Bootstrap Learning for Place Recognition. - Benjamin Kuipers; Patrick Beeson (AAAI/IAAI, 2002)

Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy. - Benjamin Kuipers; Joseph Modayil; Patrick Beeson; Matt MacMahon; Francesco Savelli (ICRA, 2004)

Using the topological skeleton for scalable global metrical map-building. - Joseph Modayil; Patrick Beeson; Benjamin Kuipers (IROS, 2004)

Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph. - Patrick Beeson; Nicholas K. Jong; Benjamin Kuipers (ICRA, 2005)

Adapting Proposal Distributions for Accurate, Efficient Mobile Robot Localization. - Patrick Beeson; Aniket Murarka; Benjamin Kuipers (ICRA, 2006)

Bootstrap learning of foundational representations. - Benjamin Kuipers; Patrick Beeson; Joseph Modayil; Jefferson Provost (Connect. Sci., 2006)

Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication. - Patrick Beeson; Matt MacMahon; Joseph Modayil; Aniket Murarka; Benjamin Kuipers; Brian Stankiewicz (AAAI Spring Symposium: Interaction Challenges for Intelligent Assistants, 2007)

Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy. - Patrick Beeson; Joseph Modayil; Benjamin Kuipers (Int. J. Robotics Res., 2010)

An Ontology-Based Symbol Grounding System for Human-Robot Interaction. - Patrick Beeson; David Kortenkamp; R. Peter Bonasso; Andreas Persson; Amy Loutfi; Jonathan P. Bona (AAAI Fall Symposia, 2014)

TRAC-IK: An open-source library for improved solving of generic inverse kinematics. - Patrick Beeson; Barrett Ames (Humanoids, 2015)

Prophetic goal-space planning for human-in-the-loop mobile manipulation. - Joshua James; Yifan Weng; Stephen Hart; Patrick Beeson; Robert R. Burridge (Humanoids, 2015)

Person tracking and gesture recognition in challenging visibility conditions using 3D thermal sensing. - Ariel Kapusta; Patrick Beeson (RO-MAN, 2016)

Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. - Steven Jens Jorgensen; Michael William Lanighan; Sylvain S. Bertrand; Andrew Watson; Joseph S. Altemus; R. Scott Askew; Lyndon Bridgwater; Beau Domingue; Charlie Kendrick; Jason Lee; Mark Paterson; Jairo Sanchez; et al. (Humanoids, 2019)