Journal Articles

2015

J35. G.P. Huang, K.X. Zhou, N. Trawny, and S.I. Roumeliotis, "A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking," IEEE Transactions on Robotics, 31(1), Feb. 2015, pp. 85-103 (pdf)

2014

J34. J.A. Hesch, D.G. Kottas, S.L. Bowman, and S.I. Roumeliotis, "Consistency Analysis and Improvement of Vision-aided Inertial Navigation," IEEE Transactions on Robotics, 30(1), Feb. 2014, pp. 158-176 (pdf).

J33. J.A. Hesch, D.G. Kottas, S.L. Bowman, and S.I. Roumeliotis, "Camera-IMU-based Localization: Observability Analysis and Consistency Improvement," International Journal of Robotics Research, 33(1), Jan. 2014, pp. 182-201 (pdf).

2013

J32. A. Amanatiadis, S.A. Chatzichristos, K. Charalampous, L. Doitsidis, E.B. Kosmatopoulos, Ph. Tsalides, A. Gasteratos, and S.I. Roumeliotis, "A Multi-Objective Exploration Strategy for Mobile Robots under Operational Constraints," IEEE Access, 1, Oct. 2013, pp 691-702 (pdf).

J31. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, "A Quadratic-Complexity Observability- Constrained Unscented Kalman Filter for SLAM," IEEE Transactions on Robotics, 29(5), Apr. 2013, pp. 458-474 (pdf).

J30. X.S. Zhou and S.I. Roumeliotis, “Determining 3D Relative Transformations for Any Combination of Range and Bearing Measurements,” IEEE Transactions on Robotics, May 29(2), Apr. 2013, pp. 458-474 (pdf).

2012

J29. F.M. Mirzaei, D.G. Kottas, and S.I. Roumeliotis, “3D Lidar-Camera Intrinsic and Extrinsic Calibration: Observability Analysis and Analytical Least Squares-based Initialization,” International Journal of Robotics Research, Special Issue on Robot Vision, 31(4), Apr. 2012, pp. 452-467 (pdf).

J28. O. Naroditsky, X.S. Zhou, J. Gallier, S.I. Roumeliotis, and K. Daniilidis, “Two Efficient Solutions for Visual Odometry using Directional Correspondence,” IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(4), Apr. 2012, pp. 818-824 (pdf).

2011

J27. S. Farahmand, S.I. Roumeliotis, and G.B. Giannakis, “Set-Membership Constrained Particle Filter: Distributed Adaptation for Sensor Networks,” IEEE Transactions on Signal Processing, 59(9), Sep. 2011, pp. 4122-4138 (pdf).

J26. K. Zhou and S.I. Roumeliotis, “Multi-robot Active Target Tracking with Combinations of Relative Observations,” IEEE Transactions on Robotics, 27(4), Aug. 2011, pp. 678-695 (pdf).

J25. E.D. Nerurkar and S.I. Roumeliotis, "Power-SLAM: A Linear-Complexity, Anytime Algorithm for SLAM,” International Journal of Robotics Research, Special Issue on Stochasticity in Robotics and Biological Systems, 30(6), May 2011, pp. 772-788 (pdf).

J24. G.P. Huang, N. Trawny, A.I. Mourikis, and S.I. Roumeliotis, "Observability-based Consistent EKF Estimators for Multi-robot Cooperative Localization," Autonomous Robots, 30(1), Jan. 2011, pp. 99-122 (pdf).

2010

J23. J.A. Hesch and S.I. Roumeliotis, "Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired", International Journal of Robotics Research, 29(11), Sep. 2010, pp. 1400-1415 (pdf).

J22. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, "Observability-based Rules for Designing Consistent EKF SLAM Estimators", International Journal of Robotics Research, 29(5), Apr. 2010, pp. 502-528 (pdf).

J21. N. Trawny, X.S. Zhou, K.X. Zhou, and S.I. Roumeliotis, "Inter-robot Transformations in 3D", IEEE Transactions on Robotics, 26(2), Apr. 2010, pp. 226-243 (pdf).

J20. A. Ribeiro, I.D. Schizas, S.I. Roumeliotis, and G.B. Giannakis, "Kalman Filtering in Wireless Sensor Networks: Reducing Communication Cost in State Estimation Problems", IEEE Control Systems Magazine, 30(2), Apr. 2010, pp. 66-86 (pdf). [Special issue for the 50th anniversary of the development of the Kalman filter]

2009

J19. 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, 25(2), Apr. 2009, pp. 264-280 (pdf). [King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics 2009]

2008

J18. X.S. Zhou and S.I. Roumeliotis, "Robot-to-Robot Relative Pose Estimation from Range Measurements", IEEE Transactions on Robotics, 24(6), Dec. 2008, pp. 1379-1393 (pdf).

J17. 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, 24(5), Oct. 2008, pp. 1143-1156 (pdf).

J16. K. Zhou and S.I. Roumeliotis, "Optimal Motion Strategies for Range-only Constrained Multi-sensor Target Tracking", IEEE Transactions on Robotics, 24(5), Oct. 2008, pp. 1168-1185 (pdf).

J15. E.J. Msechu, S.I. Roumeliotis, A. Ribeiro, and G.B. Giannakis, "Decentralized Quantized Kalman Filtering with Scalable Communication Cost", IEEE Transactions on Signal Processing, 56(8), Aug. 2008, pp. 3727-3741 (pdf).

J14. 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).

J13. 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).

2007

J12. 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).

J11. 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).

J10. 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)

2006

J9. 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)

J8. 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)

J7. 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) [Best Journal Paper Award, Robotics Society of Japan, 2007].

J6. 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)

J5. 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)

J4. 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)

2004

J3. 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)

2002

J2. 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)

1996

J1. 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 Chapters

B2. J.A. Hesch, A.I. Mourikis, and S.I. Roumeliotis, "Mirror-based Extrinsic Camera Calibration," International Workshop on the Algorithmic Foundations of Robotics, Springer Verlag, 2009 (pdf).

B1. 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

2016

C119. C.X. Guo, K. Sartipi, R.C. DuToit, G. Georgiou, R. Li, J. O’Leary, E.D. Nerurkar, J.A. Hesch, and S.I. Roumeliotis, "Large-Scale Cooperative 3D Visual-Inertial Mapping in a Manhattan World," IEEE International Conference on Robotics and Automation (ICRA'16), Stockholm, Sweden, May 16-21, 2016 (to appear) (pdf).

2015

C118. T. Do, L.C. Carrillo-Arce, and S.I. Roumeliotis, "Autonomous Flights through Image-de ned Paths," In Proc. International Symposium of Robotics Research (ISRR), Sestri Levante, Italy, Sep. 12-15, 2015 (pdf).

C117. D.G. Kottas and S.I. Roumeliotis, "An iterative Kalman Smoother for Robust 3D Localization and Mapping," In Proc. International Symposium of Robotics Research (ISRR), Sestri Levante, Italy, Sep. 12-15, 2015 (pdf).

C116. K. Wu, A. Ahmed, G. Georgiou, S.I. Roumeliotis, "A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices," Robotics: Science and Systems (RSS'15), Rome, Italy, July 13-17, 2015 (pdf).

C115. D.G. Kottas and S.I. Roumeliotis, "An Iterative Kalman Smoother for Robust 3D Localization on Mobile and Wearable devices," IEEE International Conference on Robotics and Automation (ICRA'15), Seattle, WA, May 26-30, 2015, pp. 6336-6343 (pdf).

2014

C114. C.X. Guo, D.G. Kottas, R.C. DuToit, A. Ahmed, R. Li, and S.I. Roumeliotis, "Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps," Robotics: Science and Systems (RSS'14), Berkeley, California, July 12-16, 2014 (pdf).

C113. D.G. Kottas, R.C. DuToit, A. Ahmed, C.X. Guo, G. Georgiou, R. Li, and S.I. Roumeliotis, "A Resource-aware Vision-aided Inertial Navigation System for Wearable and Portable Computers," Workshop: Long Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA'14), Hong Kong, China, May 31 - June 5, 2014 (pdf).

C112. E.D. Nerurkar, K.J.Wu, and S.I. Roumeliotis, "C-KLAM: Constrained Keyframe-Based Localization and Mapping," In Proc. IEEE International Conference on Robotics and Automation (ICRA'14), Hong Kong, China, May 31 - June 5, 2014, pp. 3638-3643. (pdf).

2013

C111. C.X. Guo and S.I. Roumeliotis, "IMU-RGBD Camera Navigation using Point and Plane Features," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013 (pdf).

C110. D.G. Kottas, K.J. Wu, and S.I. Roumeliotis, "Detecting and Dealing with Hovering Maneuvers in Vision-aided Inertial Navigation Systems," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013 (pdf).

C109. E.D. Nerurkar and S.I. Roumeliotis, "A Communication-Bandwidth-Aware Hybrid Estimation Framework for Multi-robot Cooperative Localization," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013 (pdf) [Best Student Paper Award Finalist]

C108. L.C. Carrillo-Arce, E. Nerurkar, J.-L. Gordillo, and S.I. Roumeliotis, "Decentralized Multi-robot Cooperative Localization using Covariance Intersection," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013 (pdf).

C107. G. Panahandeh, C.X. Guo, M. Jansson, and S.I. Roumeliotis, "Observability Analysis of a Vision-aided Inertial Navigation System Using Planar Features on the Ground," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013 (pdf).

C106. E.D. Nerurkar, K.J. Wu, and S.I. Roumeliotis, "C-KLAM: Constrained Keyframe-Based Localization and Mapping," Workshop: Multi-View Geometry in Robotics, Robotics: Science and Systems (RSS'13), Berlin, Germany, June 24-28, 2013 (pdf).

C105. D.G. Kottas and S.I Roumeliotis, "Exploiting Urban Scenes for Vision-aided Inertial Navigation," In Proc. Robotics: Science and Systemts (RSS'13), Berlin, Germany, June 24-28, 2013 (pdf).

C104. G.P. Huang and S.I Roumeliotis, "On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements," In Proc. IEEE American Control Conference (ACC'13), Washington, DC, June 17-19, 2013, pp. 5488-5495 (pdf).

C103. E.D. Nerurkar and S.I Roumeliotis, "Hybrid Maximum a Posteriori Estimation under Communication Constraints," In Proc. IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'13), Vancouver, Canada, May 26-31, 2013, pp. 4898-4902 (pdf).

C102. G.P. Huang, M. Kaess, J. Leonard, and S.I Roumeliotis, "Analytically Selected Multi-Hypothesis Incremental MAP Estimation," In Proc. IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'13), Vancouver, Canada, May 26-31, 2013, 6481-6485 (pdf).

C101. E.D. Nerurkar and S.I. Roumeliotis, "A Communication-Bandwidth-Aware Hybrid Estimation Framework for Multi-robot Cooperative Localization," Workshop: Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013 (pdf).

C100. E.D. Nerurkar, K.J.Wu, and S.I. Roumeliotis, "C-KLAM: Constrained Keyframe Localization and Mapping for Long-Term Navigation," Workshop: Long Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013 (pdf).

C99. D.G. Kottas and S.I Roumeliotis, "Efficient and Consistent Vision-aided Inertial Navigation using Line Observations," In Proc. IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013, pp. 1532-1539 (pdf).

C98. C.X. Guo and S.I Roumeliotis, "IMU-RGBD Camera Extrinsic Calibration: Observability Analysis and Consistency Improvement," In Proc. IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013, pp. 2920-2927 (pdf).

C97. C.X. Guo and S.I Roumeliotis, "An Analytical Least-Squares Solution to the Line Scan LIDAR-Camera Extrinsic Calibration Problem," In Proc. IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013, pp. 2928-2933 (pdf).

C96. G.P. Huang and S.I Roumeliotis, "An Analytically-guided Sampling-based Particle Filter Applied to Range-only Target Tracking," In Proc. IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, Germany, May 6-10, 2013, pp. 3153-3160 (pdf).

2012

C95. D.G. Kottas, J.A. Hesch, S.L. Bowman, and S.I. Roumeliotis, “On the consistency of Vision-aided Inertial Navigation,” In Proc. 13th International Symposium on Experimental Robotics (ISER'12), Quebec City, Canada, June 17-21 2012 (pdf).

C94. J.A. Hesch and S.I. Roumeliotis, “Consistency Analysis and Improvement for Single-camera Localization,” In Proc. of the 2nd IEEE Workshop on Egocentric (First-Person) Vision, Conference on Computer Vision and Pattern Recognition (CVPR'12), Providence, RI, June 17 2012 (pdf).

C93. J.A. Hesch, D.G. Kottas, S.L. Bowman, and S.I. Roumeliotis, “Towards Consistent Vision-aided Inertial Navigation,” In Proc. 10th International Workshop on the Algorithmic Foundations of Robotics (WAFR'12), Boston, MA, June 13-15, 2012 (pdf).

C92. C. Guo, F.M. Mirzaei and S.I Roumeliotis, “An Analytical Least-Squares Solution to the Odometer-Camera Extrinsic Calibration Problem,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'12), Saint Paul, MN, May 14-18 2012, pp. 3962-3968 (pdf).

C91. K.X. Zhou and S.I Roumeliotis, “A Sparsity-aware QR Decomposition Algorithm for Efficient Cooperative Localization,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'12), Saint Paul, MN, May 14-18 2012, pp. 799-806 (pdf).

C90. I.V. Melnyk, J.A. Hesch and S.I Roumeliotis, “Cooperative Vision-aided Inertial Navigation using Overlapping Views,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'12), Saint Paul, MN, May 14-18 2012, pp. 936-943 (pdf).

C89. Z. Zhou, S. Roumeliotis, J. Hesch, H. Park, and D. Venable, “Architecture for Asymmetric Collaborative Navigation,” In Proc. IEEE/ION Position Location and Navigation Symposium (PLANS'12), Myrtle Beach, SC, Apr. 24-26 2012, pp. 777-782 (pdf).

2011

C88. F.M. Mirzaei and S.I. Roumeliotis, “Optimal Estimation of Vanishing Points in a Manhattan World,” In Proc. 13th International Conference on Computer Vision (ICCV'11), Barcelona, Spain, Nov. 6-13 2011, pp. 2454-2461 (pdf).

C87. J.A. Hesch and S.I. Roumeliotis, “A Direct Least-Squares (DLS) Method for PnP,” In Proc. 13th International Conference on Computer Vision (ICCV'11), Barcelona, Spain, Nov. 6-13 2011, pp. 383-390 (pdf).

C86. X.S. Zhou, K.X. Zhou and S.I. Roumeliotis, “Optimized Motion Strategies for Localization in Leader-Follower Formations,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, CA, Sep. 25-30 2011, pp. 98-105 (pdf).

C85. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, “An Observability-Constrained Sliding Window Filter for SLAM,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, CA, Sep. 25-30 2011, pp. 65-72 (pdf).

C84. E.D. Nerurkar, K.X. Zhou, and S.I. Roumeliotis, “A Hybrid Estimation Framework for Cooperative Localization under Communication Constraints,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, CA, Sep. 25-30 2011, pp. 502-509 (pdf).

C83. F.M. Mirzaei, D.G. Kottas, and S.I. Roumeliotis, “Analytical Least-Squares Solution for 3D Lidar-Camera Calibration,” In Proc. 15th International Symposium on Robotics Research (ISRR'11), Flagstaff, AZ, Aug. 28-Sep. 1 2011 (pdf).

C82. E. Kosmatopoulos, K. Aboudolas, D. Rovas, L. Doitsidis, and S.I. Roumeliotis, “A Generic
Framework for Scalable and Convergent Multi-Robot Active Simultaneous Localization, Mapping and Target Tracking,”
In Proc. 19th IEEE Mediterranean Conference on Control and Automation (MED'11), Corfu, Greece, June 20-23, 2011, pp. 151-156 (pdf).

C81. X.S. Zhou and S.I Roumeliotis, “Determining the Robot-to-Robot 3D Relative Pose using Combinations of Range and Bearing Measurements (Part II),” In Proc. IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 9-13 2011, pp. 4736-4743 (pdf).

C80. F.M. Mirzaei and S.I Roumeliotis, “Globally Optimal Pose Estimation from Line Correspondences,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 9-13 2011, pp. 5581-5588 (pdf).

C79. G.L. Mariottini and S.I. Roumeliotis, “Active Vision-based Robot Localization and Navigation in a Visual Memory,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 9-13 2011, pp. 6192-6198 (pdf).

C78. G.P. Huang, K.X. Zhou, N. Trawny, and S.I. Roumeliotis, “Bearing-only Target Tracking using a Bank of MAP Estimators,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China May 9-13 2011, pp. 4998-5005 (pdf).

2010

C77. E.D. Nerurkar and S.I. Roumeliotis, “Asynchronous Multi-Centralized Cooperative Localization,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), Taipei, Taiwan, Oct. 18-22 2010, pp. 4352-4359 (pdf).

C76. J.A. Hesch, G.L. Mariottini and S.I. Roumeliotis, “Descending Stair Traversal with an Autonomous Tracked Vehicle,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), Taipei, Taiwan, Oct. 18-22 2010, pp. 5525-5531 (pdf).

C75. X.S. Zhou and S.I. Roumeliotis, “Determining the Robot-to-Robot 3D Relative Pose using Combinations of Range and Bearing Measurements: 14 Minimal problems and Analytical Solutions to 3 of them,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), Taipei, Taiwan, Oct. 18-22 2010, pp. 2983-2990 (pdf).

C74. J.A. Hesch, A.I. Mourikis, and S.I. Roumeliotis, “Extrinsic Camera Calibration using Multiple Reflections,” In Proc. European Conference on Computer Vision (ECCV'10), Heraklion, Greece, Sep. 5-11 2010, pp. 311-325 (pdf).

C73. G.P. Huang, K.X. Zhou, N. Trawny, and S.I. Roumeliotis, “A Bank of Maximum A Posteriori Estimators for Single-Sensor Range-only Target Tracking,” In Proc. IEEE American Control Conference (ACC'10), Baltimore, MD, June 30 - July 2, 2010, pp. 6974-6980 (pdf).

C72. N. Trawny and S.I. Roumeliotis, “On the Global Optimum of Planar, Range-based Robot-to-Robot Relative Pose Estimation,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, AK, May 3-8 2010, pp. 3200-3206 (pdf).

C71. J.A. Hesch, F.M. Mirzaei, G.L. Mariottini and S.I. Roumeliotis, “A Laser-aided Inertial Navigation System (L-INS) for Human Localization in Unknown Indoor Environments,” In Proc. IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, AK, May 3-8 2010, pp. 5376-5382 (pdf).

C70. S. Farahmand, S.I. Roumeliotis, and G.B. Giannakis, “Particle Filter Adaptation for Distributed Sensors via Set Membership,” In Proc. IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'10), Dallas, TX, Mar. 14-19 2010, pp. 3374-3377 (pdf).

2009

C69. D. Angelosante, S.I. Roumeliotis, and G. B. Giannakis, “Lasso Kalman Filtering for Tracking Sparse Signals,” In Proc. 43st Annual Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, CA, Nov. 1-4 2009 (pdf).

C68. J.A. Hesch, F.M. Mirzaei, G.-L. Mariottini, and S.I. Roumeliotis, “A 3D Pose Estimator for the Visually Impaired,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09), St. Louis, MO, Oct. 11-15 2009, pp. 2716-2723 (pdf).

C67. K.X. Zhou and S.I. Roumeliotis, “Multi-robot Active Target Tracking with Distance and Bearing Observations,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09), St. Louis, MO, Oct. 11-15 2009, pp. 2209-2216 (pdf).

C66. N. Trawny, X.S. Zhou, and S.I. Roumeliotis, “3D Relative Pose Estimation from Six Distances,” In Proc. Robotics: Science and Systems Conference (RSS'09), Seattle, WA, June 28 - July 1, 2009 (pdf).

C65. G.P. Huang, N. Trawny, A.I. Mourikis, and S.I. Roumeliotis, “On the Consistency of Multirobot Cooperative Localization,” In Proc. Robotics: Science and Systems Conference (RSS'09), Seattle, WA, June 28 - July 1, 2009 (pdf). [Best Paper Award Finalist]

C64. E.D. Nerurkar, S.I. Roumeliotis, and A. Martinelli, "Distributed Maximum A Posteriori Estimation for Multi-robot Cooperative Localization,'' In Proc. IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17 2009, pp. 1402-1409 (pdf). [Best Student Paper Award Finalist]

C63. N. Trawny, S.I. Roumeliotis, and G.B. Giannakis, "Cooperative Multi-robot Localization under Communication Constraints,'' In Proc. IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17 2009, pp. 4394-4400 (pdf).

C62. G.P. Huang, A.I. Mourikis, and S.I. Roumeliotis, "On the Complexity and Consistency of UKF-based SLAM,'' In Proc. IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17 2009, pp. 4401-4408 (pdf).

2008

C61. J.A. Hesch, A.I. Mourikis, and S.I. Roumeliotis, "Mirror-based Extrinsic Camera Calibration", In Proc. 8th International Workshop on the Algorithmic Foundations of Robotics (WAFR'08), Guanajuato, Mexico, Dec. 7-9 2008 (pdf).

C60. J.A. Hesch, A.I. Mourikis, and S.I. Roumeliotis, "Determining the Camera to Robot-body Transformation from Planar Mirror Reflections", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08), Nice, France, Sep. 22-26 2008, pp. 3865-3871 (pdf).

C59. 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 (pdf).

C58. 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 (oral presentation) (pdf).

C57. 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, pp. 473-479 (pdf).

C56. 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

C55. 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).

C54. 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).

C53. 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).

C52. 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).

C51. 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).

C50. 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).

C49. 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).

C48. 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).

C47. 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).

C46. 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).

C45. 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).

C44. 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

C43. 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]

C42. 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).

C41. 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).

C40. 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]

C39. 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).

C38. 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).

C37. 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

C36. 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]

C35. 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]

C34. 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)

C33. 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)

C32. 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)

C31. 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

C30. 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)

C29. 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)

C28. 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)

C27. 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

C26. 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)

C25. 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

C24. 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)

C23. 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

C22. 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)

C21. 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)

C20. 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)

C19. 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)

C18. 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

C17. 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

C16. 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)

C15. 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)

C14. 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)

C13. 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)

C12. 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)

C11. 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)

C10. 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)

C9. 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

C8. 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)

C7. 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)

C6. 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)

C5. 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)

C4. 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

C3. 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)

C2. 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

C1. 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)

Dissertations

D2. Stergios I. Roumeliotis, "Robust Mobile Robot Localization: From Single-Robot Uncertainties to Multi-Robot Interdependencies", Ph.D. Thesis, Electrical Engineering Department, University of Southern California, CA, May 2000.

D1. Stergios I. Roumeliotis, "Robotic Assembly Planning based on Fuzzy Logic", Diploma Thesis, National Technical University of Athens, Athens, Greece, July 1995.

Technical Reports

2006

TR12. A.I. Mourikis and S.I. Roumeliotis. "Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements," August, 2006. (pdf)

TR11. A.I. Mourikis and S.I. Roumeliotis. "A Multi-state Kalman Filter for Vision-Aided Inertial Navigation," September, 2006. (pdf)

TR10. X.S. Zhou and S.I. Roumeliotis. "Determining the Robot-to-Robot Relative Pose Using Range-only Measurements," May, 2006. (pdf)

TR9. K. Zhou and S.I. Roumeliotis. "Optimal Motion Strategies for Range-Only Distributed Target Tracking," April, 2006. (pdf)

2005

TR8. N. Trawny and S.I. Roumeliotis. "Bearing-Only SLAM Without Explicit Landmark Position Initialization," August, 2005. (pdf)

TR7. N. Trawny and S.I. Roumeliotis. "Jacobian for conversion from Euler Angles to Quaternions," November, 2005. (pdf)

TR6. N. Trawny and S.I. Roumeliotis. "Sun Sensor Model," January, 2005. (pdf)

TR5. 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)

TR4. X.S. Zhou and S.I. Roumeliotis. "Multi Robot SLAM Map Alignment with Rendezvous," June, 2005. (pdf)

2004

TR3. A.I. Mourikis and S.I. Roumeliotis. "Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)," September, 2004. (pdf)

TR2. A.I. Mourikis and S.I. Roumeliotis. "Analysis of Positioning Uncertainty in Simultaneous Localization and Mapping (SLAM)," September, 2004. (pdf)

2003

TR1. A.I. Mourikis and S.I. Roumeliotis. "Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots," November, 2003. (pdf)