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Publications @ DRS

2020

  • [PDF] D. Surovik, O. Melon, M. Geisert, M. Fallon, and I. Havoutis, “Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles,” in Conference on Robot Learning (CoRL), 2020.
  • [PDF] A. L. Mitchell, M. Engelcke, O. Parker Jones, D. Surovik, S. Gangapurwala, O. Melon, I. Havoutis, and I. Posner, “First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
  • [PDF] M. Ramezani, G. Tinchev, E. Iuganov, and M. Fallon, “Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure,” in IEEE Robotics and Automation Letters, 2020.
  • [PDF] O. Melon, M. Geisert, D. Surovik, I. Havoutis, and M. Fallon, “Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] Y. Wang, M. Ramezani, and M. Fallon, “Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] D. Wisth, M. Camurri, and M. Fallon, “Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] M. Brandao, O. B. Aladag, and I. Havoutis, “GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments,” IEEE Robotics and Automation Letters, 2020.
  • [PDF] S. Gangapurwala, A. Mitchell, and I. Havoutis, “Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion,” IEEE Robotics and Automation Letters, 2020.
  • [PDF] M. Brandao and I. Havoutis, “Learning Sequences of Approximations for Hierarchical Motion Planning,” International Conference on Automated Planning and Scheduling (ICAPS), 2020.
  • [PDF] M. Camurri, M. Ramezani, S. Nobili, and M. Fallon, “Pronto: a Multi-Sensor State Estimator for Legged Robots in Real World Scenarios,” Frontiers in Robotics and AI, 2020.
  • [PDF] H. Kolvenback, D. Wisth, R. Buchanan, G. Valsecchi, R. Grandia, M. Fallon, and M. Hutter, “Towards Autonomous Inspection of Concrete Deterioration in Sewers with Legged Robots,” Journal of Field Robotics, 2020.

2019

  • [PDF] D. Wisth, M. Camurri, and M. Fallon, “Robust Legged Robot State Estimation Using Factor Graph Optimization,” IEEE Robotics and Automation Letters, 2019.
  • [PDF] G. Tinchev, A. Penate-Sanchez, and M. Fallon, “Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU,” 2019.
  • [PDF] C. Rauch, V. Ivan, T. Hospedales, J. Shotton, and M. Fallon, “Learning Driven Coarse-to-Fine Articulated Robot Tracking,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Montreal, 2019.
  • [PDF] M. Geisert, T. Yates, A. Orgen, P. Fernbach, and I. Havoutis, “Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner,” in Towards Autonomous Robotic Systems Conference (TAROS), 2019.
  • [PDF] M. Brandao, M. Fallon, and I. Havoutis, “Multi-controller multi-objective locomotion planning for legged robots,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019.

2018

  • M. Fallon, “Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR,” Interface Focus, 2018.
  • [PDF] [DOI] I. Havoutis and S. Calinon, “Learning from demonstration for semi-autonomous teleoperation,” Autonomous Robots, 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.
  • [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.
  • [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.
  • 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.
  • [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.
  • [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.

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.
  • [PDF] 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.
  • [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.
  • [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.
  • [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.
  • [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.
  • [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.
  • [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,” J. of Field Robotics, vol. 34, pp. 225-426, 2017.
  • [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.
  • [PDF] 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.
  • [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.
  • 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.

2016

  • [PDF] 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.
  • [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.
  • [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.
  • [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.
  • [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.
  • [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.

2015

  • [PDF] 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.
  • [PDF] 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.
  • [PDF] 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.
  • [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.
  • [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.
  • [PDF] 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.
  • [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.
  • [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.
  • [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.

2014

  • 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.
  • [PDF] 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.
  • [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.
  • [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.
  • [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.
  • [PDF] I. Havoutis, J. Buchli, C. Semini, and D. G. Caldwell, “Optimization of dynamic motions for legged robots,” in Dynamic Walking, 2014.
  • 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.
  • [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.
  • [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.

2013

  • [PDF] 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.
  • [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.
  • [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.
  • [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.
  • [PDF] 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.
  • T. Whelan, M. Kaess, M. F. Fallon, H. Johannsson, J. Leonard, and J. McDonald, “Kintinuous: Spatially Extended KinectFusion,” 2013.
  • [PDF] 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.
  • [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.
  • [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.
  • [PDF] I. Havoutis, C. Semini, and D. G. Caldwell, “Virtual model control for quadrupedal trunk stabilization,” in Dynamic Walking, 2013.
  • [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.
  • [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.
  • [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.
  • [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.
  • [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.

2012

  • [PDF] 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.
  • [PDF] H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” 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.
  • [PDF] T. Whelan, J. McDonald, M. Kaess, M. F. Fallon, H. Johannsson, and J. J. Leonard, “Kintinuous: Spatially Extended KinectFusion,” 2012.
  • [PDF] 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.
  • [PDF] 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.
  • [PDF] 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.
  • 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.
  • [PDF] I. Havoutis, C. Semini, J. Buchli, and D. G. Caldwell, “Progress in quadrupedal trotting with active compliance,” in Dynamic Walking, 2012.

2011

  • [PDF] 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.
  • [PDF] 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.
  • [PDF] I. Havoutis, “Motion planning and reactive control on learnt skill manifolds,” PhD Thesis, 2011.
  • [PDF] I. Havoutis and S. Ramamoorthy, “Learnt skill manifolds for robot control,” in International Workshop on Human Friendly Robotics (HFR), 2011.

2010

  • [PDF] [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.
  • [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.
  • [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.
  • [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.
  • [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.
  • [PDF] 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.
  • [PDF] 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.
  • [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

2009

  • [PDF] 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.
  • [PDF] M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV Navigation using a Single Surface Craft,” in Field and Service Robotics (FSR), 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.

2008

  • [PDF] 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.
  • M. F. Fallon, “Acoustic Source Tracking using Sequential Monte Carlo,” PhD Thesis, 2008.
  • [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.

2007

  • [PDF] 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.
  • [PDF] I. Havoutis, “Scalable Movement Representation In Low Dimensional Latent Space,” Master Thesis, 2007.

2006

  • [PDF] 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.

2004

  • [PDF] S. Rickard and M. F. Fallon, “The Gini Index of Speech,” in Conference on Information Sciences and Systems, Princeton, NJ, 2004.