Direct Relative Edge Optimization, A Robust Alternative for Pose Graph Optimization. - James S. Jackson; Kevin M. Brink; Brendon Forsgren; David O. Wheeler; Timothy W. McLain (IEEE Robotics Autom. Lett., 2019)

Group-k Consistent Measurement Set Maximization for Robust Outlier Detection. - Brendon Forsgren; Ram Vasudevan; Michael Kaess; Timothy W. McLain; Joshua G. Mangelson (IROS, 2022)

Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging. - Brendon Forsgren; Ram Vasudevan; Michael Kaess; Timothy W. McLain; Joshua G. Mangelson (CoRR, 2023)

Incremental Cycle Bases for Cycle-Based Pose Graph Optimization. - Brendon Forsgren; Kevin M. Brink; Prashant Ganesh; Timothy W. McLain (IEEE Robotics Autom. Lett., 2023)

Group-k consistent measurement set maximization via maximum clique over k-uniform hypergraphs for robust multi-robot map merging. - Brendon Forsgren; Michael Kaess; Ram Vasudevan; Timothy W. McLain; Joshua G. Mangelson (Int. J. Robotics Res., 2024)