Skip to main content
Menu

Publications @ DRS

Publications @ DRS

2021:

  • [PDF] "Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning", Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, Ioannis Havoutis, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • "Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat", Matias Mattamala, Milad Ramezani, Marco Camurri, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • [PDF] "Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization", Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • "Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks", Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • "SKD: Keypoint Detection for Point Clouds using Saliency Estimation", Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon, IEEE Robotics and Automation Letters, 2021.
  • "Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry", David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon, IEEE Robotics and Automation Letters, 2021.
  • [PDF] "Rapid Stability Margin Estimation for Contact-Rich Locomotion", Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
  • [PDF] "Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR", Alexander Proudman, Milad Ramezani, Maurice Fallon, European Conference on Mobile Robotics (ECMR), 2021.
  • [PDF] "Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis", Yiduo Wang, Milad Ramezani, Matias Mattamala, Maurice Fallon, European Conference on Mobile Robotics (ECMR), 2021.
  • [PDF] "Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery", Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • [PDF] "Sparsity-Inducing Optimal Control via Differential Dynamic Programming", Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • [PDF] "A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots", Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry, Sethu Vijayakumar, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • [PDF] "Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization", Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  • [PDF] "Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts", Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar, IEEE Transactions on Robotics (T-RO), 2021.
  • [PDF] "Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments", Mark Finean, Wolfgang Merkt, Ioannis Havoutis, International Conference on Automated Planning and Scheduling (ICAPS), 2021.
  • [PDF] "Rapid Convex Optimization of Centroidal Dynamics Using Block Coordinate Descent", Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
  • [PDF] "Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments", Mark Finean, Wolfgang Merkt, Ioannis Havoutis, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
  • [DOI] "HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems", Carlo Tiseo, Wolfgang Merkt, Keyhan Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael Mistry, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021.

2020:

  • [PDF] "Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure", Milad Ramezani, Georgi Tinchev, Egor Iuganov, Maurice Fallon, IEEE Robotics and Automation Letters, 2020.
  • [PDF] "Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations", Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] "Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot", Yiduo Wang, Milad Ramezani, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] "Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry", David Wisth, Marco Camurri, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
  • [PDF] "Pronto: a Multi-Sensor State Estimator for Legged Robots in Real World Scenarios", Marco Camurri, Milad Ramezani, Simona Nobili, Maurice Fallon, Frontiers in Robotics and AI, 2020.
  • [PDF] "Towards Autonomous Inspection of Concrete Deterioration in Sewers with Legged Robots", Hendrik Kolvenback, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice Fallon, Marco Hutter, Journal of Field Robotics, 2020.
  • [PDF] "Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios", Russell Buchanan, Marco Camurri, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
  • "Legged Robots For Autonomous Inspection And Monitoring Of Offshore Assets", Milad Ramezani, Martim Brandao, Benoit Casseau, Ioannis Havoutis, Maurice Fallon, Offshore Technology Conference, 2020.
  • [PDF] "The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth", Milad Ramezani, Yiduo Wang, Marco Camurri, David Wisth, Matias Mattamala, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
  • [PDF] "Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles", David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon, Ioannis Havoutis, Conference on Robot Learning (CoRL), 2020.
  • [PDF] "Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control", Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin Caldwell, Claudio Semini, IEEE Transactions on Robotics (T-RO), 2020.
  • [PDF] "GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments", Martim Brandao, Omer Aladag, Ioannis Havoutis, IEEE Robotics and Automation Letters, 2020.
  • [PDF] "Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion", Siddhant Gangapurwala, Alexander Mitchell, Ioannis Havoutis, IEEE Robotics and Automation Letters, 2020.
  • [PDF] "Learning Sequences of Approximations for Hierarchical Motion Planning", Martim Brandao, Ioannis Havoutis, International Conference on Automated Planning and Scheduling (ICAPS), 2020.
  • [PDF] "First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion", A. Mitchell, M. Engelcke, O. Jones, D. Surovik, S. Gangapurwala, O. Melon, I. Havoutis, I. Posner, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

2019:

  • [PDF] "Learning Driven Coarse-to-Fine Articulated Robot Tracking", Christian Rauch, Vladimir Ivan, Timothy Hospedales, Jamie Shotton, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
  • [PDF] "Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU", Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon, IEEE Robotics and Automation Letters, 2019.
  • [PDF] "Robust Legged Robot State Estimation Using Factor Graph Optimization", David Wisth, Marco Camurri, Maurice Fallon, IEEE Robotics and Automation Letters, 2019.
  • [PDF] "Multi-controller multi-objective locomotion planning for legged robots", Martim Brandao, Maurice Fallon, Ioannis Havoutis, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019.
  • [PDF] "Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner", Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis, Towards Autonomous Robotic Systems Conference (TAROS), 2019.

2018:

  • [PDF] "Predicting Alignment Risk to Prevent Localization Failure", Simona Nobili, Georgi Tinchev, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
  • [PDF] "Visual Articulated Tracking in the Presence of Occlusions", Christian Rauch, Timothy Hospedales, Jamie Shotton, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
  • [PDF] "StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments", Raluca Scona, Mariano Jaimez, Yvan Petillot, Maurice Fallon, Daniel Cremers, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
  • "Director: A User Interface Designed for Robot Operation With Shared Autonomy", Pat Marion, Maurice Fallon, Robin Deits, Andres Valenzuela, Claudia D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake, The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
  • "Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR", Maurice Fallon, Interface Focus, 2018.
  • [PDF] "Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments", Georgi Tinchev, Simona Nobili, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2018.
  • [PDF] [DOI] "Learning from demonstration for semi-autonomous teleoperation", Ioannis Havoutis, Sylvain Calinon, Autonomous Robots, 2018.
  • [PDF] [DOI] "Programming by Demonstration for Shared Control with an Application in Teleoperation", M. Zeestraten, I. Havoutis, S. Calinon, IEEE Robotics and Automation Letters (RA-L), 2018.

2017:

  • [PDF] "Director: A User Interface Designed for Robot Operation With Shared Autonomy", Pat Marion, Maurice Fallon, Robin Deits, Andres Valenzuela, Claudia D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake, J. of Field Robotics, 2017.
  • [PDF] "Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots", Marco Camurri, Maurice Fallon, Stephane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin Caldwell, Claudio Semini, IEEE Robotics and Automation Letters, 2017.
  • [PDF] "Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot", Simona Nobili, Raluca Scona, Marco Caravagna, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017.
  • [PDF] "Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots", Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin Caldwell, Claudio Semini, Maurice Fallon, Robotics: Science and Systems (RSS), 2017.
  • [PDF] "Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring", Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher Mower, Maurice Fallon, Sethu Vijayakumar, IEEE Intl. Conf. on Automation Science and Engineering (CASE), 2017.
  • [PDF] "Direct Visual SLAM Fusing Proprioception for a Humanoid Robot", Raluca Scona, Simona Nobili, Yvan Petillot, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
  • [PDF] "Learning Task-Space Synergies using Riemannian Geometry", M. Zeestraten, I. Havoutis, S. Calinon, D. Caldwell, Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), 2017.
  • [PDF] "Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion", Carlos Mastalli, Michelle Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin Caldwell, Claudio Semini, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017.
  • [PDF] "Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems", Andreea Radulescu, Ioannis Havoutis, Darwin Caldwell, Claudio Semini, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017.
  • [PDF] [DOI] "An Approach for Imitation Learning on Riemannian Manifolds", M. Zeestraten, I. Havoutis, J. Silverio, S. Calinon, D. Caldwell, IEEE Robotics and Automation Letters (RA-L), 2017.
  • [PDF] "Supervisory teleoperation with online learning and optimal control", I. Havoutis, S. Calinon, Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2017.
  • "High-slope terrain locomotion for torque-controlled quadruped robots", Michele Focchi, Andrea Del, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell, Claudio Semini, Autonomous Robots, 2017.

2016:

  • [PDF] "iDRM: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments", Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon, Sethu Vijayakumar, IEEE/RSJ Int. Conf. on Humanoid Robots, 2016.
  • [PDF] "Sensor fusion and State estimation of the robot", Francesco Nori, Silvio Traversaro, Maurice Fallon, Humanoid Robotics: a Reference, 2016.
  • [PDF] "Learning assistive teleoperation behaviors from demonstration", I. Havoutis, S. Calinon, IEEE International Symposium on Safety, Security and Rescue Robotics, 2016.
  • [PDF] "Online incremental learning of manipulation tasks for semi-autonomous teleoperation", I. Havoutis, A.K. Tanwani, S. Calinon, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress, 2016.
  • [PDF] "Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences", Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin Caldwell, Claudio Semini, IEEE International Conference on Robotics and Automation (ICRA), 2016.
  • [PDF] "Optimization for non-periodic dynamic motions of legged systems", A Radulescu, I Havoutis, DG Caldwell, C Semini, International Workshop on Human Friendly Robotics (HFR), 2016.
  • [PDF] "Preview optimization for learning locomotion policies on rough terrain", C Mastalli, I Havoutis, A Radulescu, M Focchi, DG Caldwell, C Semini, Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC), 2016.
  • [PDF] "Dexterous undersea interventions with far distance onshore supervision: The DexROV project", Jeremi Gancet, Peter Weiss, Gianluca Antonelli, Max Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Diego Urbina, Shashank Govindaraj, Pierre Letier, Xavier Martinez, Joseph Salini, Bertrand Chemisky, Giovanni Indiveri, Giuseppe Casalino, Paolo Lillo, Enrico Simetti, Daniel Palma, Andreas Birk, Tobias Fromm, Christian Mueller, Ajay Tanwani, Ioannis Havoutis, Andrea Caffaz, Lisa Guilpain, IFAC-PapersOnLine, 2016.

2015:

  • [PDF] "Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot", Scott Kuindersma, Robin Deits, Maurice Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake, Autonomous Robots, 2015.
  • [PDF] "An Architecture for Online Affordance-based Perception and Whole-body Planning", Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, Seth Teller, J. of Field Robotics, 2015.
  • [PDF] "Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion", Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John Leonard, John McDonald, Intl. J. of Robotics Research, 2015.
  • [PDF] "Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion", Pat Marion, Maurice Fallon, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake, Dynamic Walking, 2015.
  • "Continuous Locomotion with Stereo Fusion and Online Footstep Optimization", Maurice Fallon, Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains at IROS 2015, 2015.
  • [PDF] "Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion", Maurice Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake, IEEE/RSJ Int. Conf. on Humanoid Robots, 2015.
  • [PDF] "Lidar-based navigation-level path planning for field-capable legged robots", I. Havoutis, D. Caldwell, C. Semini, Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2015.
  • [PDF] "Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain", A.W. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D.G. Caldwell, C. Semini, IEEE International Conference on Robotics and Automation (ICRA), 2015.
  • [PDF] "On-line and On-board Planning and Perception for Quadrupedal Locomotion", Carlos Mastalli, Ioannis Havoutis, Alexander Winkler, Darwin Caldwell, Claudio Semini, IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015.
  • [PDF] "Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ", Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin Caldwell, Tatsuo Narikiyo, Autonomous Robots, 2015.

2014:

  • [PDF] "Spatially Prioritized and Persistent Text Detection and Decoding", Hsueh-Cheng Wang, Yafim Landa, Maurice Fallon, Seth Teller, Camera-Based Document Analysis and Recognition (CBDAR), 2014.
  • [PDF] "Mapping Complex Marine Environments with Autonomous Surface Craft", Jacques Leedekerken, Maurice Fallon, John Leonard, Experimental Robotics, 2014.
  • "3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world", Thomas Whelan, Michael Kaess, Ross Finman, Maurice Fallon, Hordur Johannsson, John Leonard, John McDonald, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2014.
  • [PDF] "A Summary of Team MIT's Approach to the Virtual Robotics Challenge", 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. Perez-D'Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. Shah, K. Iagnemma, S. Teller, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
  • [PDF] "Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing", Maurice Fallon, Matthew Antone, Nicholas Roy, Seth Teller, IEEE/RSJ Int. Conf. on Humanoid Robots, 2014.
  • "Bridging the Gap between Operator Intent and Robot Execution with Automated Whole-Body Planning and Perception", Maurice Fallon, Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation at Humanoids 2014, 2014.
  • [PDF] "Ground reaction forces control for torque-controlled quadruped robots", Michele Focchi, Andrea Prete, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell, Claudio Semini, IEEE International Conference on Intelligent Robots and Systems (IROS), Workshop on Whole-Body Control for Robots in the Real World, 2014.
  • [PDF] "Optimization of dynamic motions for legged robots", Ioannis Havoutis, Jonas Buchli, Claudio Semini, Darwin Caldwell, Dynamic Walking, 2014.
  • "Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot", Stephane Bazeille, Marco Camurri, Jesus Ortiz, Ioannis Havoutis, Darwin Caldwell, Claudio Semini, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014.
  • [PDF] "Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots", A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. Caldwell, C. Semini, IEEE International Conference on Robotics and Automation (ICRA), 2014.
  • [PDF] "Combining active compliance with force-feedback for on-the-fly motion replanning", Alexander Winkler, Ioannis Havoutis, Claudio Semini, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Hydraulic Robots with Torque Control for Inverse Dynamics and Active Compliance, 2014.
  • [PDF] "Quadruped robot trotting over irregular terrain assisted by stereo-vision", Stephane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin Caldwell, Claudio Semini, Intelligent Service Robotics, 2014.

2013:

  • [PDF] "Relocating Underwater Features Autonomously Using Sonar-Based SLAM", Maurice Fallon, John Folkesson, Hunter McClelland, John Leonard, Journal of Oceanic Engineering, 2013.
  • [PDF] "Temporally Scalable Visual SLAM using a Reduced Pose Graph", Hordur Johannsson, Michael Kaess, Maurice Fallon, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2013.
  • "Kintinuous: Spatially Extended KinectFusion", Thomas Whelan, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard, John McDonald, AAAI Conference on Artificial Intelligence, 2013.
  • [PDF] "Spatially Prioritized and Persistent Text Detection and Decoding", Hsueh-Cheng Wang, Yafim Landa, Maurice Fallon, Seth Teller, International Workshop on Camera-Based Document Analysis and Recognition (CBDAR), 2013.
  • [PDF] "The MIT Stata Center Dataset", Maurice Fallon, Hordur Johannsson, Michael Kaess, John Leonard, Intl. J. of Robotics Research, IJRR, 2013.
  • [PDF] [DOI] "Motion planning and reactive control on learnt skill manifolds", Ioannis Havoutis, Subramanian Ramamoorthy, The International Journal of Robotics Research, 2013.
  • [PDF] "A compliant control architecture for the Hydraulic Quadruped - HyQ", Ioannis Havoutis, Alexander Winkler, Claudio Semini, Darwin Caldwell, 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] "Virtual model control for quadrupedal trunk stabilization", Ioannis Havoutis, Claudio Semini, Darwin Caldwell, Dynamic Walking, 2013.
  • [PDF] "Onboard perception-based trotting and crawling with the hydraulic quadruped robot (HyQ)", Ioannis Havoutis, Jesus Ortiz, Stephane Bazeille, Victor Barasuol, Claudio Semini, Darwin Caldwell, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
  • [PDF] "Dynamic trot-walking with the hydraulic quadruped robot—HyQ: analytical trajectory generation and active compliance control", Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin Caldwell, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
  • [PDF] "Inverse dynamics for a quadruped robot locomoting along slippery surfaces", Samuel Zapolsky, Evan Drumwright, Ioannis Havoutis, Jonas Buchli, Claudio Semini, Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2013.
  • [PDF] "Local reflex generation for obstacle negotiation in quadrupedal locomotion", Michele Focchi, Victor Barasuol, Ioannis Havoutis, Jonas Buchli, Claudio Semini, Darwin G., Internatinal Conference on Climbing and Walking Machines (CLAWAR), 2013.
  • [PDF] "A comparison of search-based planners for a legged robot", Muhammad Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin Caldwell, IEEE International Workshop on Robot Motion and Control (RoMoCo), 2013.
  • [PDF] "Vision enhanced reactive locomotion control for trotting on rough terrain", Stephane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin Caldwell, IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2013.
  • [PDF] "Quadrupedal trotting with active compliance", Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin Caldwell, IEEE International Conference on Mechatronics (ICM), 2013.

2012:

  • [PDF] "Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers", Maurice Fallon, Simon Godsill, IEEE Trans. on Audio, Speech, and Language Processing, 2012.
  • [PDF] "Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera", Maurice Fallon, Hordur Johannsson, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2012.
  • [PDF] "Sensor Fusion for Flexible Human-Portable Building-Scale Mapping", Maurice Fallon, Hordur Johannsson, Jonathon Brookshire, Seth Teller, John Leonard, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2012.
  • [PDF] "Simultaneous Localization and Mapping in Marine Environments", Maurice Fallon, Hordur Johannsson, Michael Kaess, John Folkesson, Hunter McClelland, Brendan Englot, Franz Hover, John Leonard, Marine Robot Autonomy, 2012.
  • [PDF] "Temporally Scalable Visual SLAM using a Reduced Pose Graph", Hordur Johannsson, Michael Kaess, Maurice Fallon, John Leonard, RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, 2012.
  • "Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM", Maurice Fallon, Hordur Johannsson, Michael Kaess, David Rosen, Elias Muggler, John Leonard, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2012.
  • [PDF] "Kintinuous: Spatially Extended KinectFusion", Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2012.
  • "Temporally Scalable Visual SLAM using a Reduced Pose Graph", Hordur Johannsson, Michael Kaess, Maurice Fallon, John Leonard, 2012.
  • [PDF] "Kintinuous: Spatially Extended KinectFusion", Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard, 2012.
  • [PDF] "Motion generation with geodesic paths on learnt skill manifolds", Ioannis Havoutis, Subramanian Ramamoorthy, Modeling, Simulation and Optimization of Bipedal Walking, 2012.
  • [PDF] "Progress in quadrupedal trotting with active compliance", Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin Caldwell, Dynamic Walking, 2012.

2011:

  • [PDF] "Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar", Maurice Fallon, Michael Kaess, Hordur Johannsson, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011.
  • [PDF] "Robust 3D Monte Carlo Localization using an RGB-D Camera and a Semantic Building Model", Maurice Fallon, Hordur Johannsson, John Leonard, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2011.
  • [PDF] "Motion planning and reactive control on learnt skill manifolds", Ioannis Havoutis, 2011.
  • [PDF] "Learnt skill manifolds for robot control", Ioannis Havoutis, Subramanian Ramamoorthy, International Workshop on Human Friendly Robotics (HFR), 2011.

2010:

  • [PDF] "Acoustic Source Localisation and Tracking using Track Before Detect", Maurice Fallon, Simon Godsill, IEEE Trans. on Audio, Speech, and Language Processing, 2010.
  • [PDF] "A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs", Maurice Fallon, Georgios Papadopoulos, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010.
  • [PDF] [DOI] "Cooperative AUV Navigation using a Single Maneuvering Surface Craft", Maurice Fallon, Georgios Papadopoulos, John Leonard, Nicholas Patrikalakis, Intl. J. of Robotics Research, 2010.
  • [PDF] "Mapping Complex Marine Environments with Autonomous Surface Craft", Jacques Leedekerken, Maurice Fallon, John Leonard, Intl. Sym. on Experimental Robotics (ISER), 2010.
  • [PDF] "Cooperative Localization of Marine Vehicles using Nonlinear State Estimation", Georgios Papadopoulos, Maurice Fallon, John Leonard, Nicholas Patrikalakis, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2010.
  • [PDF] "Cooperative AUV Navigation using a single surface craft", Maurice Fallon, Georgios Papadopoulos, John Leonard, Field and Service Robotics, 2010.
  • [PDF] "Constrained geodesic trajectory generation on learnt skill manifolds", Ioannis Havoutis, Subramanian Ramamoorthy, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
  • [PDF] "Geodesic trajectory generation on learnt skill manifolds", Ioannis Havoutis, Subramanian Ramamoorthy, IEEE International Conference on Robotics and Automation (ICRA), 2010.
  • [PDF] "Motion synthesis through randomized exploration on submanifolds of configuration space", Ioannis Havoutis, Subramanian Ramamoorthy, RoboCup 2009: Robot Soccer World Cup XIII, 2010.

2009:

  • [PDF] "Cooperative Localization for Autonomous Underwater Vehicles", Alexander Bahr, John Leonard, Maurice Fallon, Intl. J. of Robotics Research, 2009.
  • [PDF] "Cooperative AUV Navigation using a Single Surface Craft", Maurice Fallon, Georgios Papadopoulos, John Leonard, Field and Service Robotics (FSR), 2009.
  • [PDF] "Geodesic trajectory generation on learnt skill manifolds", Ioannis Havoutis, Subramanian Ramamoorthy, IEEE RAS International Conference on Humanoid Robotics (Humanoids), Workshop on Modeling, Simulation and Optimization of Bipedal Walking, 2009.

2008:

  • [PDF] "Multi Target Acoustic Source Tracking with an unknown and time varying number of targets", Maurice Fallon, Simon Godsill, Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA), 2008.
  • "Acoustic Source Tracking using Sequential Monte Carlo", Maurice Fallon, 2008.
  • [PDF] "Synthesising novel movements through latent space modulation of scalable control policies", Sebastian Bitzer, Ioannis Havoutis, Sethu Vijayakumar, From Animals to Animats 10, International Conference on Simulation of Adaptive Behavior, 2008.

2007:

  • [PDF] "Multi-Target Acoustic Source Tracking Using Track Before Detect", Maurice Fallon, Simon Godsill, Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), 2007.
  • [PDF] "Scalable Movement Representation In Low Dimensional Latent Space", Ioannis Havoutis, 2007.

2006:

  • [PDF] "Joint Acoustic Source Location and Orientation Estimation Using Sequential Monte Carlo", Maurice Fallon, Simon Godsill, Andrew Blake, International Conference on Digital Audio Effects (DAFx), 2006.

2004:

  • [PDF] "The Gini Index of Speech", Scott Rickard, Maurice Fallon, Conference on Information Sciences and Systems, 2004.