Kasra Khosoussi

According to our database, Kasra Khosoussi authored at least 34 papers between 2013 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

IEEE Trans. Robotics, 2024

2023

Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.

Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How

IEEE Trans. Robotics, August, 2023

Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

IEEE Trans. Robotics, April, 2023

Data-Association-Free Landmark-based SLAM.

Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi

CoRR, 2023

Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge.

Navinda Kottege, Jason Williams, Brendan Tidd, Fletcher Talbot, Ryan Steindl, Mark Cox, Dennis Frousheger, Thomas Hines, Alex Pitt, Benjamin Tam, Brett Wood, Lauren Hanson, Katrina Lo Surdo, Thomas Molnar, Matt Wildie, Kazys Stepanas, Gavin Catt, Lachlan Tychsen-Smith, Dean Penfold, Leslie Overs, Milad Ramezani, Kasra Khosoussi, Farid Kendoul, Glenn Wagner, Duncan Palmer, Jack Manderson, Corey Medek, Matthew Joseph O'Brien, Shengkang Chen, Ronald C. Arkin

CoRR, 2023

Data-Association-Free Landmark-based SLAM.

Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Present and Future of SLAM in Extreme Underground Environments.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

CoRR, 2022

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT.

Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante

CoRR, 2022

Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM.

Milad Ramezani, Kasra Khosoussi, Gavin Catt, Peyman Moghadam, Jason Williams, Paulo Vinicius Koerich Borges, Fred Pauling, Navinda Kottege

CoRR, 2022

2021

Distributed Certifiably Correct Pose-Graph Optimization.

Yulun Tian, Kasra Khosoussi, David M. Rosen, Jonathan P. How

IEEE Trans. Robotics, 2021

A resource-aware approach to collaborative loop-closure detection with provable performance guarantees.

Yulun Tian, Kasra Khosoussi, Jonathan P. How

Int. J. Robotics Res., 2021

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

CoRR, 2021

Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations.

Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh A. Girdhar

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows.

Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.

Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association.

Kaveh Fathian, Kasra Khosoussi, Yulun Tian, Parker C. Lusk, Jonathan P. How

IEEE Trans. Robotics, 2020

2019

Reliable Graphs for SLAM.

Kasra Khosoussi, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, Jonathan P. How

Int. J. Robotics Res., 2019

Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization.

Yulun Tian, Kasra Khosoussi, Jonathan P. How

CoRR, 2019

Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints.

Yulun Tian, Kasra Khosoussi, Jonathan P. How

CoRR, 2019

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association.

Kaveh Fathian, Kasra Khosoussi, Parker C. Lusk, Yulun Tian, Jonathan P. How

CoRR, 2019

2018

Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees.

Yulun Tian, Kasra Khosoussi, Jonathan P. How

Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection.

Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly

Proceedings of the Robotics: Science and Systems XIV, 2018

Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection.

Matthew Giamou, Kasra Khosoussi, Jonathan P. How

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Exploiting the intrinsic structures of simultaneous localization and mapping

Kasra Khosoussi

PhD thesis, 2017

Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed SLAM Front-Ends.

Matthew Giamou, Kasra Khosoussi, Jonathan P. How

CoRR, 2017

On the Expected Value of the Determinant of Random Sum of Rank-One Matrices.

Kasra Khosoussi

CoRR, 2017

2016

A Sparse Separable SLAM Back-End.

Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake

IEEE Trans. Robotics, 2016

Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs.

Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

CoRR, 2016

Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.

Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Tree-connectivity: Evaluating the graphical structure of SLAM.

Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Dimensionality reduction for point feature SLAM problems with spherical covariance matrices.

Heng Wang, Shoudong Huang, Kasra Khosoussi, Udo Frese, Gamini Dissanayake, Bingbing Liu

Autom., 2015

Exploiting the Separable Structure of SLAM.

Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

2014

Novel insights into the impact of graph structure on SLAM.

Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

Towards a reliable SLAM back-end.

Gibson Hu, Kasra Khosoussi, Shoudong Huang

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013