Email: mfallon_at_robots.ox.ac.uk

Maurice Fallon is a Royal Society University Research Fellow (aka Assistant Professor).

His research is focused on probabilistic methods for localisation and mapping. He has also made research contributions to state estimation for legged robots and is interested in dynamic motion planning and control. Of particular interest is developing methods which are robust in the most challenging situations by leveraging sensor fusion.

Biography

Dr. Fallon studied Electronic Engineering at University College Dublin and graduated in 2004. His PhD research in the field of acoustic source tracking was carried out in the Engineering Department of the University of Cambridge.

Immediately after his PhD he moved to MIT as a post-doc and later research scientist in the Marine Robotics Group (2008-2012). From 2012-2015 he was the perception lead of MIT’s team in the DARPA Robotics Challenge – a multi-year competition developing technologies for semi-autonomous humanoid exploration and manipulation in disaster situations. The MIT DRC team successfully completed in several phases of the international competition against leading labs from around the world.

From 2015, he was a Lecturer at University of Edinburgh where he led research in collaboration with NASA’s humanoid robotics program. He moved to Oxford in April 2017 and now is the PI of the Dynamic Robot Systems Group.

Publications

Dr. Fallon’s full list of publications appears on Google Scholar. These publications have received best paper awards or nominations at ICRA (3 times), AAAI and Humanoids.


2017

  • [PDF] R. Scona, S. Nobili, Y. Petillot, and M. Fallon, “Direct Visual SLAM Fusing Proprioception for a Humanoid Robot,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    [Bibtex]

    @inproceedings{2017IROS_scona,
    title = {Direct Visual {SLAM} Fusing Proprioception for a Humanoid Robot},
    author = {Raluca Scona and Simona Nobili and Yvan Petillot and Maurice Fallon},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2017,
    address = {Vancouver, Canada},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IROS_scona.pdf}
    }

  • [PDF] S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. Caldwell, C. Semini, and M. Fallon, “Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots,” in Robotics: Science and Systems (RSS), Cambridge, MA, 2017.
    [Bibtex]

    @inproceedings{2017RSS_nobili,
    title = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
    author = {Simona Nobili and Marco Camurri and Victor Barasuol and Michele Focchi and Darwin Caldwell and Claudio Semini and Maurice Fallon},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = 2017,
    month = aug,
    address = {Cambridge, MA},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017RSS_nobili.pdf}
    }

  • [PDF] M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, and C. Semini, “Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.” 2017, pp. 1023-1030.
    [Bibtex]

    @inproceedings{2017RAL_camurri,
    title = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
    author = {Marco Camurri and Maurice Fallon and St\'{e}phane Bazeille and Andreea Radulescu and Victor Barasuol and Darwin G. Caldwell and Claudio Semini},
    booktitle = ral,
    year = 2017,
    month = apr,
    volume = 2,
    issue = 2,
    pages = {1023-1030},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017RAL_camurri.pdf}
    }

  • [PDF] S. Nobili, R. Scona, M. Caravagna, and M. Fallon, “Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]

    @inproceedings{2017ICRA_nobili,
    title = {Overlap-based {ICP} Tuning for Robust Localization of a Humanoid Robot},
    author = {Simona Nobili and Raluca Scona and Marco Caravagna and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_nobili.pdf}
    }