A comparative study on robust localization: Fault tolerance and robustness test on probabilistic filters for range-based positioning. - Luca Carlone; Basilio Bona (ICAR, 2009)

A distributed gradient method for localization of formations using relative range measurements. - Giuseppe Carlo Calafiore; Luca Carlone; Mingzhu Wei (CACSD, 2010)

A distributed Gauss-Newton approach for range-based localization of multi agent formations. - Giuseppe Carlo Calafiore; Luca Carlone; Mingzhu Wei (CACSD, 2010)

Distributed optimization techniques for range localization in networked systems. - Giuseppe Carlo Calafiore; Luca Carlone; Mingzhu Wei (CDC, 2010)

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications. - Fabrizio Abrate; Basilio Bona; Marina Indri; Luca Carlone (ETFA, 2010)

Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication. - Luca Carlone; Miguel Efrain Kaouk Ng; Jingjing Du; Basilio Bona; Marina Indri (ICRA, 2010)

An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters. - Luca Carlone; Jingjing Du; Miguel Efrain Kaouk Ng; Basilio Bona; Marina Indri (IROS, 2010)

Multi-agent localization from noisy relative pose measurements. - Rosario Aragues; Luca Carlone; Giuseppe Carlo Calafiore; Carlos Sagüés (ICRA, 2011)

A first-order solution to simultaneous localization and mapping with graphical models. - Luca Carlone; Rosario Aragues; José A. Castellanos 001; Basilio Bona (ICRA, 2011)

A distributed algorithm for random convex programming. - Luca Carlone; Vaibhav Srivastava; Francesco Bullo; Giuseppe Carlo Calafiore (NetGCoop, 2011)

A Linear Approximation for Graph-based Simultaneous Localization and Mapping. - Luca Carlone; Rosario Aragues; José A. Castellanos 001; Basilio Bona (Robotics: Science and Systems, 2011)

Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems. - Luca Carlone; Miguel Efrain Kaouk Ng; Jingjing Du; Basilio Bona; Marina Indri (J. Intell. Robotic Syst., 2011)

Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation. - Luca Carlone; Jingchun Yin; Stefano Rosa; Zehui Yuan (SIMPAR, 2012)

Distributed centroid estimation from noisy relative measurements. - Rosario Aragues; Luca Carlone; Carlos Sagüés; Giuseppe Carlo Calafiore (Syst. Control. Lett., 2012)

A Distributed Technique for Localization of Agent Formations From Relative Range Measurements. - Giuseppe Carlo Calafiore; Luca Carlone; Mingzhu Wei (IEEE Trans. Syst. Man Cybern. Part A, 2012)

A convergence analysis for pose graph optimization via Gauss-Newton methods. - Luca Carlone (ICRA, 2013)

Towards Planning in Generalized Belief Space. - Vadim Indelman; Luca Carlone; Frank Dellaert (ISRR, 2013)

Mining Structure Fragments for Smart Bundle Adjustment. - Luca Carlone; Pablo Fernández Alcantarilla; Han-Pang Chiu; Zsolt Kira; Frank Dellaert (BMVC, 2014)

Scan Matching for Graph SLAM in Indoor Dynamic Scenarios. - Jingchun Yin; Luca Carlone; Stefano Rosa; Muhammad Latif Anjum; Basilio Bona (FLAIRS, 2014)

An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring. - Stefano Rosa; Ludovico Orlando Russo; Giuseppe Airo Farulla; Luca Carlone; Roberto Antonini; Marco Gaspardone; Basilio Bona (IAS, 2014)

Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors. - Luca Carlone; Zsolt Kira; Chris Beall; Vadim Indelman; Frank Dellaert (ICRA, 2014)

Uncertainty-constrained robot exploration: A mixed-integer linear programming approach. - Luca Carlone; Daniel Lyons (ICRA, 2014)

Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs. - Han-Pang Chiu; Xun S. Zhou; Luca Carlone; Frank Dellaert; Supun Samarasekera; Rakesh Kumar 001 (ICRA, 2014)

Planning under uncertainty in the continuous domain: A generalized belief space approach. - Vadim Indelman; Luca Carlone; Frank Dellaert (ICRA, 2014)

Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs. - Luca Carlone; Andrea Censi; Frank Dellaert (IROS, 2014)

A fast and accurate approximation for planar pose graph optimization. - Luca Carlone; Rosario Aragues; José A. Castellanos 001; Basilio Bona (Int. J. Robotics Res., 2014)

Supervision and monitoring of logistic spaces by a cooperative robot team: methodologies, problems, and solutions. - Basilio Bona; Luca Carlone; Marina Indri; Stefano Rosa (Intell. Serv. Robotics, 2014)

Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence. - Luca Carlone; Jingjing Du; Miguel Efrain Kaouk Ng; Basilio Bona; Marina Indri (J. Intell. Robotic Syst., 2014)

Distributed Random Convex Programming via Constraints Consensus. - Luca Carlone; Vaibhav Srivastava; Francesco Bullo; Giuseppe Carlo Calafiore (SIAM J. Control. Optim., 2014)

From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization. - Luca Carlone; Andrea Censi (IEEE Trans. Robotics, 2014)

Rigid components identification and rigidity control in bearing-only localization using the graph cycle basis. - Roberto Tron; Luca Carlone; Frank Dellaert; Kostas Daniilidis (ACC, 2015)

Structural Symmetries from Motion for Scene Reconstruction and Understanding. - Natesh Srinivasan; Luca Carlone; Frank Dellaert (BMVC, 2015)

Duality-based verification techniques for 2D SLAM. - Luca Carlone; Frank Dellaert (ICRA, 2015)

Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization. - Luca Carlone; Roberto Tron; Kostas Daniilidis; Frank Dellaert (ICRA, 2015)

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions. - Luca Carlone; David M. Rosen; Giuseppe Carlo Calafiore; John J. Leonard; Frank Dellaert (IROS, 2015)

Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers. - Siddharth Choudhary; Luca Carlone; Henrik I. Christensen; Frank Dellaert (IROS, 2015)

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation. - Christian Forster; Luca Carlone; Frank Dellaert; Davide Scaramuzza 001 (Robotics: Science and Systems, 2015)

Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions. - Giuseppe Carlo Calafiore; Luca Carlone; Frank Dellaert (CoRR, 2015)

On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation. - Christian Forster; Luca Carlone; Frank Dellaert; Davide Scaramuzza 001 (CoRR, 2015)

Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments. - Vadim Indelman; Luca Carlone; Frank Dellaert (Int. J. Robotics Res., 2015)

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications. - Luca Carlone; Vito Macchia; Federico Tibaldi; Basilio Bona (Robotica, 2015)

Data-driven prediction of EVAR with confidence in time-varying datasets. - Allan Axelrod; Luca Carlone; Girish Chowdhary 001; Sertac Karaman (CDC, 2016)

Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach. - Siddharth Choudhary; Luca Carlone; Carlos Nieto-Granda; John G. Rogers III; Henrik I. Christensen; Frank Dellaert (ICRA, 2016)

Sparse sensing for resource-constrained depth reconstruction. - Fangchang Ma; Luca Carlone; Ulas Ayaz; Sertac Karaman (IROS, 2016)

Multi Robot Object-Based SLAM. - Siddharth Choudhary; Luca Carlone; Carlos Nieto; John G. Rogers III; Zhen Liu 019; Henrik I. Christensen; Frank Dellaert (ISER, 2016)

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - David M. Rosen; Luca Carlone; Afonso S. Bandeira; John J. Leonard (WAFR, 2016)

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian D. Reid 001; John J. Leonard (CoRR, 2016)

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian Reid 001; John J. Leonard (IEEE Trans. Robotics, 2016)

Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification. - Luca Carlone; Giuseppe Carlo Calafiore; Carlo Tommolillo; Frank Dellaert (IEEE Trans. Robotics, 2016)

Supermodular mean squared error minimization for sensor scheduling in optimal Kalman Filtering. - Prince Singh; Min Chen 018; Luca Carlone; Sertac Karaman; Emilio Frazzoli; David Hsu (ACC, 2017)

Duckietown: An open, inexpensive and flexible platform for autonomy education and research. - Liam Paull; Jacopo Tani; Heejin Ahn; Javier Alonso-Mora; Luca Carlone; Michal Cáp; Yu Fan Chen; Changhyun Choi; Jeff Dusek; Yajun Fang; Daniel Hoehener; Shih-Yuan Liu; et al. (ICRA, 2017)

Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach. - Zhengdong Zhang 001; Amr Suleiman; Luca Carlone; Vivienne Sze; Sertac Karaman (Robotics: Science and Systems, 2017)

Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models. - Siddharth Choudhary; Luca Carlone; Carlos Nieto-Granda; John G. Rogers III; Henrik I. Christensen; Frank Dellaert (Int. J. Robotics Res., 2017)

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry. - Christian Forster; Luca Carlone; Frank Dellaert; Davide Scaramuzza 001 (IEEE Trans. Robotics, 2017)

Sensing-Constrained LQG Control. - Vasileios Tzoumas; Luca Carlone; George J. Pappas; Ali Jadbabaie (ACC, 2018)

Visual-Inertial Navigation Algorithm Development Using Photorealistic Camera Simulation in the Loop. - Thomas Sayre-McCord; Winter Guerra; Amado Antonini; Jasper Arneberg; Austin Brown; Guilherme Venturelli Cavalheiro; Yajun Fang; Alex A. Gorodetsky; Dave McCoy; Sebastian Quilter; Fabian Riether; Ezra Tal; et al. (ICRA, 2018)

Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Amr Suleiman; Zhengdong Zhang 001; Luca Carlone; Sertac Karaman; Vivienne Sze (VLSI Circuits, 2018)

Control and Sensing Co-design. - Vasileios Tzoumas; Luca Carlone; George J. Pappas; Ali Jadbabaie (CoRR, 2018)

Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Amr Suleiman; Zhengdong Zhang 001; Luca Carlone; Sertac Karaman; Vivienne Sze (CoRR, 2018)

Convex Relaxations for Pose Graph Optimization With Outliers. - Luca Carlone; Giuseppe Carlo Calafiore (IEEE Robotics Autom. Lett., 2018)

Data-Driven Prediction of Confidence for EVAR in Time-Varying Datasets. - Allan Axelrod; Luca Carlone; Girish Chowdhary 001; Sertac Karaman (Handbook of Dynamic Data Driven Applications Systems, 2018)

Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. - Luca Carlone; Allan Axelrod; Sertac Karaman; Girish Chowdhary 001 (Handbook of Dynamic Data Driven Applications Systems, 2018)

A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers. - Heng Yang 002; Luca Carlone (ICCV, 2019)

Robot Co-design: Beyond the Monotone Case. - Luca Carlone; Carlo Pinciroli (ICRA, 2019)

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. - Antoni Rosinol; Torsten Sattler; Marc Pollefeys; Luca Carlone (ICRA, 2019)

Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. - Vasileios Tzoumas; Pasquale Antonante; Luca Carlone (IROS, 2019)

A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. - Heng Yang 002; Luca Carlone (Robotics: Science and Systems, 2019)

Optimal Computation-Communication Trade-offs in Processing Networks. - Luca Ballotta; Luca Schenato 001; Luca Carlone (CoRR, 2019)

Sparse depth sensing for resource-constrained robots. - Fangchang Ma; Luca Carlone; Ulas Ayaz; Sertac Karaman (Int. J. Robotics Res., 2019)

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. - David M. Rosen; Luca Carlone; Afonso S. Bandeira; John J. Leonard (Int. J. Robotics Res., 2019)

Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. - Amr Suleiman; Zhengdong Zhang 001; Luca Carlone; Sertac Karaman; Vivienne Sze (IEEE J. Solid State Circuits, 2019)

Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. - Siyi Hu; Luca Carlone (IEEE Robotics Autom. Lett., 2019)

Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. - Pierre-Yves Lajoie; Siyi Hu; Giovanni Beltrame; Luca Carlone (IEEE Robotics Autom. Lett., 2019)

Attention and Anticipation in Fast Visual-Inertial Navigation. - Luca Carlone; Sertac Karaman (IEEE Trans. Robotics, 2019)

In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction From 2D Landmarks. - Heng Yang 002; Luca Carlone (CVPR, 2020)

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. - Frank Dellaert; David M. Rosen; Jing Wu; Robert E. Mahony; Luca Carlone (ECCV (6), 2020)

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. - Kamak Ebadi; Yun Chang; Matteo Palieri; Alex Stephens; Alex Hatteland; Eric Heiden; Abhishek Thakur; Nobuhiro Funabiki; Benjamin Morrell; Sally L. Wood; Luca Carlone; Ali-akbar Agha-mohammadi (ICRA, 2020)

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. - Antoni Rosinol; Marcus Abate; Yun Chang; Luca Carlone (ICRA, 2020)

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. - Andrea Tagliabue; Jesus Tordesillas; Xiaoyi Cai; Angel Santamaria-Navarro; Jonathan P. How; Luca Carlone; Ali-akbar Agha-mohammadi (ISER, 2020)

Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. - Arjun Gupta; Luca Carlone (ITSC, 2020)

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. - Heng Yang 002; Luca Carlone (NeurIPS, 2020)

Primal-Dual Mesh Convolutional Neural Networks. - Francesco Milano 001; Antonio Loquercio; Antoni Rosinol; Davide Scaramuzza 001; Luca Carlone (NeurIPS, 2020)

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. - Antoni Rosinol; Arjun Gupta; Marcus Abate; Jingnan Shi; Luca Carlone (Robotics: Science and Systems, 2020)

From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency. - Luca Ballotta; Luca Schenato 001; Luca Carlone (CoRR, 2020)

Control and Trajectory Optimization for Soft Aerial Manipulation. - Joshua Fishman; Luca Carlone (CoRR, 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)

Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection. - Heng Yang 002; Pasquale Antonante; Vasileios Tzoumas; Luca Carlone (IEEE Robotics Autom. Lett., 2020)

Computation-Communication Trade-Offs and Sensor Selection in Real-Time Estimation for Processing Networks. - Luca Ballotta; Luca Schenato 001; Luca Carlone (IEEE Trans. Netw. Sci. Eng., 2020)

Self-Supervised Geometric Perception. - Heng Yang 002; Wei Dong; Luca Carlone; Vladlen Koltun (CVPR, 2021)

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. - Yun Chang; Yulun Tian; Jonathan P. How; Luca Carlone (ICRA, 2021)

ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. - Jingnan Shi; Heng Yang 002; Luca Carlone (ICRA, 2021)

Monitoring and Diagnosability of Perception Systems. - Pasquale Antonante; David I. Spivak; Luca Carlone (IROS, 2021)

Dynamic Grasping with a "Soft" Drone: From Theory to Practice. - Joshua Fishman; Samuel Ubellacker; Nathan Hughes; Luca Carlone (IROS, 2021)

Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. - Antoni Rosinol; Luca Carlone (IROS, 2021)

Neural Trees for Learning on Graphs. - Rajat Talak; Siyi Hu; Lisa Peng; Luca Carlone (NeurIPS, 2021)

Optimal Pose and Shape Estimation for Category-level 3D Object Perception. - Jingnan Shi; Heng Yang 002; Luca Carlone (Robotics: Science and Systems, 2021)

Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. - Vishrant Tripathi; Luca Ballotta; Luca Carlone; Eytan H. Modiano (WiOpt, 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)

STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations. - Heng Yang 002; Ling Liang; Kim-Chuan Toh; Luca Carlone (CoRR, 2021)

Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization. - Heng Yang 002; Luca Carlone (CoRR, 2021)

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems. - Amanda Prorok; Matthew Malencia; Luca Carlone; Gaurav S. Sukhatme; Brian M. Sadler; Vijay Kumar 001 (CoRR, 2021)

Kimera: From SLAM to spatial perception with 3D dynamic scene graphs. - Antoni Rosinol; Andrew Violette; Marcus Abate; Nathan Hughes; Yun Chang; Jingnan Shi; Arjun Gupta; Luca Carlone (Int. J. Robotics Res., 2021)

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. - Matteo Palieri; Benjamin Morrell; Abhishek Thakur; Kamak Ebadi; Jeremy Nash; Arghya Chatterjee 002; Christoforos Kanellakis; Luca Carlone; Cataldo Guaragnella; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time". - Matteo Palieri; Benjamin Morrell; Abhishek Thakur; Kamak Ebadi; Jeremy Nash; Arghya Chatterjee 002; Christoforos Kanellakis; Luca Carlone; Cataldo Guaragnella; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

LQG Control and Sensing Co-Design. - Vasileios Tzoumas; Luca Carlone; George J. Pappas; Ali Jadbabaie (IEEE Trans. Autom. Control., 2021)

TEASER: Fast and Certifiable Point Cloud Registration. - Heng Yang 002; Jingnan Shi; Luca Carlone (IEEE Trans. Robotics, 2021)

Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. - Zachary Ravichandran; Lisa Peng; Nathan Hughes; J. Daniel Griffith; Luca Carlone (ICRA, 2022)

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization. - Nathan Hughes; Yun Chang; Luca Carlone (Robotics: Science and Systems, 2022)

Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. - Nathan Hughes; Yun Chang; Luca Carlone (CoRR, 2022)

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping. - Andrzej Reinke; Matteo Palieri; Benjamin Morrell; Yun Chang; Kamak Ebadi; Luca Carlone; Ali-akbar Agha-mohammadi (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)

Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding. - William Chen; Siyi Hu; Rajat Talak; Luca Carlone (CoRR, 2022)

Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception. - Rajat Talak; Lisa Peng; Luca Carlone (CoRR, 2022)

Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints. - Jingnan Shi; Heng Yang 002; Luca Carlone (CoRR, 2022)

Present and Future of SLAM in Extreme Underground Environments. - Kamak Ebadi; Lukas Bernreiter; Harel Biggie; Gavin Catt; Yun Chang; Arghya Chatterjee 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (CoRR, 2022)

Leveraging Large Language Models for Robot 3D Scene Understanding. - William Chen; Siyi Hu; Rajat Talak; Luca Carlone (CoRR, 2022)

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints. - Yun Chang; Luca Ballotta; Luca Carlone (CoRR, 2022)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Chen Wang 033; Dasong Gao; Kuan Xu; Junyi Geng; Yaoyu Hu; Yuheng Qiu; Bowen Li 007; Fan Yang 092; Brady G. Moon; Abhinav Pandey; Aryan; Jiahe Xu 002; et al. (CoRR, 2022)

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. - Yun Chang; Kamak Ebadi; Christopher E. Denniston; Muhammad Fadhil Ginting; Antoni Rosinol; Andrzej Reinke; Matteo Palieri; Jingnan Shi; Arghya Chatterjee 002; Benjamin Morrell; Ali-akbar Agha-mohammadi; Luca Carlone (IEEE Robotics Autom. Lett., 2022)

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. - Christopher E. Denniston; Yun Chang; Andrzej Reinke; Kamak Ebadi; Gaurav S. Sukhatme; Luca Carlone; Benjamin Morrell; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2022)

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping. - Andrzej Reinke; Matteo Palieri; Benjamin Morrell; Yun Chang; Kamak Ebadi; Luca Carlone; Ali-Akbar Agha-Mohammadi (IEEE Robotics Autom. Lett., 2022)

Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications. - Pasquale Antonante; Vasileios Tzoumas; Heng Yang 002; Luca Carlone (IEEE Trans. Robotics, 2022)

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. - Yulun Tian; Yun Chang; Fernando Herrera Arias; Carlos Nieto-Granda; Jonathan P. How; Luca Carlone (IEEE Trans. Robotics, 2022)

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)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Chen Wang 033; Dasong Gao; Kuan Xu; Junyi Geng; Yaoyu Hu; Yuheng Qiu; Bowen Li 007; Fan Yang 092; Brady G. Moon; Abhinav Pandey; Aryan; Jiahe Xu 002; et al. (CVPR, 2023)

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. - Dominic Maggio; Marcus Abate; Jingnan Shi; Courtney Mario; Luca Carlone (ICRA, 2023)

Data-Association-Free Landmark-based SLAM. - Yihao Zhang 003; Odin A. Severinsen; John J. Leonard; Luca Carlone; Kasra Khosoussi (ICRA, 2023)

Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. - Yun Chang; Nathan Hughes; Aaron Ray; Luca Carlone (IROS, 2023)

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. - Antoni Rosinol; John J. Leonard; Luca Carlone (IROS, 2023)

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. - Yulun Tian; Yun Chang; Long Quang; Arthur Schang; Carlos Nieto-Granda; Jonathan P. How; Luca Carlone (IROS, 2023)

Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. - Marcus Abate; Yun Chang; Nathan Hughes; Luca Carlone (ISER, 2023)

Multi-camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking. - Marcus Abate; Ariel Schwartz; Xue Iuan Wong; Wangdong Luo; Rotem Littman; Marc Klinger; Lars Kuhnert; Douglas Blue; Luca Carlone (ISER, 2023)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Pasquale Antonante; Sushant Veer; Karen Leung; Xinshuo Weng; Luca Carlone; Marco Pavone 001 (Robotics: Science and Systems, 2023)

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. - Jingnan Shi; Rajat Talak; Dominic Maggio; Luca Carlone (Robotics: Science and Systems, 2023)

Probabilistic Volumetric Fusion for Dense Monocular SLAM. - Antoni Rosinol; John J. Leonard; Luca Carlone (WACV, 2023)

Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket. - Dominic Maggio; Courtney Mario; Brett Streetman; Ted J. Steiner; Luca Carlone (CoRR, 2023)

Aggressive Aerial Grasping using a Soft Drone with Onboard Perception. - Samuel Ubellacker; Aaron Ray; James Bern; Jared Strader; Luca Carlone (CoRR, 2023)

PyPose v0.6: The Imperative Programming Interface for Robotics. - Zitong Zhan; Xiangfu Li; Qihang Li; Haonan He; Abhinav Pandey; Haitao Xiao; Yangmengfei Xu; Xiangyu Chen; Kuan Xu; Kun Cao 002; Zhipeng Zhao 001; Zihan Wang 008; et al. (CoRR, 2023)

Estimation Contracts for Outlier-Robust Geometric Perception. - Luca Carlone (Found. Trends Robotics, 2023)

An inexact projected gradient method with rounding and lifting by nonlinear programming for solving rank-one semidefinite relaxation of polynomial optimization. - Heng Yang 002; Ling Liang; Luca Carlone; Kim-Chuan Toh (Math. Program., 2023)

Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization. - Heng Yang 002; Luca Carlone (IEEE Trans. Pattern Anal. Mach. Intell., 2023)

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. - Julio A. Placed; Jared Strader; Henry Carrillo; Nikolay Atanasov 001; Vadim Indelman; Luca Carlone; José A. Castellanos 001 (IEEE Trans. Robotics, 2023)

Certifiable Object Pose Estimation: Foundations, Learning Models, and Self-Training. - Rajat Talak; Lisa R. Peng; Luca Carlone (IEEE Trans. Robotics, 2023)

Optimal and Robust Category-Level Perception: Object Pose and Shape Estimation From 2-D and 3-D Semantic Keypoints. - Jingnan Shi; Heng Yang 002; Luca Carlone (IEEE Trans. Robotics, 2023)

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration. - Yun Chang; Luca Ballotta; Luca Carlone (IEEE Robotics Autom. Lett., 2023)

Monitoring of perception systems: Deterministic, probabilistic, and learning-based fault detection and identification. - Pasquale Antonante; Heath Nilsen; Luca Carlone (Artif. Intell., 2023)

Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-Based Fault Detection and Identification (Abstract Reprint). - Pasquale Antonante; Heath Nilsen; Luca Carlone (AAAI, 2024)

Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds. - David Jin; Sushrut Karmalkar; Harry Zhang; Luca Carlone (ICRA, 2024)

Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation. - Abdul Mohsi Jawaid; Rajat Talak; Yasir Latif; Luca Carlone; Tat-Jun Chin (IROS, 2024)

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments. - Lukas Schmid 001; Marcus Abate; Yun Chang; Luca Carlone (Robotics: Science and Systems, 2024)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Maani Ghaffari; Luca Carlone (CoRR, 2024)

Task and Motion Planning in Hierarchical 3D Scene Graphs. - Aaron Ray; Christopher Bradley; Luca Carlone; Nicholas Roy (CoRR, 2024)

Mixed Diffusion for 3D Indoor Scene Synthesis. - Siyi Hu; Diego Martín Arroyo; Stephanie Debats; Fabian Manhardt; Luca Carlone; Federico Tombari (CoRR, 2024)

KISS-Matcher: Fast and Robust Point Cloud Registration Revisited. - Hyungtae Lim; Daebeom Kim; Gunhee Shin; Jingnan Shi; Ignacio Vizzo; Hyun Myung; Jaesik Park; Luca Carlone (CoRR, 2024)

Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft. - Sandeep Banik; Jinrae Kim; Naira Hovakimyan; Luca Carlone; John P. Thomas; Nancy G. Leveson (CoRR, 2024)

CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty. - Harry Zhang; Luca Carlone (CoRR, 2024)

Foundations of spatial perception for robotics: Hierarchical representations and real-time systems. - Nathan Hughes; Yun Chang; Siyi Hu; Rajat Talak; Rumaisa Abdulhai; Jared Strader; Luca Carlone (Int. J. Robotics Res., 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 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (IEEE Trans. Robotics, 2024)

VERF: Runtime Monitoring of Pose Estimation With Neural Radiance Fields. - Dominic Maggio; Courtney Mario; Luca Carlone (IEEE Robotics Autom. Lett., 2024)

Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies. - Jared Strader; Nathan Hughes; William Chen; Alberto Speranzon; Luca Carlone (IEEE Robotics Autom. Lett., 2024)

Computer and Robot Vision: Past, Present, and Future [TC Spotlight]. - Letizia Gionfrida; Chen Wang 033; Lu Gan; Margarita Chli; Luca Carlone (IEEE Robotics Autom. Mag., 2024)

Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs. - Dominic Maggio; Yun Chang; Nathan Hughes; Matthew Trang; J. Daniel Griffith; Carlyn Dougherty; Eric Cristofalo; Lukas Schmid 001; Luca Carlone (IEEE Robotics Autom. Lett., 2024)

Long-Term Human Trajectory Prediction Using 3D Dynamic Scene Graphs. - Nicolas Gorlo; Lukas Schmid 001; Luca Carlone (IEEE Robotics Autom. Lett., 2024)

A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking. - Lorenzo Shaikewitz; Samuel Ubellacker; Luca Carlone (IEEE Robotics Autom. Lett., 2024)

ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis. - Yun Chang; Leonor Fermoselle; Duy Ta; Bernadette Bucher; Luca Carlone; Jiuguang Wang (CVPR, 2025)

CRISP: Object Pose and Shape Estimation with Test-Time Adaptation. - Jingnan Shi; Rajat Talak; Harry Zhang; David Jin; Luca Carlone (CVPR, 2025)

CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators. - Harry Zhang; Luca Carlone (ICLR, 2025)

Outlier-Robust Training of Machine Learning Models. - Rajat Talak; Charis Georgiou; Jingnan Shi; Luca Carlone (CoRR, 2025)

Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting. - Dominic Maggio; Luca Carlone (CoRR, 2025)

BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes. - Minkyun Seo; Hyungtae Lim; Kanghee Lee; Luca Carlone; Jaesik Park (CoRR, 2025)

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Sung-Kyun Kim; Muhammad Fadhil Ginting; Xianmei Lei; Jeffrey A. Edlund; Seyed Abolfazl Fakoorian; Amanda Bouman; Fernando Chavez; Taeyeon Kim; et al. (CoRR, 2025)

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold. - Dominic Maggio; Hyungtae Lim; Luca Carlone (CoRR, 2025)

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari; Luca Carlone (CoRR, 2025)

Gaussian Mapping for Evolving Scenes. - Vladimir Yugay; Thies Kersten; Luca Carlone; Theo Gevers; Martin R. Oswald; Lukas Schmid 001 (CoRR, 2025)

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs. - Jared Strader; Aaron Ray; Jacob Arkin; Mason B. Peterson; Yun Chang; Nathan Hughes; Christopher Bradley; Yi Xuan Jia; Carlos Nieto-Granda; Rajat Talak; Chuchu Fan; Luca Carlone; et al. (CoRR, 2025)

Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automation. - Xihang Yu; Rajat Talak; Jingnan Shi; Ulrich Viereck; Igor Gilitschenski; Luca Carlone (CoRR, 2025)

A Roadmap for Climate-Relevant Robotics Research. - Alan Papalia; Charles Dawson 001; Laurentiu L. Anton; Norhan Bayomi; Bianca Champenois; Jung-Hoon Cho; Levi Cai; Joseph DelPreto; Kristen Edwards; Bilha-Catherine Githinji; Cameron Hickert; Vindula Jayawardana; et al. (CoRR, 2025)