Maurice Fallon

/Maurice Fallon

 

 

Email: mfallon_at_robots.ox.ac.uk

Dr. 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 three 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.

Background

Originally from Ireland, Maurice often goes hiking and misses the White Mountains of New Hampshire. He follows his local Gaelic Football team, Westmeath, in the All-Ireland Championship – until about July each year.

Publications

Maurice’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.


2018

  • [PDF] S. Nobili, G. Tinchev, and M. Fallon, “Predicting Alignment Risk to Prevent Localization Failure,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]

    @inproceedings{2018ICRA_nobili,
    title = {Predicting Alignment Risk to Prevent Localization Failure},
    author = {Simona Nobili and Georgi Tinchev and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_nobili.pdf},
    }

  • [PDF] C. Rauch, T. Hospedales, J. Shotton, and M. Fallon, “Visual Articulated Tracking in the Presence of Occlusions,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]

    @inproceedings{2018ICRA_rauch,
    title = {Visual Articulated Tracking in the Presence of Occlusions},
    author = {Christian Rauch and Timothy Hospedales and Jamie Shotton and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_rauch.pdf},
    }

  • [PDF] R. Scona, M. Jaimez, Y. R. Petillot, M. Fallon, and D. Cremers, “StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]

    @inproceedings{2018ICRA_scona,
    title = {{StaticFusion}: Background Reconstruction for Dense {RGB-D} {SLAM} in
    Dynamic Environments},
    author = {Raluca Scona and Mariano Jaimez and Yvan R. Petillot and Maurice Fallon and Daniel Cremers},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_scona.pdf},
    }

  • [PDF] P. Marion, M. Fallon, R. Deits, A. Valenzuela, C. P. D’Arpino, G. Izatt, L. Manuelli, M. Antone, H. Dai, T. Koolen, J. Carter, S. Kuindersma, and R. Tedrake, “Director: A User Interface Designed for Robot Operation With Shared Autonomy,” Chapter in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
    [Bibtex]

    @article{2018CHAPTER_marion,
    title = {Director: A User Interface Designed for Robot Operation With Shared Autonomy},
    author = {Pat Marion and Maurice Fallon and Robin Deits and Andr\'{e}s Valenzuela and
    Claudia P\'{e}rez D'Arpino and Greg Izatt and Lucas Manuelli and
    Matt Antone and Hongkai Dai and Twan Koolen and John Carter and
    Scott Kuindersma and Russ Tedrake},
    journal = {Chapter in The {DARPA} Robotics Challenge Finals: Humanoid Robots To The Rescue},
    year = 2018,
    publisher= {Springer, Berlin},
    editor= {Steven Buerger, Karl Iangnemma, Matthew Spenko},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018CHAPTER_marion.pdf},
    }

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}
    }

 






2018-03-13T11:00:25+00:00