time varying number of targets

Fallon M & Godsill S (2008), 2008 Hands-free Speech Communication and Microphone Arrays, Proceedings, HSCMA 2008, 77-80

Altmetric score is
BibTeX View PDF
@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"
}

Multi target Acoustic Source Tracking with an unknown and time varying number of targets

Fallon M, Godsill S & IEEE (2008), 2008 HANDS-FREE SPEECH COMMUNICATION AND MICROPHONE ARRAYS, 78-81

Altmetric score is
BibTeX
@inproceedings{multitargetacou-2008/,
  title={Multi target Acoustic Source Tracking with an unknown and time varying number of targets},
  author={Fallon M, Godsill S & IEEE },
  pages={78-81},
  year = "2008"
}

Multi target acoustic source tracking using track before detect

Fallon M & Godsill S (2007), IEEE Workshop on Applications of Signal Processing to Audio and Acoustics, 102-105

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

Multi target acoustic source tracking using Track Before Detect

Fallon M, Godsill S & IEEE (2007), 2007 IEEE WORKSHOP ON APPLICATIONS OF SIGNAL PROCESSING TO AUDIO AND ACOUSTICS, 17-20

Altmetric score is
BibTeX
@inproceedings{multitargetacou-2007/,
  title={Multi target acoustic source tracking using Track Before Detect},
  author={Fallon M, Godsill S & IEEE },
  pages={17-20},
  year = "2007"
}

Robust Legged Robot State Estimation Using Factor Graph Optimization

Fallon M, Wisth D & Camurri M (0), IEEE Robotics and Automation Letters, 2019.

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

Multi-controller multi-objective locomotion planning for legged robots

Havoutis I, Brandao M & Fallon M (0), IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019)

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

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization

Fallon M, Łysakowski M, Nowicki M, Buchanan R, Camurri M et al. (0)

Altmetric score is
BibTeX
@inproceedings{unsupervisedlea-/,
  title={Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization},
  author={Fallon M, Łysakowski M, Nowicki M, Buchanan R, Camurri M et al.},
  booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022.}
}

Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors

Fallon M, Das S, Mahabadi N, Djikic A, Nassir C et al. (0)

Altmetric score is
BibTeX
@inproceedings{extrinsiccalibr-/,
  title={Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors},
  author={Fallon M, Das S, Mahabadi N, Djikic A, Nassir C et al.},
  booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022.}
}

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Fallon M, Gangapurwala S, Geisert M, Orsolino R & Havoutis I (0), IEEE Transactions on Robotics, 2022.

Altmetric score is
BibTeX
@article{rlocterrainawar-/,
  title={RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control},
  author={Fallon M, Gangapurwala S, Geisert M, Orsolino R & Havoutis I},
  journal={IEEE Transactions on Robotics, 2022.}
}

AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM

Fallon M, Ramezani M & Mattamala M (0), Frontiers in Robotics and AI, 2022.

Altmetric score is
BibTeX
@article{aerosadaptivero-/,
  title={AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM},
  author={Fallon M, Ramezani M & Mattamala M},
  journal={Frontiers in Robotics and AI, 2022.}
}

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

FALLON M, Tranzatto M, Mascarich F, Bernreiter L, Godinho C et al. (0), Journal of Field Robotics, 2021.

Altmetric score is
BibTeX
@article{cerberusautonom-/,
  title={CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},
  author={FALLON M, Tranzatto M, Mascarich F, Bernreiter L, Godinho C et al.},
  journal={Journal of Field Robotics, 2021.}
}

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Fallon M, Buchanan R, Camurri M & Dellaert F (0)

Altmetric score is
BibTeX
@inproceedings{learninginertia-/,
  title={Learning Inertial Odometry for Dynamic Legged Robot State Estimation},
  author={Fallon M, Buchanan R, Camurri M & Dellaert F},
  booktitle={Conference on Robot Learning (CoRL), 2021.}
}

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Havoutis I, Gangapurwala S, Geisert M, Orsolino R & Fallon M (0), IEEE Transactions on Robotics, 2022.

Altmetric score is
BibTeX
@article{rlocterrainawar-/,
  title={RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control},
  author={Havoutis I, Gangapurwala S, Geisert M, Orsolino R & Fallon M},
  journal={IEEE Transactions on Robotics, 2022.}
}