Data-Efficient Decentralized Place Recognition with 3D Constellations of Objects: Extended Abstract. - Benjamin Ramtoula; Ricardo de Azambuja; Giovanni Beltrame (MRS, 2019)

Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance. - Jacopo Panerati; Benjamin Ramtoula; David St-Onge; Yanjun Cao; Marcel Kaufmann; Aidan Cowley; Lorenzo Sabattini; Giovanni Beltrame (CoRR, 2019)

CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks. - Benjamin Ramtoula; Ricardo de Azambuja; Giovanni Beltrame (ICRA, 2020)

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception. - Benjamin Ramtoula; Adam Caccavale; Giovanni Beltrame; Mac Schwager (ISER, 2020)

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. - Pierre-Yves Lajoie; Benjamin Ramtoula; Yun Chang; Luca Carlone; Giovanni Beltrame (IEEE Robotics Autom. Lett., 2020)

Planetary Exploration With Robot Teams: Implementing Higher Autonomy With Swarm Intelligence. - David St-Onge; Marcel Kaufmann; Jacopo Panerati; Benjamin Ramtoula; Yanjun Cao; Emily B. J. Coffey; Giovanni Beltrame (IEEE Robotics Autom. Mag., 2020)

On the Communication Requirements of Decentralized Connectivity Control - A Field Experiment. - Jacopo Panerati; Benjamin Ramtoula; David St-Onge; Yanjun Cao; Marcel Kaufmann; Aidan Cowley; Lorenzo Sabattini; Giovanni Beltrame (DARS, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape. - Pierre-Yves Lajoie; Benjamin Ramtoula; Fang Wu 003; Giovanni Beltrame (Field Robotics, 2022)

Visual DNA: Representing and Comparing Images Using Distributions of Neuron Activations. - Benjamin Ramtoula; Matthew Gadd; Paul Newman 001; Daniele De Martini (CVPR, 2023)

What You See Is What You Get: Experience Ranking with Deep Neural Dataset-to-Dataset Similarity for Topological Localisation. - Matthew Gadd; Benjamin Ramtoula; Daniele De Martini; Paul Newman 001 (ISER, 2023)

VDNA-PR: Using General Dataset Representations for Robust Sequential Visual Place Recognition. - Benjamin Ramtoula; Daniele De Martini; Matthew Gadd; Paul Newman 001 (ICRA, 2024)