Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. - Ross Hartley; Josh Mangelson; Lu Gan 006; Maani Ghaffari Jadidi; Jeffrey M. Walls; Ryan M. Eustice; Jessy W. Grizzle (ICRA, 2018)

Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging. - Joshua G. Mangelson; Derrick Dominic; Ryan M. Eustice; Ram Vasudevan (ICRA, 2018)

Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. - Joshua G. Mangelson; Jinsun Liu; Ryan M. Eustice; Ram Vasudevan (ICRA, 2019)

ICS: Incremental Constrained Smoothing for State Estimation. - Paloma Sodhi; Sanjiban Choudhury; Joshua G. Mangelson; Michael Kaess (ICRA, 2020)

Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration. - Sudharshan Suresh; Paloma Sodhi; Joshua G. Mangelson; David Wettergreen; Michael Kaess (ICRA, 2020)

Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance. - Eric Dexheimer; Joshua G. Mangelson; Sebastian A. Scherer; Michael Kaess (IROS, 2020)

ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations. - Ming Hsiao; Joshua G. Mangelson; Sudharshan Suresh; Christian Debrunner; Michael Kaess (IROS, 2020)

A Robust Multi-Stereo Visual-Inertial Odometry Pipeline. - Joshua Jaekel; Joshua G. Mangelson; Sebastian A. Scherer; Michael Kaess (IROS, 2020)

Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. - Joshua G. Mangelson; Maani Ghaffari Jadidi; Ram Vasudevan; Ryan M. Eustice (IEEE Trans. Robotics, 2020)

A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences. - Montiel Abello; Joshua G. Mangelson; Michael Kaess (ICRA, 2021)

HyperMap: Compressed 3D Map for Monocular Camera Registration. - Ming-Fang Chang; Joshua G. Mangelson; Michael Kaess; Simon Lucey (ICRA, 2021)

Tactile SLAM: Real-time inference of shape and pose from planar pushing. - Sudharshan Suresh; Maria Bauzá 001; Kuan-Ting Yu; Joshua G. Mangelson; Alberto Rodriguez 003; Michael Kaess (ICRA, 2021)

Map Compressibility Assessment for LiDAR Registration. - Ming-Fang Chang; Wei Dong; Joshua G. Mangelson; Michael Kaess; Simon Lucey (IROS, 2021)

Efficient shape mapping through dense touch and vision. - Sudharshan Suresh; Zilin Si; Joshua G. Mangelson; Wenzhen Yuan 001; Michael Kaess (CoRR, 2021)

Invariant Extended Kalman Filtering for Underwater Navigation. - Easton R. Potokar; Kalin Norman; Joshua G. Mangelson (IEEE Robotics Autom. Lett., 2021)

HoloOcean: An Underwater Robotics Simulator. - Easton R. Potokar; Spencer Ashford; Michael Kaess; Joshua G. Mangelson (ICRA, 2022)

ShapeMap 3-D: Efficient shape mapping through dense touch and vision. - Sudharshan Suresh; Zilin Si; Joshua G. Mangelson; Wenzhen Yuan 001; Michael Kaess (ICRA, 2022)

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

HoloOcean: Realistic Sonar Simulation. - Easton R. Potokar; Kalliyan Lay; Kalin Norman; Derek Benham; Tracianne B. Neilsen; Michael Kaess; Joshua G. Mangelson (IROS, 2022)

InCOpt: Incremental Constrained Optimization using the Bayes Tree. - Mohamad Qadri; Paloma Sodhi; Joshua G. Mangelson; Frank Dellaert; Michael Kaess (IROS, 2022)

AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping. - Kalin Norman; Daniel Butterfield; Joshua G. Mangelson (IROS, 2023)

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)

Continuous-Time Trajectory Estimation for Differentially Flat Systems. - Jacob C. Johnson; Joshua G. Mangelson; Randal W. Beard (IEEE Robotics Autom. Lett., 2023)

A Guided Gaussian-Dirichlet Random Field for Scientist-in-the-Loop Inference in Underwater Robotics. - Chad R. Samuelson; Joshua G. Mangelson (ICRA, 2024)

Low-Cost Urban Localization with Magnetometer and LoRa Technology. - Derek Benham; Ashton Palacios; Philip Lundrigan; Joshua G. Mangelson (IROS, 2024)

Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches. - Jacob C. Johnson; Joshua G. Mangelson; Timothy D. Barfoot; Randal W. Beard (CoRR, 2024)

RecGS: Removing Water Caustic with Recurrent Gaussian Splatting. - Tianyi Zhang 014; Weiming Zhi; Kaining Huang; Joshua G. Mangelson; Corina Barbalata; Matthew Johnson-Roberson (CoRR, 2024)

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)

Continuous-Time Estimation in the Flat Output Space Using B-Splines. - Jacob C. Johnson; Joshua G. Mangelson; Randal W. Beard (PLANS, 2025)

RecGS: Removing Water Caustic With Recurrent Gaussian Splatting. - Tianyi Zhang 014; Weiming Zhi; Braden Meyers; Nelson Durrant; Kaining Huang; Joshua G. Mangelson; Corina Barbalata; Matthew Johnson-Roberson (IEEE Robotics Autom. Lett., 2025)

Infinite Leagues Under the Sea: Photorealistic 3D Underwater Terrain Generation by Latent Fractal Diffusion Models. - Tianyi Zhang 014; Weiming Zhi; Joshua G. Mangelson; Matthew Johnson-Roberson (CoRR, 2025)

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments. - Chad R. Samuelson; Timothy W. McLain; Joshua G. Mangelson (CoRR, 2025)

Invariant Extended Kalman Filter for Autonomous Surface Vessels with Partial Orientation Measurements. - Derek Benham; Easton R. Potokar; Joshua G. Mangelson (CoRR, 2025)

Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference. - Kalliyan Velasco; Timothy W. McLain; Joshua G. Mangelson (CoRR, 2025)

Feature Geometry for Stereo Sidescan and Forward-looking Sonar. - Kalin Norman; Joshua G. Mangelson (CoRR, 2025)