DRS Publications

DRS Publications 2018-10-25T22:32:23+00:00

Publications @ DRS

Authors: Type:

2018

  • M. Fallon, “Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR,” Interface Focus, 2018.
    [Bibtex]
    @article{2018Interface_fallon,
    title = {Accurate and robust localization for
    walking robots fusing kinematics, inertial,
    vision and {LIDAR}},
    author = {Maurice Fallon},
    journal = {Interface Focus},
    year = 2018,
    month = jun,
    publisher= {Royal Society, London}
    }
  • [PDF] [DOI] I. Havoutis and S. Calinon, “Learning from demonstration for semi-autonomous teleoperation,” Autonomous Robots, 2018.
    [Bibtex]
    @article{2018AuRo_Havoutis,
    author = {Havoutis, Ioannis and Calinon, Sylvain},
    title = {Learning from demonstration for semi-autonomous teleoperation},
    journal = {Autonomous Robots},
    year = {2018},
    month = {Apr},
    day = {25},
    abstract = {Teleoperation in domains such as deep-sea or space often requires the completion of a set of recurrent tasks. We present a framework that uses a probabilistic approach to learn from demonstration models of manipulation tasks. We show how such a framework can be used in an underwater ROV teleoperation context to assist the operator. The learned representation can be used to resolve inconsistencies between the operator's and the robot's space in a structured manner, and as a fall-back system to perform previously learned tasks autonomously when teleoperation is not possible. We evaluate our framework with a realistic ROV task on a teleoperation mock-up with a group of volunteers, showing a significant decrease in time to complete the task when our approach is used. In addition, we illustrate how the system can execute previously learned tasks autonomously when the communication with the operator is lost.},
    issn = {1573-7527},
    doi = {10.1007/s10514-018-9745-2},
    url = {https://doi.org/10.1007/s10514-018-9745-2},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018AuRo_Havoutis.pdf},
    }
  • [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/drs/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/drs/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/drs/Papers/2018ICRA_scona.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,” , 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},
    booktitle = {The {DARPA} Robotics Challenge Finals: Humanoid Robots To The Rescue},
    year = 2018,
    publisher= {Springer, Berlin},
    editor= {Steven Buerger, Karl Iangnemma, Matthew Spenko},
    }
  • [PDF] G. Tinchev, S. Nobili, and M. Fallon, “Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    [Bibtex]
    @inproceedings{2018IROS_tinchev,
    title = {Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments},
    author = {Georgi Tinchev and Simona Nobili and Maurice Fallon},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2018,
    month = october,
    address= {Madrid, Spain},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2018IROS_tinchev.pdf},
    }
  • [PDF] [DOI] M. J. A. Zeestraten, I. Havoutis, and S. Calinon, “Programming by Demonstration for Shared Control with an Application in Teleoperation,” IEEE Robotics and Automation Letters (RA-L), 2018.
    [Bibtex]
    @article{Zeestraten17RAL,
    author= {Zeestraten, M. J. A. and Havoutis, I. and Calinon, S.},
    title= {Programming by Demonstration for Shared Control with an Application in Teleoperation},
    journal= {{IEEE} Robotics and Automation Letters ({RA-L})},
    doi= {10.1109/LRA.2018.2805105},
    year= {2018},
    month= {},
    volume= {},
    number= {},
    pages= {},
    pdf= {http://www.robots.ox.ac.uk/~mobile/Papers/2018RAL-Zeestraten.pdf}
    }

2017

  • [PDF] M. J. A. Zeestraten, I. Havoutis, S. Calinon, and D. G. Caldwell, “Learning Task-Space Synergies using Riemannian Geometry,” in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    [Bibtex]
    @inproceedings{zeestraten2017IROS,
    title = {Learning Task-Space Synergies using Riemannian Geometry},
    author = {Zeestraten, M. J. A. and Havoutis, I. and Calinon, S. and Caldwell, D. G.},
    booktitle = {Proc. {IEEE/RSJ} Intl Conf. on Intelligent Robots and Systems ({IROS})},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IROS_zeestraten.pdf},
    year = {2017},
    address = {Vancouver, Canada},
    month = {October}
    }
  • S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. Caldwell, C. Semini, and M. Fallon, “\textbfHeterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots,” in Robotics: Science and Systems (RSS), Cambridge, MA, 2017.
    [Bibtex]
    @inproceedings{2017RSS_nobili,
    title = {\textbf{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] [DOI] M. J. A. Zeestraten, I. Havoutis, J. Silvério, S. Calinon, and D. G. Caldwell, “An Approach for Imitation Learning on Riemannian Manifolds,” IEEE Robotics and Automation Letters (RA-L), vol. 2, iss. 3, p. 1240–1247, 2017.
    [Bibtex]
    @article{Zeestratenetal17RAL,
    author=  {Zeestraten, M. J. A. and Havoutis, I. and Silv\'erio, J. and Calinon, S. and Caldwell, D. G.},
    title=  {An Approach for Imitation Learning on {R}iemannian Manifolds},
    journal=  {{IEEE} Robotics and Automation Letters ({RA-L})},
    doi= {10.1109/LRA.2017.2657001},
    year= {2017},
    month=  {June},
    volume=  {2},
    number=  {3},
    pages=  {1240--1247},
    pdf= {http://www.robots.ox.ac.uk/~mobile/Papers/2017RAL_zeestraten.pdf}
    }
  • [PDF] C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, and C. Semini, “Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017icra_mastalli,
    author = {Carlos Mastalli and Michelle Focchi and Ioannis Havoutis and Andreea Radulescu and Sylvain Calinon and Jonas Buchli and Darwin G. Caldwell and Claudio Semini},
    title = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},
    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_mastalli.pdf}
    }
  • [PDF] A. Radulescu, I. Havoutis, D. G. Caldwell, and C. Semini, “Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017icra_radulescu,
    author = {Andreea Radulescu and Ioannis Havoutis and Darwin G. Caldwell and Claudio Semini},
    title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
    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_radulescu.pdf}
    }
  • [PDF] I. Havoutis and S. Calinon, “Supervisory teleoperation with online learning and optimal control,” in Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{Havoutis17ICRA,
    author =  {Havoutis, I. and Calinon, S.},
    title = {Supervisory teleoperation with online learning and optimal control},
    booktitle =  {Proc. {IEEE} Intl Conf. on Robotics and Automation ({ICRA})},
    year =  {2017},
    month =  {May-June},
    address =  {Singapore},
    pages =  {},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_havoutis.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,” IEEE Robotics and Automation Letters, vol. 2, pp. 1023-1030, 2017.
    [Bibtex]
    @article{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},
    journal = "{IEEE} Robotics and Automation Letters",
    year = 2017,
    month = apr,
    volume = 2,
    issue = 2,
    pages = {1023-1030},
    }
  • 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,” J. of Field Robotics, vol. 34, pp. 225-426, 2017.
    [Bibtex]
    @article{2017JFR_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 = "J. of Field Robotics",
    year = 2017,
    month = mar,
    volume = 34,
    issue = 2,
    pages = {225-426},
    }
  • 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},
    }
  • W. Merkt, Y. Yang, T. Stouraitis, C. Mower, M. Fallon, and S. Vijayakumar, “Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring,” in IEEE Intl. Conf. on Automation Science and Engineering (CASE), Xian, China, 2017.
    [Bibtex]
    @inproceedings{2017CASE_merkt,
    title = {Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring},
    author = {Wolfgang Merkt and Yiming Yang and Theodoros Stouraitis and Christopher Mower and Maurice Fallon and Sethu Vijayakumar},
    year = 2017,
    booktitle = "IEEE Intl. Conf. on Automation Science and Engineering (CASE)",
    address = {Xian, China},
    }
  • 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},
    }
  • M. Focchi, A. Del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, and C. Semini, “High-slope terrain locomotion for torque-controlled quadruped robots,” Autonomous Robots, vol. 41, iss. 1, p. 259–272, 2017.
    [Bibtex]
    @article{Focchi2017AuRo,
    title={High-slope terrain locomotion for torque-controlled quadruped robots},
    author={Focchi, Michele and Del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G and Semini, Claudio},
    journal={Autonomous Robots},
    volume={41},
    number={1},
    pages={259--272},
    year={2017},
    publisher={Springer US},
    pdrf={https://ihavoutis.github.io/publications/2016/auro2016focchi.pdf}
    }

2016

  • Y. Yang, V. Ivan, Z. Li, M. Fallon, and S. Vijayakumar, “iDRM: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments,” in IEEE/RSJ Int. Conf. on Humanoid Robots, 2016.
    [Bibtex]
    @inproceedings{2016HUMANOIDS_yang,
    title = {{iDRM}: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments},
    author = {Yiming Yang and Vladimir Ivan and Zhibin Li and Maurice Fallon and Sethu Vijayakumar},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    year = 2016,
    month = nov,
    }
  • [PDF] I. Havoutis and S. Calinon, “Learning assistive teleoperation behaviors from demonstration,” in IEEE International Symposium on Safety, Security and Rescue Robotics, Lausanne, Switzerland, 2016, p. 258–263.
    [Bibtex]
    @inproceedings{Havoutis16SSRR,
    author={Havoutis, I. and Calinon, S.},
    title={Learning assistive teleoperation behaviors from demonstration},
    booktitle={IEEE International Symposium on Safety, Security and Rescue Robotics},
    year={2016},
    month={October},
    address={Lausanne, Switzerland},
    pages={258--263},
    pdf={https://ihavoutis.github.io/publications/2016/ssrr16havoutis.pdf}
    }
  • [PDF] I. Havoutis, A. K. Tanwani, and S. Calinon, “Online incremental learning of manipulation tasks for semi-autonomous teleoperation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress, 2016.
    [Bibtex]
    @inproceedings{Havoutis2016IROSWs,
    title={Online incremental learning of manipulation tasks for semi-autonomous teleoperation},
    author={Havoutis, I. and Tanwani, A.K. and Calinon, S.},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress},
    year={2016},
    pdf={https://ihavoutis.github.io/publications/2016/irosWS2016havoutis.pdf}
    }
  • [PDF] C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, and C. Semini, “Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences,” in IEEE International Conference on Robotics and Automation (ICRA), 2016.
    [Bibtex]
    @inproceedings{Mastalli2016ICRA,
    author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and
    Caldwell, Darwin G. and Semini, Claudio},
    title = {{Hierarchical Planning of Dynamic Movements without Scheduled Contact
    Sequences}},
    booktitle = {{IEEE International Conference on Robotics and Automation (ICRA)}},
    publisher = {IEEE},
    year = {2016},
    pdf={https://ihavoutis.github.io/publications/2016/icra16mastalli.pdf}
    }
  • [PDF] A. Radulescu, I. Havoutis, D. Caldwell, and C. Semini, “Optimization for non-periodic dynamic motions of legged systems,” in International Workshop on Human Friendly Robotics (HFR), 2016.
    [Bibtex]
    @inproceedings{Radulescu2016HFR,
    title={Optimization for non-periodic dynamic motions of legged systems},
    author={Radulescu, A and Havoutis, I and Caldwell, DG and Semini, C},
    booktitle={International Workshop on Human Friendly Robotics (HFR)},
    pages={},
    year={2016},
    pdf={https://ihavoutis.github.io/publications/2016/hfr16radulescu.pdf}
    }
  • [PDF] C. Mastalli, I. Havoutis, A. Radulescu, M. Focchi, D. Caldwell, and C. Semini, “Preview optimization for learning locomotion policies on rough terrain,” in Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC), 2016.
    [Bibtex]
    @inproceedings{Mastalli2016DLMC,
    title={Preview optimization for learning locomotion policies on rough terrain},
    author={Mastalli, C and Havoutis, I and Radulescu, A and Focchi, M and Caldwell, DG and Semini, C},
    booktitle={ Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC)},
    year={2016},
    pdf={https://ihavoutis.github.io/publications/2016/dlmcws16mastalli.pdf}
    }

2015

  • M. F. Fallon, P. Marion, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake, “\textbfContinuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion,” in IEEE/RSJ Int. Conf. on Humanoid Robots, Seoul, Korea, 2015.
    [Bibtex]
    @inproceedings{2015HUMANOIDS_fallon,
    title = {\textbf{Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion}},
    author = {Maurice F. Fallon and Pat Marion and Robin Deits and Thomas Whelan and Matthew Antone and John McDonald and Russ Tedrake},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    month = nov,
    year = 2015,
    address = {Seoul, Korea},
    note = {\textbf{Best Oral Paper Winner}}
    }
  • M. F. Fallon, “Continuous Locomotion with Stereo Fusion and Online Footstep Optimization,” in Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains at IROS 2015, Hamburg, Germany, 2015.
    [Bibtex]
    @inproceedings{2015IROSWORKSHOP_fallon,
    title = {Continuous Locomotion with Stereo Fusion and Online Footstep Optimization},
    author = {Maurice F. Fallon},
    booktitle = {Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains at IROS 2015},
    month = oct,
    year = 2015,
    address = {Hamburg, Germany},
    }
  • S. Kuindersma, R. Deits, M. F. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake, “\textbfOptimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot,” Autonomous Robots, pp. 1-27, 2015.
    [Bibtex]
    @article{2015AR_kuindersma,
    title = {\textbf{Optimization-based locomotion planning, estimation, and control design for the {Atlas} humanoid robot}},
    author = {Scott Kuindersma and Robin Deits and Maurice F. Fallon and Andres Valenzuela and Hongkai Dai and Frank Permenter and Twan Koolen and Pat Marion and Russ Tedrake},
    year = {2015},
    journal = "Autonomous Robots",
    pages = {1-27},
    month = jul
    }
  • P. Marion, M. F. Fallon, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake, “Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion,” in Dynamic Walking, Columbus, Ohio, 2015.
    [Bibtex]
    @inproceedings{2015DYNAMICWALKING_marion,
    title = {Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion},
    author = {Pat Marion and Maurice F. Fallon and Robin Deits and Thomas Whelan and Matthew Antone and John McDonald and Russ Tedrake},
    booktitle = {Dynamic Walking},
    month = jul,
    year = 2015,
    address = {Columbus, Ohio},
    }
  • [PDF] A. W. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, and C. Semini, “Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5148-5154.
    [Bibtex]
    @inproceedings{Winkler2015ICRA,
    author = {Winkler, A.W. and Mastalli, C. and Havoutis, I. and Focchi, M. and Caldwell, D.G. and Semini, C.},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    month = {May},
    title = {{Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain}},
    volume = {},
    number = {},
    year = {2015},
    pages={5148-5154},
    pdf={https://ihavoutis.github.io/publications/2015/icra15locomotion.pdf}
    }
  • M. Fallon, S. Kuindersma, S. Karumanchi, M. Antone, T. Schneider, H. Dai, C. P. D’Arpino, Robin Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion, Michael Posa, A. Valenzuela, K. Yu, J. Shah, K. Iagnemma, R. Tedrake, and S. Teller, “\textbfAn Architecture for Online Affordance-based Perception and Whole-body Planning,” J. of Field Robotics, vol. 32, pp. 229-254, 2015.
    [Bibtex]
    @article{2015JFR_fallon,
    title = {\textbf{An Architecture for Online Affordance-based Perception and Whole-body Planning}},
    author = {Maurice Fallon and Scott Kuindersma and Sisir Karumanchi and Matthew Antone
    and Toby Schneider and Hongkai Dai and Claudia P\'{e}rez D'Arpino and Robin
    Deits and Matt DiCicco and Dehann Fourie and Twan Koolen and Pat Marion and Michael
    Posa and Andr\'{e}s Valenzuela and Kuan-Ting Yu and
    Julie Shah and Karl Iagnemma and Russ Tedrake and Seth Teller},
    journal = "J. of Field Robotics",
    month = mar,
    year = 2015,
    pages = {229-254},
    issue = 2,
    volume = 32
    }
  • T. Whelan, M. Kaess, H. Johannsson, M. F. Fallon, J. J. Leonard, and J. B. McDonald, “Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion,” Intl. J. of Robotics Research, vol. 34, iss. 4-5, pp. 598-626, 2015.
    [Bibtex]
    @article{2015IJRR_whelan,
    author = {Thomas Whelan and Michael Kaess and Hordur Johannsson and Maurice F. Fallon and John J. Leonard and John B. McDonald},
    title = {Real-time Large Scale Dense {RGB-D SLAM} with Volumetric Fusion},
    journal = "Intl. J. of Robotics Research",
    year = {2015},
    volume = {34},
    number = {4-5},
    pages = {598-626},
    month = apr,
    }
  • [PDF] I. Havoutis, D. G. Caldwell, and C. Semini, “Lidar-based navigation-level path planning for field-capable legged robots,” in Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2015, pp. 669-676.
    [Bibtex]
    @inproceedings{Havoutis15CLAWAR,
    author={I. Havoutis and D. G. Caldwell and C. Semini},
    booktitle={Internatinal Conference on Climbing and Walking Machines (CLAWAR)},
    title={Lidar-based navigation-level path planning for field-capable legged robots},
    year={2015},
    month={},
    pages = {669-676},
    note={CLAWAR 2015 Best Technical Paper Award},
    pdf={https://ihavoutis.github.io/publications/2015/clawar15havoutis.pdf}
    }
  • [PDF] C. Mastalli, I. Havoutis, A. W. Winkler, D. G. Caldwell, and C. Semini, “On-line and On-board Planning and Perception for Quadrupedal Locomotion,” in IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015.
    [Bibtex]
    @inproceedings{Mastalli2015TEPRA,
    title={On-line and On-board Planning and Perception for Quadrupedal Locomotion},
    author={Mastalli, Carlos and Havoutis, Ioannis and Winkler, Alexander W and Caldwell, Darwin G and Semini, Claudio},
    booktitle={IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
    year={2015},
    pdf={https://ihavoutis.github.io/publications/2015/tepra15planning.pdf}
    }
  • [PDF] B. Ugurlu, I. Havoutis, C. Semini, K. Kayamori, D. G. Caldwell, and T. Narikiyo, “Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ,” Autonomous Robots, vol. 38, iss. 4, p. 415–437, 2015.
    [Bibtex]
    @article{Ugurlu2015AuRo,
    title={Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ},
    author={Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Kayamori, Kana and Caldwell, Darwin G and Narikiyo, Tatsuo},
    journal={Autonomous Robots},
    volume={38},
    number={4},
    pages={415--437},
    year={2015},
    publisher={Springer US},
    pdf={https://ihavoutis.github.io/publications/2015/Ugurlu2015AuRo.pds}
    }

2014

  • M. F. Fallon, “Bridging the Gap between Operator Intent and Robot Execution with Automated Whole-Body Planning and Perception,” in Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation at Humanoids 2014, Madrid, Spain, 2014.
    [Bibtex]
    @inproceedings{2014HUMANOIDSWORKSHOP_fallon,
    title = {Bridging the Gap between Operator Intent and Robot Execution with Automated Whole-Body Planning and Perception},
    author = {Maurice F. Fallon},
    booktitle = {Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation at Humanoids 2014},
    month = nov,
    year = 2014,
    address = {Madrid, Spain},
    }
  • T. Whelan, M. Kaess, R. Finman, M. F. Fallon, H. Johannsson, J. J. Leonard, and J. McDonald, “3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2014.
    [Bibtex]
    @inproceedings{2014RSSWORKSHOP_whelan,
    author={Thomas Whelan and Michael Kaess and Ross Finman and Maurice F. Fallon and Hordur Johannsson and John J. Leonard and John McDonald},
    title={{3D} mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Berkeley, CA},
    month=jul,
    year={2014},
    }
  • R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Pérez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, and S. Teller, “A Summary of Team MIT’s Approach to the Virtual Robotics Challenge,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]
    @inproceedings{2014ICRA_tedrake,
    title = {A Summary of {T}eam {MIT}'s Approach to the {V}irtual
    {R}obotics {C}hallenge},
    author = {R. Tedrake and M. Fallon and S. Karumanchi and S. Kuindersma and
    M. Antone and T. Schneider and T. Howard and M. Walter and H.
    Dai and R. Deits and M. Fleder and D. Fourie and R. Hammoud and
    S. Hemachandra and P. Ilardi and C. P\'{e}rez-D'Arpino and S. Pillai
    and A. Valenzuela and C. Cantu and C. Dolan and I. Evans and S.
    Jorgensen and J. Kristeller and J. A. Shah and K. Iagnemma and
    S. Teller},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = jun,
    year = 2014,
    address = {Hong Kong, China},
    }
  • [PDF] A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. Caldwell, and C. Semini, “Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots,” in IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 6476-6482.
    [Bibtex]
    @INPROCEEDINGS{Winkler2014ICRA,
    author={A. Winkler and I. Havoutis and S. Bazeille and J. Ortiz and M. Focchi and R. Dillmann and D. Caldwell and C. Semini},
    booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
    title={Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},
    year={2014},
    pages={6476-6482},
    month={May},
    pdf={https://ihavoutis.github.io/publications/2014/icra14winkler.pdf}
    }
  • M. F. Fallon, M. Antone, N. Roy, and S. Teller, “\textbfDrift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing,” in IEEE/RSJ Int. Conf. on Humanoid Robots, Madrid, Spain, 2014.
    [Bibtex]
    @inproceedings{2014HUMANOIDS_fallon,
    title = {\textbf{Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and {LIDAR} sensing}},
    author = {Maurice F. Fallon and Matthew Antone and Nicholas Roy and Seth Teller},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    month = nov,
    year = 2014,
    address = {Madrid, Spain},
    }
  • [PDF] M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, and C. Semini, “Ground reaction forces control for torque-controlled quadruped robots,” in IEEE International Conference on Intelligent Robots and Systems (IROS), Workshop on Whole-Body Control for Robots in the Real World, 2014.
    [Bibtex]
    @inproceedings{Focchi2014IROSWs,
    title={Ground reaction forces control for torque-controlled quadruped robots},
    author={Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G and Semini, Claudio},
    booktitle={IEEE International Conference on Intelligent Robots and Systems (IROS), Workshop on Whole-Body Control for Robots in the Real World},
    year={2014},
    pdf={https://ihavoutis.github.io/publications/2014/Focchi_WBC-SI.pdf}
    }
  • [PDF] I. Havoutis, J. Buchli, C. Semini, and D. G. Caldwell, “Optimization of dynamic motions for legged robots,” in Dynamic Walking, 2014.
    [Bibtex]
    @inproceedings{Havoutis2014DynamicWalking,
    title={Optimization of dynamic motions for legged robots},
    author={Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G},
    booktitle={Dynamic Walking},
    year={2014},
    pdf={https://ihavoutis.github.io/publications/2014/DW14AbstractHavoutis.pdf}
    }
  • S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell, and C. Semini, “Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot,” in IEEE International Conference on Robotics and Automation (ICRA), Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014.
    [Bibtex]
    @inproceedings{Bazeille2014WMEPC,
    title={Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot},
    author={Bazeille, Stephane and Camurri, Marco and Ortiz, Jesus and Havoutis, Ioannis and Caldwell, Darwin G and Semini, Claudio},
    booktitle={IEEE International Conference on Robotics and Automation (ICRA), Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14)},
    year={2014}
    }
  • [PDF] A. Winkler, I. Havoutis, and C. Semini, “Combining active compliance with force-feedback for on-the-fly motion replanning,” in IEEE International Conference on Robotics and Automation (ICRA), Workshop on Hydraulic Robots with Torque Control for Inverse Dynamics and Active Compliance, 2014.
    [Bibtex]
    @inproceedings{Winkler2014ICRAWs,
    title={Combining active compliance with force-feedback for on-the-fly motion replanning},
    author={Winkler, Alexander and Havoutis, Ioannis and Semini, Claudio},
    booktitle={IEEE International Conference on Robotics and Automation (ICRA), Workshop on Hydraulic Robots with Torque Control for Inverse Dynamics and Active Compliance},
    pages={},
    year={2014},
    pdf={https://ihavoutis.github.io/publications/2014/icra14_WSabstract.pdf}
    }
  • [PDF] S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell, and C. Semini, “Quadruped robot trotting over irregular terrain assisted by stereo-vision,” Intelligent Service Robotics, vol. 7, iss. 2, p. 67–77, 2014.
    [Bibtex]
    @article{Bazeill2014ISR,
    title={Quadruped robot trotting over irregular terrain assisted by stereo-vision},
    author={Bazeille, St{\'e}phane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G and Semini, Claudio},
    journal={Intelligent Service Robotics},
    volume={7},
    number={2},
    pages={67--77},
    year={2014},
    publisher={Springer Berlin, Heidelberg},
    pdf={https://ihavoutis.github.io/publications/2014/Bazeill2014ISR.pdf}
    }

2013

  • M. Fallon, H. Johannsson, M. Kaess, and J. J. Leonard, “The MIT Stata Center Dataset,” Intl. J. of Robotics Research, IJRR, vol. 32, iss. 14, pp. 1695-1699, 2013.
    [Bibtex]
    @article{2013IJRR_fallon,
    author = {Maurice Fallon and Hordur Johannsson and Michael Kaess and John J. Leonard},
    title = {The {MIT} {S}tata {C}enter Dataset},
    journal = {Intl. J. of Robotics Research, IJRR},
    volume = {32},
    number = {14},
    pages = {1695-1699},
    month = dec,
    year = {2013}
    }
  • [PDF] S. Zapolsky, E. Drumwright, I. Havoutis, J. Buchli, and C. Semini, “Inverse dynamics for a quadruped robot locomoting along slippery surfaces,” in Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2013, p. 555–562.
    [Bibtex]
    @inproceedings{Zapolsky2013CLAWAR,
    title={Inverse dynamics for a quadruped robot locomoting along slippery surfaces},
    author={Zapolsky, Samuel and Drumwright, Evan and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio},
    booktitle={Internatinal Conference on Climbing and Walking Machines (CLAWAR)},
    pages={555--562},
    year={2013},
    month = {08},
    pdf={https://ihavoutis.github.io/publications/2013/2013_CLAWAR2013.pdf}
    }
  • [PDF] M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, and D. G. Caldwell, “Local reflex generation for obstacle negotiation in quadrupedal locomotion,” in Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2013, pp. 443-450.
    [Bibtex]
    @inproceedings{Focchi2013CLAWAR,
    author = {Focchi, Michele and Barasuol, Victor and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and G. Caldwell, Darwin},
    year = {2013},
    month = {08},
    pages = {443-450},
    title = {Local reflex generation for obstacle negotiation in quadrupedal locomotion},
    booktitle={Internatinal Conference on Climbing and Walking Machines (CLAWAR)},
    pdf={https://ihavoutis.github.io/publications/2013/2013_clawar13focchi.pdf}
    }
  • M. F. Fallon, J. Folkesson, H. McClelland, and J. J. Leonard, “Relocating Underwater Features Autonomously Using Sonar-Based SLAM,” Journal of Oceanic Engineering, vol. 38, pp. 500-513, 2013.
    [Bibtex]
    @article{2013JOE_fallon,
    author={Maurice F. Fallon and John Folkesson and Hunter McClelland and John J. Leonard},
    title={Relocating Underwater Features Autonomously Using Sonar-Based {SLAM}},
    journal={Journal of Oceanic Engineering},
    year=2013,
    month=jul,
    issue={3},
    volume={38},
    pages={500-513},
    }
  • H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2013.
    [Bibtex]
    @inproceedings{2013ICRA_johannsson,
    author = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = {2013},
    note={\textbf{Best Student Paper Nominee} (4 from 2265 submissions)},
    }
  • T. Whelan, M. Kaess, M. F. Fallon, H. Johannsson, J. Leonard, and J. McDonald, “Kintinuous: Spatially Extended KinectFusion,” 2013.
    [Bibtex]
    @techreport{2013VIDEO_whelan,
    author = {Thomas Whelan and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John Leonard and John McDonald},
    title = {Kintinuous: Spatially Extended {KinectFusion}},
    booktitle={AAAI Conference on Artificial Intelligence},
    month = may,
    year = {2013},
    note = {Video Submission},
    }
  • H. Wang, Y. Landa, M. Fallon, and S. Teller, “Spatially Prioritized and Persistent Text Detection and Decoding,” in International Workshop on Camera-Based Document Analysis and Recognition (CBDAR), 2013.
    [Bibtex]
    @inproceedings{2013CBDAR_wang,
    author = {Hsueh-Cheng Wang and Yafim Landa and Maurice Fallon and Seth Teller},
    title = {Spatially Prioritized and Persistent Text Detection and Decoding},
    booktitle = {International Workshop on Camera-Based Document Analysis and Recognition {(CBDAR)}},
    location = {Washington D. C., USA},
    year = {2013},
    month = aug,
    }
  • [PDF] [DOI] I. Havoutis and S. Ramamoorthy, “Motion planning and reactive control on learnt skill manifolds,” The International Journal of Robotics Research, vol. 32, iss. 9-10, pp. 1120-1150, 2013.
    [Bibtex]
    @article{havoutis13IJRR,
    author = {Ioannis Havoutis and Subramanian Ramamoorthy},
    title = {Motion planning and reactive control on learnt skill manifolds},
    journal = {The International Journal of Robotics Research},
    volume = {32},
    number = {9-10},
    pages = {1120-1150},
    year = {2013},
    doi = {10.1177/0278364913482016},
    pdf={https://ihavoutis.github.io/publications/2013/2013_ijrr_havoutis[preprint].pdf}
    }
  • [PDF] I. Havoutis, A. Winkler, C. Semini, and D. G. Caldwell, “A compliant control architecture for the Hydraulic Quadruped – HyQ,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots, 2013.
    [Bibtex]
    @inproceedings{Havoutis2013IROSWs,
    title={A compliant control architecture for the Hydraulic Quadruped - HyQ},
    author={Havoutis, Ioannis and Winkler, Alexander and Semini, Claudio and Caldwell, Darwin G},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots},
    pages={},
    year={2013},
    pdf={https://ihavoutis.github.io/publications/2013/iros13ws_abstract.pdf}
    }
  • [PDF] I. Havoutis, C. Semini, and D. G. Caldwell, “Virtual model control for quadrupedal trunk stabilization,” in Dynamic Walking, 2013.
    [Bibtex]
    @inproceedings{Havoutis2013DynamicWalking,
    title={Virtual model control for quadrupedal trunk stabilization},
    author={Havoutis, Ioannis and Semini, Claudio and Caldwell, Darwin G},
    booktitle={Dynamic Walking},
    year={2013},
    pdf={https://ihavoutis.github.io/publications/2013/dw13_havoutis.pdf}
    }
  • [PDF] I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, and D. G. Caldwell, “Onboard perception-based trotting and crawling with the hydraulic quadruped robot (HyQ),” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, p. 6052–6057.
    [Bibtex]
    @inproceedings{Havoutis2013IROS,
    title={Onboard perception-based trotting and crawling with the hydraulic quadruped robot (HyQ)},
    author={Havoutis, Ioannis and Ortiz, Jesus and Bazeille, St{\'e}phane and Barasuol, Victor and Semini, Claudio and Caldwell, Darwin G},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={6052--6057},
    year={2013},
    organization={IEEE},
    pdf={https://ihavoutis.github.io/publications/2013/2013_iros2013havoutis.pdf}
    }
  • [PDF] B. Ugurlu, I. Havoutis, C. Semini, and D. G. Caldwell, “Dynamic trot-walking with the hydraulic quadruped robot—HyQ: analytical trajectory generation and active compliance control,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, p. 6044–6051.
    [Bibtex]
    @inproceedings{Ugurlu2013IROS,
    title={Dynamic trot-walking with the hydraulic quadruped robot—HyQ: analytical trajectory generation and active compliance control},
    author={Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Caldwell, Darwin G},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={6044--6051},
    year={2013},
    organization={IEEE},
    pdf={https://ihavoutis.github.io/publications/2013/2013_iros13hyq.pdf}
    }
  • [PDF] M. A. Arain, I. Havoutis, C. Semini, J. Buchli, and D. G. Caldwell, “A comparison of search-based planners for a legged robot,” in IEEE International Workshop on Robot Motion and Control (RoMoCo), 2013, p. 104–109.
    [Bibtex]
    @inproceedings{Arain2013RoMoCo,
    title={A comparison of search-based planners for a legged robot},
    author={Arain, Muhammad Asif and Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G},
    booktitle={IEEE International Workshop on Robot Motion and Control (RoMoCo)},
    pages={104--109},
    year={2013},
    organization={IEEE},
    pdf={https://ihavoutis.github.io/publications/2013/2013_romoco13.pdf}
    }
  • [PDF] S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, and D. G. Caldwell, “Vision enhanced reactive locomotion control for trotting on rough terrain,” in IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2013, p. 1–6.
    [Bibtex]
    @inproceedings{Bazeille2013TEPRA,
    title={Vision enhanced reactive locomotion control for trotting on rough terrain},
    author={Bazeille, St{\'e}phane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G},
    booktitle={IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
    pages={1--6},
    year={2013},
    organization={IEEE},
    pdf={https://ihavoutis.github.io/publications/2013/2013_TEPRA2013.pdf}
    }
  • [PDF] I. Havoutis, C. Semini, J. Buchli, and D. G. Caldwell, “Quadrupedal trotting with active compliance,” in IEEE International Conference on Mechatronics (ICM), 2013, p. 610–616.
    [Bibtex]
    @inproceedings{Havoutis2013ICM,
    title={Quadrupedal trotting with active compliance},
    author={Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G},
    booktitle={IEEE International Conference on Mechatronics (ICM)},
    pages={610--616},
    year={2013},
    organization={IEEE},
    pdf={https://ihavoutis.github.io/publications/2013/2013_icm2013Havoutis.pdf}
    }

2012

  • M. F. Fallon, H. Johannsson, J. Brookshire, S. Teller, and J. J. Leonard, “Sensor Fusion for Flexible Human-Portable Building-Scale Mapping,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2012.
    [Bibtex]
    @inproceedings{2012IROS_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and Jonathon Brookshire and Seth Teller and John J. Leonard},
    title={Sensor Fusion for Flexible Human-Portable Building-Scale Mapping},
    booktitle={IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    location={Vilamoura, Algarve, Portugal},
    month=oct,
    year={2012},
    }
  • H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” 2012.
    [Bibtex]
    @techreport{2012RSSWORKSHOP_johannsson,
    author={Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title={Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    booktitle={RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments},
    location={Sydney, Australia},
    month=jul,
    year=2012,
    }
  • M. F. Fallon, H. Johannsson, M. Kaess, D. M. Rosen, E. Muggler, and J. J. Leonard, “Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2012.
    [Bibtex]
    @inproceedings{2012RSSWORKSHOP_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and Michael Kaess and David M. Rosen and Elias Muggler and John J. Leonard},
    title={Mapping the {MIT} Stata Center: Large-scale Integrated Visual and {RGB-D} {SLAM}},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Sydney, Australia},
    month=jul,
    year=2012,
    }
  • T. Whelan, J. McDonald, M. Kaess, M. F. Fallon, H. Johannsson, and J. J. Leonard, “Kintinuous: Spatially Extended KinectFusion,” 2012.
    [Bibtex]
    @techreport{2012RSSWORKSHOP_whelan,
    author={Thomas Whelan and John McDonald and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Kintinuous: Spatially Extended {KinectFusion}},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Sydney, Australia},
    month=jul,
    year=2012,
    }
  • T. Whelan, J. McDonald, M. Kaess, M. F. Fallon, H. Johannsson, and J. J. Leonard, “Kintinuous: Spatially Extended KinectFusion,” Computer Science and Artificial Intelligence Laboratory, MIT, MIT-CSAIL-TR-2012-020, 2012.
    [Bibtex]
    @techreport{2012TECHREPORT_whelan,
    author={Thomas Whelan and John McDonald and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Kintinuous: Spatially Extended {KinectFusion}},
    institution = {Computer Science and Artificial Intelligence Laboratory, MIT},
    number = {MIT-CSAIL-TR-2012-020},
    month = jul,
    year = {2012}
    }
  • M. F. Fallon and S. J. Godsill, “Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers,” IEEE Trans. on Audio, Speech, and Language Processing, vol. 20, pp. 1409-1415, 2012.
    [Bibtex]
    @article{2012TASLP_fallon,
    author={Maurice F. Fallon and Simon J. Godsill},
    title={Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers},
    journal="{IEEE} Trans. on Audio, Speech, and Language Processing",
    volume=20,
    issue=4,
    month=may,
    year=2012,
    pages={1409-1415},
    }
  • M. F. Fallon, H. Johannsson, and J. J. Leonard, “Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2012.
    [Bibtex]
    @inproceedings{2012ICRA_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Efficient Scene Simulation for Robust {M}onte {C}arlo Localization using an {RGB-D} Camera},
    booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    location={St Paul, Minnesota, USA},
    month=may,
    year={2012},
    note={\textbf{Best Conference Paper Nominee} (4 from 2067 submissions)},
    }
  • H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” CSAIL, MIT, MIT-CSAIL-TR-2012-013, 2012.
    [Bibtex]
    @techreport{2012TECHREPORT_johannsson,
    author = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    institution = {CSAIL, MIT},
    number = {MIT-CSAIL-TR-2012-013},
    month = may,
    year = {2012}
    }
  • [PDF] I. Havoutis, C. Semini, J. Buchli, and D. G. Caldwell, “Progress in quadrupedal trotting with active compliance,” in Dynamic Walking, 2012.
    [Bibtex]
    @inproceedings{Havoutis2012DynamicWalking,
    title={Progress in quadrupedal trotting with active compliance},
    author={Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G},
    booktitle={Dynamic Walking},
    year={2012},
    pdf={https://ihavoutis.github.io/publications/2012/2012_DynamicWalkingAbstract.pdf}
    }

2011

  • M. F. Fallon, H. Johannsson, and J. J. Leonard, “Robust 3D Monte Carlo Localization using an RGB-D Camera and a Semantic Building Model,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2011.
    [Bibtex]
    @inproceedings{2011IROSWORKSHOP_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Robust {3D} {M}onte {C}arlo Localization using an {RGB-D} Camera and a Semantic Building Model},
    booktitle={IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    location={San Francisco},
    month=sep,
    year={2011},
    }
  • M. F. Fallon, M. Kaess, H. Johannsson, and J. J. Leonard, “Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011.
    [Bibtex]
    @inproceedings{2011ICRA_fallon,
    title = {Efficient {AUV} Navigation Fusing Acoustic Ranging and Side-scan Sonar},
    author = {Maurice F. Fallon and Michael Kaess and Hordur Johannsson and John J. Leonard},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2011,
    month = may,
    note = {\textbf{Best Automation Paper Nominee}},
    }
  • [PDF] I. Havoutis, “Motion planning and reactive control on learnt skill manifolds,” PhD Thesis, 2011.
    [Bibtex]
    @phdthesis{Havoutis2011PhDThesis,
    title={Motion planning and reactive control on learnt skill manifolds},
    author={Havoutis, Ioannis},
    year={2011},
    school={University of Edinburgh},
    pdf={http://hdl.handle.net/1842/5864}
    }
  • [PDF] I. Havoutis and S. Ramamoorthy, “Learnt skill manifolds for robot control,” in International Workshop on Human Friendly Robotics (HFR), 2011.
    [Bibtex]
    @inproceedings{Havoutis2011HFR,
    title={Learnt skill manifolds for robot control},
    author={Havoutis, Ioannis and Ramamoorthy, Subramanian},
    booktitle={International Workshop on Human Friendly Robotics (HFR)},
    pages={},
    year={2011},
    pdf={https://ihavoutis.github.io/publications/2011/2011_HFR2011.pdf}
    }

2010

  • [DOI] M. F. Fallon, G. Papadopoulos, J. J. Leonard, and N. M. Patrikalakis, “Cooperative AUV Navigation using a Single Maneuvering Surface Craft,” Intl. J. of Robotics Research, vol. 29, iss. 12, pp. 1461-1474, 2010.
    [Bibtex]
    @article{2010IJRR_fallon,
    title = {Cooperative {AUV} Navigation using a Single Maneuvering Surface Craft},
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard and Nicholas M. Patrikalakis},
    journal = {Intl. J. of Robotics Research},
    year = 2010,
    month = oct,
    volume = 29,
    number = 12,
    pages = {1461-1474},
    doi = {10.1177/0278364910380760},
    }
  • [PDF] I. Havoutis and S. Ramamoorthy, “Constrained geodesic trajectory generation on learnt skill manifolds,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, p. 2670–2675.
    [Bibtex]
    @inproceedings{Havoutis2010IROS,
    title={Constrained geodesic trajectory generation on learnt skill manifolds},
    author={Havoutis, Ioannis and Ramamoorthy, Subramanian},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={2670--2675},
    year={2010},
    month={Oct},
    note={Finalist for IROS 2010 Best RoboCup Paper Award},
    pdf={https://ihavoutis.github.io/publications/2010/2010_havoutis_iros2010.pdf}
    }
  • M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010, pp. 4803-4808.
    [Bibtex]
    @inproceedings{2010ICRA_fallon,
    title = {A Measurement Distribution Framework for Cooperative Navigation using multiple {AUVs}},
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = 2010,
    pages = {4803-4808},
    location = {Anchorage, AK},
    }
  • [PDF] I. Havoutis and S. Ramamoorthy, “Geodesic trajectory generation on learnt skill manifolds,” in IEEE International Conference on Robotics and Automation (ICRA), 2010, p. 2946–2952.
    [Bibtex]
    @inproceedings{Havoutis2010ICRA,
    title={Geodesic trajectory generation on learnt skill manifolds},
    author={Havoutis, Ioannis and Ramamoorthy, Subramanian},
    booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
    pages={2946--2952},
    year={2010},
    month={May},
    pdf={https://ihavoutis.github.io/publications/2010/2010_havoutis_icra2010.pdf}
    }
  • M. F. Fallon and S. Godsill, “Acoustic Source Localisation and Tracking using Track Before Detect,” IEEE Trans. on Audio, Speech, and Language Processing, vol. 18, iss. 6, pp. 1228-1242, 2010.
    [Bibtex]
    @article{2010TASLP_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    TITLE = {Acoustic Source Localisation and Tracking using {T}rack {B}efore {D}etect},
    JOURNAL = "{IEEE} Trans. on Audio, Speech, and Language Processing",
    VOLUME = 18,
    NUMBER = 6,
    YEAR = 2010,
    pages = {1228-1242},
    }
  • J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, “Mapping Complex Marine Environments with Autonomous Surface Craft,” in Intl. Sym. on Experimental Robotics (ISER), Delhi, India, 2010.
    [Bibtex]
    @inproceedings{2010ISER_leedekerken,
    author = {Jacques C. Leedekerken and Maurice F. Fallon and John J. Leonard},
    title = {Mapping Complex Marine Environments with Autonomous Surface Craft},
    booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
    address = {Delhi, India},
    year = 2010,
    month = dec,
    }
  • G. Papadopoulos, M. F. Fallon, J. J. Leonard, and N. M. Patrikalakis, “Cooperative Localization of Marine Vehicles using Nonlinear State Estimation,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2010.
    [Bibtex]
    @inproceedings{2010IROS_papadopoulos,
    author = {Georgios Papadopoulos and Maurice F. Fallon and John J. Leonard and Nicholas M. Patrikalakis},
    title = {Cooperative Localization of Marine Vehicles using Nonlinear State Estimation},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2010,
    }
  • [PDF] I. Havoutis and S. Ramamoorthy, “Motion synthesis through randomized exploration on submanifolds of configuration space,” in RoboCup 2009: Robot Soccer World Cup XIII, 2010, p. 92–103.
    [Bibtex]
    @inproceedings{Havoutis2010ROBOCUP,
    title={Motion synthesis through randomized exploration on submanifolds of configuration space},
    author={Havoutis, Ioannis and Ramamoorthy, Subramanian},
    booktitle={RoboCup 2009: Robot Soccer World Cup XIII},
    pages={92--103},
    year={2010},
    publisher={Springer Berlin, Heidelberg},
    editor={Baltes, Jacky and Lagoudakis, Michail G. and Naruse, Tadashi and Ghidary, Saeed Shiry},
    pdf={https://ihavoutis.github.io/publications/2010/RCHavoutis.pdf}
    }

2009

  • A. Bahr, J. J. Leonard, and M. F. Fallon, “Cooperative Localization for Autonomous Underwater Vehicles,” Intl. J. of Robotics Research, vol. 28, iss. 6, pp. 714-728, 2009.
    [Bibtex]
    @article{2009IJRR_bahr,
    author={Alexander Bahr and John J. Leonard and Maurice F. Fallon},
    title={Cooperative Localization for Autonomous Underwater Vehicles},
    journal={Intl. J. of Robotics Research},
    volume=28,
    number=6,
    pages={714-728},
    year=2009,
    }
  • M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV Navigation using a Single Surface Craft,” in Field and Service Robotics (FSR), 2009.
    [Bibtex]
    @inproceedings{2009FSR_fallon,
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard},
    title = {Cooperative {AUV} Navigation using a Single Surface Craft},
    booktitle = {Field and Service Robotics (FSR)},
    location = {Cambridge, USA},
    month = jul,
    year = 2009,
    }
  • [PDF] I. Havoutis and S. Ramamoorthy, “Geodesic trajectory generation on learnt skill manifolds,” in IEEE RAS International Conference on Humanoid Robotics (Humanoids), Workshop on Modeling, Simulation and Optimization of Bipedal Walking, 2009.
    [Bibtex]
    @inproceedings{Havoutis2009HumanoidsWs,
    title={Geodesic trajectory generation on learnt skill manifolds},
    author={Havoutis, Ioannis and Ramamoorthy, Subramanian},
    booktitle={IEEE RAS International Conference on Humanoid Robotics (Humanoids), Workshop on Modeling, Simulation and Optimization of Bipedal Walking},
    pages={},
    year={2009},
    pdf={https://ihavoutis.github.io/publications/2009/HR_abstract_Havoutis.pdf}
    }

2008

  • M. F. Fallon and S. Godsill, “Multi Target Acoustic Source Tracking with an unknown and time varying number of targets,” in Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA), 2008.
    [Bibtex]
    @inproceedings{2008HSCMA_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    year={2008},
    month=may,
    title={Multi Target Acoustic Source Tracking with an unknown and time varying number of targets},
    booktitle={Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA)},
    location={Trento, Italy},
    }
  • M. F. Fallon, “Acoustic Source Tracking using Sequential Monte Carlo,” PhD Thesis, 2008.
    [Bibtex]
    @phdthesis{2008THESIS_fallon,
    author={Maurice F. Fallon},
    title={Acoustic Source Tracking using Sequential {M}onte {C}arlo},
    month=jun,
    year={2008},
    school={University of Cambridge},
    }
  • [PDF] S. Bitzer, I. Havoutis, and S. Vijayakumar, “Synthesising novel movements through latent space modulation of scalable control policies,” in From Animals to Animats 10, International Conference on Simulation of Adaptive Behavior, 2008, p. 199–209.
    [Bibtex]
    @inproceedings{Bitzer2008SAB,
    title={Synthesising novel movements through latent space modulation of scalable control policies},
    author={Bitzer, Sebastian and Havoutis, Ioannis and Vijayakumar, Sethu},
    booktitle={From Animals to Animats 10, International Conference on Simulation of Adaptive Behavior},
    editor={Asada, Minoru and Hallam, John C. T. and Meyer, Jean-Arcady and Tani, Jun},
    pages={199--209},
    year={2008},
    organization={Springer Berlin, Heidelberg},
    pdf={https://ihavoutis.github.io/publications/2008/Bitzer2008SAB.pdf}
    }

2007

  • M. F. Fallon and S. Godsill, “Multi-Target Acoustic Source Tracking Using Track Before Detect,” in Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), 2007, pp. 77-80.
    [Bibtex]
    @inproceedings{2007WASPAA_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    year={2007},
    month=oct,
    pages={77-80},
    title={Multi-{T}arget Acoustic Source Tracking Using Track Before Detect},
    booktitle={Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA)},
    location={New Paltz, NY, USA},
    }
  • [PDF] I. Havoutis, “Scalable Movement Representation In Low Dimensional Latent Space,” Master Thesis, 2007.
    [Bibtex]
    @mastersthesis{Havoutis2008MScThesis,
    title={Scalable Movement Representation In Low Dimensional Latent Space},
    author={Havoutis, Ioannis},
    year={2007},
    school={University of Edinburgh},
    pdf = {http://www.inf.ed.ac.uk/publications/thesis/online/IM070511.pdf}
    }

2006

  • M. F. Fallon, S. Godsill, and A. Blake, “Joint Acoustic Source Location and Orientation Estimation Using Sequential Monte Carlo,” in International Conference on Digital Audio Effects (DAFx), Montreal, Quebec, Canada, 2006, pp. 203-208.
    [Bibtex]
    @inproceedings{2006DAFX_fallon,
    Title = {Joint Acoustic Source Location and Orientation Estimation Using Sequential {M}onte {C}arlo},
    Author = {Maurice F. Fallon and Simon Godsill and Andrew Blake},
    Booktitle = {International Conference on Digital Audio Effects (DAFx)},
    Address = {Montreal, Quebec, Canada},
    Month = sep,
    Year = {2006},
    Pages = {203-208},
    }

2004

  • S. Rickard and M. F. Fallon, “The Gini Index of Speech,” in Conference on Information Sciences and Systems, Princeton, NJ, 2004.
    [Bibtex]
    @inproceedings{2004CISS_rickard,
    author={Scott Rickard and Maurice F. Fallon},
    title={The {Gini} Index of Speech},
    booktitle={Conference on Information Sciences and Systems},
    Address={Princeton, NJ},
    Month={March},
    year={2004},
    }