PUBLICATIONS

Journal Articles

Submitted

21. S.T. Pfister, K.L. Kreichbaum, S.I. Roumeliotis, and J.W. Burdick, "A Weighted Range Sensor Matching Algorithm for Mobile Robot Displacement Estimation", IEEE Transactions on Robotics (in revision).

20. A.I. Mourikis and S.I. Roumeliotis, "The Guaranteed accuracy of SLAM", IEEE Transactions on Robotics (submitted).

Published/Accepted for Publication

19. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, A. Johnson, A. Ansar, and L. Matthies, "Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing", IEEE Transactions on Robotics, 2008 (cond. accepted).

18. E.J. Msechu, S.I. Roumeliotis, A. Ribeiro, and G.B. Giannakis, "Distributed Quantized Kalman Filtering with Scalable Communication Cost", IEEE Transactions on Signal Processing, 2008 (in press).

17. F.M. Mirzaei and S.I. Roumeliotis, "A Kalman Filter-based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation", IEEE Transactions on Robotics, 2008 (cond. accepted).

16. X.S. Zhou and S.I. Roumeliotis, "Robot-to-Robot Relative Pose Estimation from Range Measurements", IEEE Transactions on Robotics, 2008 (cond. accepted).

15. K. Zhou and S.I. Roumeliotis, "Optimal Motion Strategies for Range-only Constrained Multi-sensor Target Tracking", IEEE Transactions on Robotics, 2008 (cond. accepted).

14. P.E. Rybski, S.I. Roumeliotis, M. Gini, and N. Papanikolopoulos, "Appearance-based Mapping using Minimalistic Sensor Models", Autonomous Robots , 24(3), Apr. 2008, pp. 213-227 (pdf).

13. I. Schizas, G.B. Giannakis, S.I. Roumeliotis, and A. Ribeiro, "Consensus in Ad Hoc WSNs with Noisy Links - Part II: Distributed Estimation and Smoothing of Random Signals", IEEE Transactions on Signal Processing, 56(4), Apr. 2008, pp. 1650-1666 (pdf).

12. A.I. Mourikis, S.I. Roumeliotis, and J.W. Burdick "SC-KF Mobile Robot Localization: A Stochastic Cloning-Kalman Filter for Processing Relative-State Measurements", IEEE Transactions on Robotics, 23(4), Aug. 2007, pp. 717-730 (pdf).

11. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, D.M. Helmick, and L. Matthies "Autonomous Stair Climbing for Tracked Vehicles", International Journal of Computer Vision & International Journal of Robotics Research - Joint Special Issue on Vision and Robotics, 26(7), July 2007, pp. 737-758 (pdf).

10. N. Trawny, A.I. Mourikis, S.I. Roumeliotis, A.E. Johnson, and J.F. Montgomery, "Vision-Aided Inertial Navigation for Pin-Point Landing using Observations of Mapped Landmarks", Journal of Field Robotics, 24(5), May 2007, pp. 257-378. (pdf)

9. A.I. Mourikis and S.I. Roumeliotis, "Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)", International Journal of Robotics Research, 25(12), Dec. 2006, pp.1273-1286. (pdf)

8. A. Ribeiro, G.B. Giannakis, and S.I. Roumeliotis, "SOI-KF: Distributed Kalman Filtering with Low-Cost Communications using the Sign Of Innovations", IEEE Transactions on Signal Processing, 54(12), Dec. 2006, pp. 4782-4795. (pdf)

7. D.M. Helmick, S.I. Roumeliotis, Y. Chang, D.S. Clouse, M. Bajracharya, and L. Matthies, "Slip-Compensated Path Following for Planetary Exploration Rovers", Advanced Robotics, (20)11, Nov. 2006, pp. 4782-4795. (pdf)

6. A.I. Mourikis and S.I. Roumeliotis, "Optimal Sensor Scheduling for Resource Constrained Localization of Mobile Robot Formations", IEEE Transactions on Robotics, 22(5), Oct. 2006, pp. 917-931. (pdf)

5. A.I. Mourikis and S.I. Roumeliotis, "Performance Analysis of Multirobot Cooperative Localization", IEEE Transactions on Robotics, 22(4), Aug. 2006, pp. 666-681. (pdf)

4. J.F. Montgomery, A.E. Johnson, S.I. Roumeliotis, and L.H. Matthies, "The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A Platform for Planetary Exploration Technology Research and Development", Journal of Field Robotics, 23(3/4), March/April 2006, pp. 245-267. (pdf)

3. S.I. Roumeliotis and I.M. Rekleitis, "Propagation of Uncertainty in  Cooperative Multirobot Localization: Analysis and Experimental Results", Autonomous Robots, 17(1), pp. 41-54, July 2004. (pdf)

2. S.I. Roumeliotis and G.A. Bekey, "Distributed Multi-Robot Localization", IEEE Transactions on Robotics and Automation, 18(5), pp. 781-795, Oct. 2002. (abstract , pdf)

1. S.G. Tzafestas, G.B. Stamou, S.I. Roumeliotis , N.K. Papadopoulos, "An expert system for flexible robotic assembly under uncertainty based on fuzzy inference". Studies in Informatics and Control, Informatics & Control Publications, 5(4), pp.401-7, Dec. 1996.

Book Chapter

1. S.I. Roumeliotis and G.A. Bekey, "Distributed Multi-Robot Localization". Distributed Autonomous Robotic Systems 4, Springer Verlag, 2000, pp.179-188. (abstract, postscript , pdf)

Conference Papers

2008

59. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, "A First-Estimates Jacobian EKF for improving SLAM Consistency", In Proc. 11th International Symposium on Experimental Robotics (ISER'08), Athens, Greece, July 14-17 2008 (to appear).

58. A.I. Mourikis, and S.I. Roumeliotis, "A Dual-Layer Estimator Architecture for Long-term Localization", In Proc. of the Workshop on Visual Localization for Mobile Platforms, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'08), Anchorage, AK, June 24-26 2008 (to appear - oral presentation).

57. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, "Analysis and Improvement of the Consistency of Extended Kalman Filter-based SLAM", In Proc. IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, CA, May 19-23 2008 (to appear).

56. E.J. Msechu, A. Ribeiro, S.I. Roumeliotis, and G.B. Giannakis, "Distributed Kalman Filtering based on Quantized Innovations", In Proc. IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'08), Las Vegas, NV, Mar. 30-Apr. 4, 2008, pp. 3293-3296 (pdf).

2007

55. E.J. Msechu, A. Ribeiro, S.I. Roumeliotis, and G.B. Giannakis, "Distributed Iteratively Quantized Kalman Filtering for Wireless Sensor Networks", In Proc. 41st Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, CA, Nov. 4-7, 2007 (pdf).

54. N. Trawny, X.S. Zhou, K. Zhou, and S.I. Roumeliotis, "3D Relative Pose Estimation from Distance-Only Measurements", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA, Oct. 29- Nov. 2, 2007, pp. 1071-1078 (pdf).

53. E.D. Nerurkar and S.I. Roumeliotis, "Power-SLAM: A Linear-Complexity, Consistent Algorithm for SLAM", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA, Oct. 29- Nov. 2, 2007, pp. 636-643 (pdf).

52. F.M. Mirzaei and S.I. Roumeliotis, "A Kalman filter-based Algorithm for IMU-Camera Calibration", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA, Oct. 29- Nov. 2, 2007, pp. 2427-2434 (pdf).

51. I.D. Schizas, G.B. Giannakis, S.I. Roumeliotis, and A. Ribeiro, "Anytime Optimal Distributed Kalman Filtering and Smoothing", In Proc. IEEE Statistical Signal Processing Workshop (SSP'07), Madison, WI, Aug. 26-29, 2007, pp. 368-372 (pdf).

50. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, A. Johnson, and L. Matthies, "Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments", In Proc. Robotics: Science and Systems Conference (RSS'07), Atlanta, GA, June 27-30, 2007 (pdf).

49. N. Trawny, A.I. Mourikis, S.I. Roumeliotis, A. Johnson, J. Montgomery, A. Ansar, and L. Matthies, "Coupled Vision and Inertial Navigation for Pin-Point Landing", In Proc. NASA Science Technology Conference (NSTC'07), College Park, MD, June 19-21, 2007 (pdf).

48. A. Johnson, A. Ansar, L. Matthies, N. Trawny, A.I. Mourikis, and S.I. Roumeliotis, "A General Approach to Terrain Relative Navigation for Planetary Landing", In Proc. 2007 AIAA Infotech at Aerospace Conference, Rohnert Park, CA, May 7-10 (pdf).

47. J. Hesch and S.I. Roumeliotis, "An Indoor Localization Aid for the Visually Impaired", In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 3545-3551 (pdf).

46. X.S. Zhou and S.I. Roumeliotis, "Determining the Robot-to-Robot Relative Pose using Range-only Measurements", In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 4025-4031 (pdf).

45. F.M. Mirzaei, A.I. Mourikis, and S.I. Roumeliotis, "On the Performance of Multi-robot Target Tracking", In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 3482-3489 (pdf).

44. A.I. Mourikis and S.I. Roumeliotis, "A Multi-State Constrained Kalman filter for Vision-aided Inertial Navigation", In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 3565-3572 (pdf).

2006

43. X.S. Zhou and S.I. Roumeliotis, "Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case", In Proc. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, Oct. 9-15, pp. 1785-1792 (pdf). [Best Paper Award Finalist]

42. A.I. Mourikis and S.I. Roumeliotis, "Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements", In Proc. Robotics: Science and Systems Conference, Philadephia, PA, Aug. 16-19, 2006, (pdf).

41. K.X. Zhou and S.I. Roumeliotis, "Optimal Motion Strategies for Distributed Range-Only Tracking", In Proc. 2006 IEEE American Control Conference (ACC'06), Minneapolis, MN, June 14-16, pp. 5195-5200 (pdf).

40. A. Ribeiro, G.B. Giannakis, and S.I. Roumeliotis, "SOI-KF: Distributed Kalman Filtering with Low-Cost Communications using the Sign Of Innovations", In Proc. 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'06), Toulouse, France, May 14-19, pp. 153-156 (pdf). [Best Student Paper Award]

39. N. Trawny and S.I. Roumeliotis, "A Unified Framework for Nearby and Distant Landmarks in Bearing-Only SLAM," In Proc. 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15-19, pp. 1923-29 (pdf).

38. A.I. Mourikis and S.I. Roumeliotis, "On the Treatment of Relative-Pose Measurements for Mobile Robot Localization," In Proc. 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15-19, pp. 2277-84 (pdf).

37. B.H. Kim, C. D'Souza, R. Voyles, J. Hesch, and S.I. Roumeliotis, "A Reconfigurable Computing Platform for Plume Detection with Mobile Sensor Networks," In Proc. 2006 SPIE Conference on Unmanned Systems Technology VIII, Orlando, FL, Apr. 17-21.

2005

36. D. Helmick, S. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, and L. Matthies, "Slip Compensation for a Mars Rover," In Proc. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, Aug. 2-6, pp. 1419-1426. (pdf) [Selected for journal publication, Advanced Robotics Journal]

35. A.I. Mourikis and S.I. Roumeliotis, "Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)," In Proc. Robotics: Science and Systems Conference, Cambridge, MA, June 8-11, 2005, pp. 73-80. (pdf) [Selected for journal publication, International Journal of Robotics Research]

34. A.I. Mourikis and S.I. Roumeliotis, "Optimal Sensing Strategies for Mobile Robot Formations: Resource Constrained Localization," In Proc. Robotics: Science and Systems Conference, Cambridge, MA, June 8-11, 2005, pp. 281-288. (pdf)

33. Y.S. Hidaka, A.I. Mourikis, and S.I. Roumeliotis, "Optimal Formations for Cooperative Localization of Mobile Robots," In Proc. 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, pp. 4137-4142. (pdf)

32. V.Christopoulos and S.I. Roumeliotis, "MultiRobot Trajectory Generation for Single Source Explosion Parameter Estimation," In Proc. 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, pp. 2814-2820. (pdf)

31. V.Christopoulos and S.I. Roumeliotis, "Adaptive Sensing for Instantaneous Gas Release Parameter Estimation," In Proc. 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, pp. 4461-4467. (pdf)

2004

30. A.I. Mourikis and S.I. Roumeliotis, "Analysis of Positioning Uncertainty in Simultaneous Localization and Mapping (SLAM)," In Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, Sep. 28-Oct.2, pp. 13-20. (pdf)

29. A.I. Mourikis and S.I. Roumeliotis, "Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots," In Proc. 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA April 26-May 1, pp. 572-579. (pdf)

28. P.E. Rybski , S.I. Roumeliotis, M. Gini, and N. Papanikolopoulos, "A Comparison of Maximum Likelihood Methods for Appearance-Based Minimalistic SLAM," In Proc. 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA April 26-May 1, pp. 1777-82. (pdf)

27. D.M. Helmick , Y. Chang, S.I. Roumeliotis, D. Clouse, and L. Matthies, "Path Following using Visual Odometry for a Mars Rover in High-Slip Environments," In Proc. 2004 IEEE Aerospace Conference, Big Sky, MT, Mar. 6-13, pp. 772-789. (pdf)

2003

26. S.I. Roumeliotis and I.M. Rekleitis, "Analysis of Multirobot Localization Uncertainty Propagation" , In Proc. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, Oct. 27-31, pp. 1763-1770. (pdf)

25. P.E. Rybski , S.I. Roumeliotis , M.Gini, and N. Papanikolopoulos, "Appearance-Based Minimalistic Metric SLAM" , In Proc. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, Oct. 27-31, pp. 194-199. (pdf) 

24. I.M. Rekleitis and S.I. Roumeliotis , "Analytical Expressions for Positioning Uncertainty Propagation in Networks of Robots" . In Proc. of the 11th IEEE Mediterranean Conference on Control and Automation, Rhodes, Greece, June 17-20, 2003, pp. 131-136. (pdf)

23. S.T. Pfister, S.I. Roumeliotis , and J.W. Burdick, "Weighted Line Fitting Algorithms for Mobile Robot Map Building and Efficient Data Representation" , In Proc. 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sep.14-19, pp. 1304-1311. (pdf)

2002

22. D.M. Helmick , S.I. Roumeliotis , M.C. McHenry, and L. Matthies, "Multi-Sensor,High Speed Autonomous Stair Climbing" , In Proc. 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, EPFL, Switzerland, Sep. 30-Oct. 4, pp. 733-742. (pdf)

21. S.I. Roumeliotis and J.W. Burdick, "Stochastic Cloning: A generalized framework for processing relative state measurements" . In Proc. 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15, pp. 1788-95. (pdf)

20. S.I. Roumeliotis , A.E. Johnson, and J.F. Montgomery, "Augmenting Inertial Navigation with Image-Based Motion Estimation" . In Proc. 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15, pp.  4326-33. (pdf)

19. S.T. Pfister,K.L Kreichbaum, S.I. Roumeliotis , and J.W. Burdick, "Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation" . In Proc. 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15 , pp. 1667-74. (pdf)

18. R.W. Hogg, A.L. Rankin, S.I. Roumeliotis ,M.C. McHenry,D.M. Helmick, C.F. Bergh, and L. Matthies, "Algorithms and Sensors for Small Robot Path Following" . In Proc. 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15, pp. 3850-57. (pdf)

2001

17. R. Hogg, A. Rankin, M. McHenry D. Helmick, C. Bergh, S.I Roumeliotis , and L. Matthies, "Sensors and Algorithms for Small Robot Leader/Follower Behavior" . In SPIE Proceedings on AeroSense (Aerospace/Defense Sensing, Simulation, and Controls), Orlando, Florida, April 16 - 20, 2001. (abstract , pdf)

2000

16. S.I. Roumeliotis and G.A. Bekey, "Synergetic Localization for Groups of Mobile Robots" . In Proc. of the 39th IEEE Conference on Decision and Control, Sydney, Australia, Dec. 12-15, 2000, pp.3477-3482. (abstract , postscript , pdf)

15. S.I. Roumeliotis and G.A. Bekey, "SEGMENTS: A Layered, Dual-Kalman filter Algorithm for Indoor Feature Extraction" . In Proc. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems , Takamatsu, Japan, Oct. 30 - Nov. 5, pp.454-461. (abstract , postscript , pdf)

14. P.G. Georgiou, A. Mouchtaris, S.I Roumeliotis ,and C. Kyriakakis, "Immersive Sound Rendering Using Laser-Based Tracking" . In 109th Convention of the Audio Engineering Society (AES) preprint Nr. 5227, Los Angeles, California, Sep. 22-25, 2000. (pdf)

13. S.I. Roumeliotis S.I. and M.J. Mataric, "Small-World Networks of Mobile Robots" . In Proc. of the Seventeenth National Conference on Artificial Intelligence, AAAI 2000, Austin, Texas, July 30 - Aug. 3., pp. 1093. (postscript , pdf)

12. S.I. Roumeliotis , P. Pirjanian, and M.J. Mataric, "Ant-Inspired Navigation in Unknown Environments" . In Proc. 2000 AAAI International Conference on Autonomous Agents, Barcelona, Spain, June 3-7, pp. 25-26. (postscript , pdf)

11. S.I. Roumeliotis and G.A. Bekey, "Collective Localization: A distributed Kalman filter approach to localization of groups of mobile robots" . In Proc. 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, April 22-28, pp. 2958-2965. (abstract , postscript , pdf)

10. S.I. Roumeliotis and G.A. Bekey, "Bayesian estimation and Kalman filtering: A unified framework for Mobile Robot Localization" . In Proc. 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, April 22-28, pp. 2985-2992. (abstract , postscript , pdf)

9. P. Goel, G. Dedeoglu, S.I. Roumeliotis , and G.S. Sukhatme, "Fault Detection and Identification in a Mobile Robot Using Multiple Model Estimation and Neural Network" . In Proc. 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, April 22-28, pp. 2302-2309. (abstract , postscript , pdf)

1999

8. M. Jun, S.I. Roumeliotis , and G.S. Sukhatme, "State Estimation via Sensor Modeling for Helicopter Control using an Indirect Kalman Filter" . In Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, Oct. 17-21, 1999, pp. 1346-1353. (abstract , postscript , pdf)

7. P. Goel, S.I. Roumeliotis , and G.S. Sukhatme, "Robust Localization Using Relative and Absolute Position Estimates" . In Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, Oct. 17-21, 1999, pp. 1134-1140. (abstract , postscript , pdf)

6. S.I. Roumeliotis and G.A. Bekey, "3D Localization for a Mars Rover Prototype" . In 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '99), ESTEC, Noordwijk, The Netherlands, June 1-3, 1999, pp.441-448. (abstract , postscript , pdf)

5. S.I. Roumeliotis , G.S. Sukhatme, and G.A. Bekey, "Smoother based 3-D Attitude Estimation for Mobile Robot Localization" . In Proc. 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, May 10-15, 1999, pp. 1979-1986. (abstract , postscript , pdf)

4. S.I. Roumeliotis , G.S. Sukhatme, and G.A. Bekey, "Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter applied to Mobile Robot Localization" . In Proc. 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, May 10-15, 1999, pp. 1656-1663. (abstract , postscript , pdf).

1998

3. S.I. Roumeliotis , G.S. Sukhatme, and G.A. Bekey, "Sensor Fault Detection and Identification in a Mobile Robot" . In Proc. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Oct. 13-17, 1998, pp.1383-1388. (abstract , postscript , pdf)

2. S.I. Roumeliotis , G.S. Sukhatme, and G.A. Bekey, "Fault Detection and Identification in a Mobile Robot using Multiple-Model Estimation" . In Proc. 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998, pp. 2223-2228. (abstract , postscript , pdf)

1997

1. S.I. Roumeliotis , G.A. Bekey, "An extended Kalman filter for frequent local and infrequent global sensor data fusion" . In Proc. of the SPIE (Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, Pittsburgh, Pennsylvania, USA, Oct. 14-15, 1997, pp.11-22. (abstract , postscript , pdf)

Technical Reports

2006

12. A.I. Mourikis and S.I. Roumeliotis. "Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements," August, 2006. (pdf)

11. A.I. Mourikis and S.I. Roumeliotis. "A Multi-state Kalman Filter for Vision-Aided Inertial Navigation," September, 2006. (pdf)

10. X.S. Zhou and S.I. Roumeliotis. "Determining the Robot-to-Robot Relative Pose Using Range-only Measurements," May, 2006. (pdf)

9. K. Zhou and S.I. Roumeliotis. "Optimal Motion Strategies for Range-Only Distributed Target Tracking," April, 2006. (pdf)

2005

8. N. Trawny and S.I. Roumeliotis. "Bearing-Only SLAM Without Explicit Landmark Position Initialization," August, 2005. (pdf)

7. N. Trawny and S.I. Roumeliotis. "Jacobian for conversion from Euler Angles to Quaternions," November, 2005. (pdf)

6. N. Trawny and S.I. Roumeliotis. "Sun Sensor Model," January, 2005. (pdf)

5. F.M. Mirzaei and A.I. Mourikisand and S.I. Roumeliotis. "Analysis of Positioning Uncertainty in Cooperate Localization and Target Tracking (CLATT)," August, 2005. (pdf)

4. X.S. Zhou and S.I. Roumeliotis. "Multi Robot SLAM Map Alignment with Rendezvous," June, 2005. (pdf)

2004

3. A.I. Mourikis and S.I. Roumeliotis. "Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)," September, 2004. (pdf)

2. A.I. Mourikis and S.I. Roumeliotis. "Analysis of Positioning Uncertainty in Simultaneous Localization and Mapping (SLAM)," September, 2004. (pdf)

2003

Internal Technical Reports [Link]