Hybrid localization using the hierarchical atlas. - Stephen Tully; Hyungpil Moon; Deryck Morales; George Kantor; Howie Choset (IROS, 2007)

Iterated filters for bearing-only SLAM. - Stephen Tully; Hyungpil Moon; George Kantor; Howie Choset (ICRA, 2008)

Leap-Frog Path Design for Multi-Robot Cooperative Localization. - Stephen Tully; George Kantor; Howie Choset (FSR, 2009)

A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs. - Stephen Tully; George Kantor; Howie Choset; Felix Werner (IROS, 2009)

Topological SLAM using neighbourhood information of places. - Felix Werner; Frédéric Maire; Joaquin Sitte; Howie Choset; Stephen Tully; George Kantor (IROS, 2009)

A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM. - Stephen Tully; George Kantor; Howie Choset (AAAI, 2010)

Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM. - Tong Tao; Stephen Tully; George Kantor; Howie Choset (ICRA, 2011)

Monte Carlo Localization using 3D texture maps. - Yu Fu; Stephen Tully; George Kantor; Howie Choset (IROS, 2011)

Inequality constrained Kalman filtering for the localization and registration of a surgical robot. - Stephen Tully; George Kantor; Howie Choset (IROS, 2011)

Shape estimation for image-guided surgery with a highly articulated snake robot. - Stephen Tully; George Kantor; Marco A. Zenati; Howie Choset (IROS, 2011)

Over-tube apparatus for increasing the capabilities of an articulated robotic probe. - Amir Degani; Stephen Tully; Brett Zubiate; Howie Choset (ICRA, 2012)

Multi-agent deterministic graph mapping via robot rendezvous. - Chaohui Gong; Stephen Tully; George Kantor; Howie Choset (ICRA, 2012)

Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. - Stephen Tully; Andrea Bajo; George Kantor; Howie Choset; Nabil Simaan (ICRA, 2012)

A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps. - Stephen Tully; George Kantor; Howie Choset (Int. J. Robotics Res., 2012)

Monocular feature-based periodic motion estimation for surgical guidance. - Stephen Tully; George Kantor; Howie Choset (ICRA, 2013)

Simultaneous Compliance and Registration Estimation for Robotic Surgery. - Siddharth Sanan; Stephen Tully; Andrea Bajo; Nabil Simaan; Howie Choset (Robotics: Science and Systems, 2014)

A Filtering Approach for Image-Guided Surgery With a Highly Articulated Surgical Snake Robot. - Stephen Tully; Howie Choset (IEEE Trans. Biomed. Eng., 2016)