Vision-based loop closing for delayed state robot mapping. - Viorela Ila; Juan Andrade-Cetto; Rafael Valencia; Alberto Sanfeliu (IROS, 2007)

3D mapping for urban service robots. - Rafael Valencia; Ernesto Homar Teniente Avilés; Eduard Trulls; Juan Andrade-Cetto (IROS, 2009)

Path planning in belief space with pose SLAM. - Rafael Valencia; Juan Andrade-Cetto; Josep M. Porta (ICRA, 2011)

Active Pose SLAM. - Rafael Valencia; Jaime Valls Miró; Gamini Dissanayake; Juan Andrade-Cetto (IROS, 2012)

Planning Reliable Paths With Pose SLAM. - Rafael Valencia; Marti Morta; Juan Andrade-Cetto; Josep M. Porta (IEEE Trans. Robotics, 2013)

Mapping, planning and exploration with Pose SLAM. - Rafael Valencia Carreño (2013)

Exploration on continuous Gaussian process frontier maps. - Maani Ghaffari Jadidi; Jaime Valls Miró; Rafael Valencia; Juan Andrade-Cetto (ICRA, 2014)

Localization in highly dynamic environments using dual-timescale NDT-MCL. - Rafael Valencia; Jari Saarinen; Henrik Andreasson; Joan Vallve; Juan Andrade-Cetto; Achim J. Lilienthal (ICRA, 2014)

Center for Applied Intelligent Systems Research (Position paper). - Thorsteinn S. Rögnvaldsson; Antanas Verikas; Josef Bigün; Slawomir Nowaczyk; Anita Pinheiro Sant'Anna; Björn Åstrand; Jens Lundström; Stefan Byttner; Roland Thörner; Fernando Alonso-Fernandez; Martin Cooney; Rafael Valencia (SAIS, 2016)

Local Path Optimizer for an Autonomous Truck in a Harbor Scenario. - Jennifer David; Rafael Valencia; Roland Philippsen; Karl Iagnemma (FSR, 2017)

Gradient based path optimization method for autonomous driving. - Jennifer David; Rafael Valencia; Roland Philippsen; Pascal Bosshard; Karl Iagnemma (IROS, 2017)

Information Sparsification in Visual-Inertial Odometry. - Jerry Hsiung; Ming Hsiao; Eric Westman; Rafael Valencia; Michael Kaess (IROS, 2018)

Mapping, Planning and Exploration with Pose SLAM - Rafael Valencia; Juan Andrade-Cetto (Springer, 2018)

ExelMap: Explainable Element-based HD-Map Change Detection and Update. - Lena Wild; Ludvig Ericson; Rafael Valencia; Patric Jensfelt (CoRR, 2024)

Simultaneous Path Planning and Task Allocation in Dynamic Environments. - Jennifer David; Rafael Valencia (Robotics, 2025)