Building World Models by Ray-Tracing within Ceiling-Mounted Positioning Systems. - Robert K. Harle; Andy Hopper (UbiComp, 2003)

Single Reflection Spatial Voting: A Novel Method for Discovering Reflective Surfaces Using Indoor Positioning Systems. - Robert K. Harle; Andy Ward; Andy Hopper (MobiSys, 2003)

Using Personnel Movements for Indoor Autonomous Environment Discovery. - Robert K. Harle; Andy Hopper (PerCom, 2003)

Dynamic World Models from Ray-tracing. - Robert K. Harle; Andy Hopper (PerCom, 2004)

Evaluating lateration-based positioning algorithms for fine-grained tracking. - Andrew C. Rice; Robert K. Harle (DIALM-POMC, 2005)

Deploying and evaluating a location-aware system. - Robert K. Harle; Andy Hopper (MobiSys, 2005)

Maintaining a World Model in a Location-Aware Smart Space. - Robert K. Harle (EuroSSC, 2006)

Cluster Tagging: Robust Fiducial Tracking for Smart Environments. - Robert K. Harle; Andy Hopper (LoCA, 2006)

POISE: An Inexpensive, Low-Power Location Sensor Based on Electrostatics. - Mbou Eyole-Monono; Robert K. Harle; Andy Hopper (MobiQuitous, 2006)

Cantag: an open source software toolkit for designing and deploying marker-based vision systems. - Andrew C. Rice; Alastair R. Beresford; Robert K. Harle (PerCom, 2006)

Privacy-Sensitive Congestion Charging. - Alastair R. Beresford; Jonathan J. Davies; Robert K. Harle (Security Protocols Workshop, 2006)

Analysing fundamental properties of marker-based vision system designs. - Andrew C. Rice; Robert K. Harle; Alastair R. Beresford (Pervasive Mob. Comput., 2006)

SpotCore: a power-efficient embedded processor for intelligent sensor networks. - Mbou Eyole-Monono; Robert K. Harle; Andrew Rose (BODYNETS, 2007)

Spatial Indexing for Location-Aware Systems. - Robert K. Harle (MobiQuitous, 2007)

On the Design, Deployment and Use of Ubiquitous Systems. - R. S. Sohan; Robert K. Harle (UIC, 2007)

Performance of IEEE 802.11a in Vehicular Contexts. - David Naveen Cottingham; Ian J. Wassell; Robert K. Harle (VTC Spring, 2007)

The potential for location-aware power management. - Robert K. Harle; Andy Hopper (UbiComp, 2008)

Pedestrian localisation for indoor environments. - Oliver Woodman; Robert Harle (UbiComp, 2008)

Optical tracking using commodity hardware. - Simon Hay; Joseph Newman; Robert K. Harle (ISMAR, 2008)

Modeling the Model Athlete: Automatic Coaching of Rowing Technique. - Simon Fothergill; Robert Harle; Sean B. Holden (SSPR/SPR, 2008)

Constructing accurate, space-efficient, wireless coverage maps for vehicular contexts. - David Naveen Cottingham; Robert K. Harle; Andy Hopper (WICON, 2008)

Towards autonomous updating of world models in location-aware spaces. - Robert K. Harle; Andy Hopper (Pers. Ubiquitous Comput., 2008)

Bluetooth Tracking without Discoverability. - Simon Hay; Robert K. Harle (LoCA, 2009)

RF-Based Initialisation for Inertial Pedestrian Tracking. - Oliver Woodman; Robert Harle (Pervasive, 2009)

Foot Contact Detection for Sprint Training. - Robert K. Harle; Jonathan Cameron; Joan Lasenby (ACCV Workshops (1), 2010)

Profiling sprints using on-body sensors. - Salman Taherian; Marcelo Pias; Robert K. Harle; George Coulouris; Simon Hay; Jonathan Cameron; Joan Lasenby; Gregor Kuntze; Ian N. Bezodis; G. Irwin; David G. Kerwin (PerCom Workshops, 2010)

Concurrent scheduling in the Active Bat location system. - Oliver Woodman; Robert Harle (PerCom Workshops, 2010)

Scalable indoor pedestrian localisation using inertial sensing and parallel particle filters. - Agata Brajdic; Robert Harle (IPIN, 2012)

Towards real-time profiling of sprints using wearable pressure sensors. - Robert K. Harle; Salman Taherian; Marcelo Pias; George Coulouris; Andy Hopper; Jonathan Cameron; Joan Lasenby; Gregor Kuntze; Ian N. Bezodis; G. Irwin; David G. Kerwin (Comput. Commun., 2012)

Sports Sensing: An Olympic Challenge for Computing. - Robert K. Harle; Andy Hopper (Computer, 2012)

Walk detection and step counting on unconstrained smartphones. - Agata Brajdic; Robert Harle (UbiComp, 2013)

A Survey of Indoor Inertial Positioning Systems for Pedestrians. - Robert Harle (IEEE Commun. Surv. Tutorials, 2013)

Investigation of Sensor Parameters for Kinematic Assessment of Steady State Running Using Foot Mounted IMUs. - Gareth P. Bailey; Robert K. Harle (icSPORTS, 2014)

Measuring Temporal Parameters of Gait with Foot Mounted IMUs in Steady State Running. - Gareth P. Bailey; Robert K. Harle (icSPORTS, 2015)

Sequence-based magnetic loop closures for automated signal surveying. - Chao Gao; Robert Harle (IPIN, 2015)

Location Fingerprinting With Bluetooth Low Energy Beacons. - Ramsey Faragher; Robert Harle (IEEE J. Sel. Areas Commun., 2015)

A Portable, Inexpensive Point-Tracking System for Validation of Wearable Biomechanics Sensors. - Gareth P. Bailey; Robert K. Harle (icSPORTS, 2016)

Easing the survey burden: Quantitative assessment of low-cost signal surveys for indoor positioning. - Chao Gao; Robert Harle (IPIN, 2016)

MSGD: Scalable back-end for indoor magnetic field-based GraphSLAM. - Chao Gao; Robert Harle (ICRA, 2017)

Assessing the impact of multi-channel BLE beacons on fingerprint-based positioning. - Jovan Powar; Chao Gao; Robert Harle (IPIN, 2017)

Towards a crowdsourced radio map for indoor positioning system. - Ran Guan; Robert Harle (PerCom Workshops, 2017)

A Contextual Investigation of Location in the Home Using Bluetooth Low Energy Beacons. - Charith Perera; Saeed Aghaee; Ramsey Faragher; Robert Harle; Alan F. Blackwell (CoRR, 2017)

Signal Fingerprint Anomaly Detection for Probabilistic Indoor Positioning. - Ran Guan; Robert Harle (IPIN, 2018)

Bellrock: Anonymous Proximity Beacons From Personal Devices. - Augustin Zídek; Shyam A. Tailor; Robert Harle (PerCom, 2018)

Semi-Automated Signal Surveying Using Smartphones and Floorplans. - Chao Gao; Robert Harle (IEEE Trans. Mob. Comput., 2018)

Head Motion Tracking Through in-Ear Wearables. - Andrea Ferlini; Alessandro Montanari; Cecilia Mascolo; Robert Harle (EarComp@UbiComp, 2019)

Contextual Location in the Home Using Bluetooth Beacons. - Charith Perera; Saeed Aghaee; Ramsey Faragher; Robert Harle; Alan F. Blackwell (IEEE Syst. J., 2019)

EarComp 2021: Second International Workshop on Earable Computing. - Fahim Kawsar; Robert Harle; Alessandro Montanari; Chulhong Min (UbiComp/ISWC Adjunct, 2021)

EarGate: gait-based user identification with in-ear microphones. - Andrea Ferlini; Dong Ma 001; Robert Harle; Cecilia Mascolo (MobiCom, 2021)

Enabling In-Ear Magnetic Sensing: Automatic and User Transparent Magnetometer Calibration. - Andrea Ferlini; Alessandro Montanari; Andreas Grammenos; Robert Harle; Cecilia Mascolo (PerCom, 2021)

Challenges and Solutions of Surveillance Systems in IoT-Enabled Smart Campus: A Survey. - Theodoros Anagnostopoulos; Panos Kostakos 001; Arkady B. Zaslavsky; Ioanna Kantzavelou; Nikos Tsotsolas; Ioannis Salmon; Jeremy Morley 001; Robert Harle (IEEE Access, 2021)

Crowdsourcing Mobile Data for A Passive Indoor Positioning System - The MAA Case Study. - Ran Guan; Robert Harle (MSN, 2022)

Scaling laws in wearable human activity recognition. - Tom Hoddes; Alex Bijamov; Saket Joshi; Daniel Roggen; Ali Etemad; Robert Harle; David Racz (CoRR, 2025)

Adaptive Cardio Load Targets for Improving Fitness and Performance. - Justin Phillips; Daniel Roggen; Cathy Speed; Robert Harle (CoRR, 2025)