credits: M.S. Escher, Drawing hands.

: link to paper (pdf), : link to slides, : link to website, : link to video : link to code

- 1.
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 , conference version was best paper finalist at RSS 2015)
- 2.
- L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016.
- 3.
- D.M. Rosen, L. Carlone, A.S. Bandeira, and J.J. Leonard, SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. (best paper award) (extended arxiv preprint: 1611.00128 )
- 4.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 )
- 5.
- F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016. (supplemental material:

- 1.
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 )
- 2.
- C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I.D. Reid, J.J. Leonard. Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age, IEEE Trans. on Robotics, 32(6):1309-1332, 2016. (arxiv preprint: 1606.05830 )
- 3.
- L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016.
- 4.
- V. Indelman, L. Carlone, F. Dellaert, Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments, International Journal of Robotics Research, 34(7):849–882, 2015.
- 5.
- L. Carlone and A. Censi, From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization, IEEE Trans. on Robotics, 30(2):475–492, 2014.
- 6.
- L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, Distributed Random Convex Programming via Constraints Consensus, SIAM Journal on Control and Optimization, 52(1):629–662, 2014. (arxiv preprint: 1207.6226 )
- 7.
- L. Carlone, R. Aragues, J. Castellanos, B. Bona, A Fast and Accurate Approximation for Planar Pose Graph Optimization, International Journal of Robotics Research, (33)7:965–987, 2014.
- 8.
- L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Quaternion-based EKF-SLAM from Relative Pose Measurements: Observability Analysis and Applications, Robotica, 33(6):1250–1280, 2015.
- 9.
- R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Distributed Centroid Estimation from Noisy Relative Measurements, Systems & Control Letters, 61(7):773–779, ISSN: 0167-6911, 2012.
- 10.
- G. Calafiore, L. Carlone, M. Wei, A Distributed Technique for Localization of Agent Formations from Relative Range Measurements, IEEE Transactions on Systems Man and Cybernetics, Part A - Systems and Humans, (42)5:1065–1076, ISSN: 1083-4427, 2012.
- 11.
- B. Bona, L. Carlone, M. Indri, S. Rosa, Supervision and Monitoring of Logistic Spaces by a Cooperative Robotic Team: Methodologies, Problems, and Solutions, Intelligent Service Robotics, springer, 7(4):185–202, 2014.
- 12.
- L. Carlone, J. Du, M. Kaouk Ng, M. Indri, B. Bona, Active SLAM and Exploration with Particle Filters using Kullback-Leibler Divergence, Journal of Intelligent & Robotic Systems, 75(2):291–311, 2014.
- 13.
- L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Simultaneous Localization and Mapping using Rao-Blackwellized Particle Filters in Multi Robot Systems, Journal of Intelligent and Robotic Systems, 63(2):283–307, 2011.

- 1.
- G. Calafiore, L. Carlone, M. Wei, Sensor Fusion for Position Estimation in Networked Systems, in Sensor Fusion, Sciyo, ISBN: 978-953-307-101-5, 2010.

- 1.
- L. Carlone, Nonlinear estimation techniques for autonomous navigation in single and multi robot systems, Politecnico di Torino, 2012.

- 1.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, in preparation, 2017. (arxiv preprint: 1610.03344 )
- 2.
- F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Depth Sensing for Resource-Constrained Robot Perception, in preparation, 2017.
- 3.
- S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, in preparation, 2017.
- 4.
- H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Plug-and-Play Navigation Using Factor Graphs, in preparation, 2017.
- 5.
- L. Carlone, A. Axelrod, S. Karaman, G. Chowdhary, Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations, submitted, 2016. (preprint: )

- 1.
- L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 )
- 2.
- P. Singh, M. Chen, L. Carlone, S. Karaman, E. Frazzoli, D. Hsu, Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal Kalman Filtering, American Control Conference (ACC), accepted, 2017. (preprint: )
- 3.
- L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y.F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S.-Y. Liu, M. Novitzky, I.F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H.-C. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. Del Vecchio, D. Rus, J. How, J. Leonard, A. Censi, Duckietown: an Open, Inexpensive and Flexible and Capable Platform for Autonomy Education and Research, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (preprint: )
- 4.
- D.M. Rosen, L. Carlone, A.S. Bandeira, and J.J. Leonard, SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. (best paper award) (arxiv preprint: 1611.00128 )
- 5.
- F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016. (supplemental material:
- 6.
- S. Choudhary, L. Carlone, C. Nieto, J. Rogers, Z. Liu, H.I. Christensen, and F. Dellaert, Multi Robot Object-based SLAM, Int. Symposium on Experimental Robotics (ISER), 2016.
- 7.
- A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman, Data-driven Prediction of EVAR with Confidence in Time-varying Datasets, Int. Conf. on Decision and Control (CDC), 2016.
- 8.
- S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach, Int. Conf. on Robotics and Automation (ICRA), 2016.
- 9.
- L. Carlone, D.M. Rosen, G.C. Calafiore, J.J. Leonard, F. Dellaert, Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions, Int. Conf. on Intelligent RObots and Systems (IROS), 2015. (supplemental material: )
- 10.
- S. Choudhary, L. Carlone, H.I. Christensen, F. Dellaert, Exactly Sparse Memory Efficient SLAM using the Multi-Block Alternating Direction Method of Multipliers, Int. Conf. on Intelligent RObots and Systems (IROS), 2015. (direct link: )
- 11.
- S. Rosa, L.O. Russo, G.A. Farulla, L. Carlone, R. Antonini, G. Marco, B. Bona, An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring, Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13, Volume 302 of the series Advances in Intelligent Systems and Computing, pp. 95–107, 2015.
- 12.
- N. Srinivasan, L. Carlone, F. Dellaert, Structural Symmetries from Motion for Scene Reconstruction and Understanding, British Machine Vision Conference (BMVC), 2015. (supplemental material: )
- 13.
- L. Carlone, G. Calafiore, F. Dellaert, Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions, Robotics: Science and Systems (RSS), Workshop “Reviewing the review process”, 2015.
- 14.
- R. Tron, D. Rosen, L. Carlone, On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM, Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting future goals and indicators of progress for SLAM”, 2015.
- 15.
- C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, Robotics: Science and Systems (RSS), 2015. (finalist for best paper award) (supplemental material: )
- 16.
- L. Carlone, J. Dong, S. Fenu, G. C. Rains, F. Dellaert, Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Radius over Time via Expectation-Maximization, Int. Conf. on Robotics and Automation (ICRA), Workshop on Robotics in Agriculture, 2015.
- 17.
- L. Carlone and F. Dellaert, Duality-based Verification Techniques for 2D SLAM, Int. Conf. on Robotics and Automation (ICRA), 2015.
- 18.
- L. Carlone, R. Tron, K. Daniilidis, F. Dellaert, Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization, Int. Conf. on Robotics and Automation (ICRA), 2015.
- 19.
- R. Tron, L. Carlone, F. Dellaert, K. Daniilidis, Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis, American Control Conference (ACC), 2015.
- 20.
- L. Carlone, P. Alcantarilla, H. Chiu, K. Zsolt, F. Dellaert, Mining structure fragments for smart bundle adjustment, British Machine Vision Conference (BMVC), accepted as oral presentation (acceptance rate 7.7%), 2014. (supplemental material: )
- 21.
- L. Carlone, A. Censi, F. Dellaert, Selecting good measurements via ℓ
_{1}relaxation: a convex approach for robust estimation over graphs, Int. Conf. on Intelligent RObots and Systems (IROS), 2014. - 22.
- J. Dong, L. Carlone, G.C. Rains, T. Coolong, F. Dellaert, 4D Mapping of fields using autonomous ground and aerial vehicles, CSBE/ASABE Joint Meeting Presentation, 2014.
- 23.
- L. Carlone and D. Lyons, Uncertainty-constrained robot exploration: a mixed-integer linear programming approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
- 24.
- V. Indelman, L. Carlone, F. Dellaert, Planning under uncertainty in the continuous domain: a generalized belief space approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
- 25.
- L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
- 26.
- H. Chiu, X. Zhou, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
- 27.
- V. Indelman, L. Carlone, F. Dellaert, Towards planning in generalized belief space, in Proc. of the Int. Symposium on Robotics Research (ISRR), 2013.
- 28.
- L. Carlone, Convergence analysis of pose graph optimization via Gauss-Newton methods, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 965-972, ISBN: 978146735641-1, 2013.
- 29.
- L. Carlone, J. Yin, S. Rosa, Z. Yuan, Graph optimization with unstructured covariance: fast, accurate, linear approximation, in Proc. of the Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2012.
- 30.
- L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Robot localization and 3D mapping: observability analysis and applications, in Proc. of the Int. Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2012.
- 31.
- L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, A distributed algorithm for random convex programming, in Proc. of the Int. Conf. on NETwork Games, COntrol and OPtimization (NETGCOOP), pp. 1-7, ISBN: 9781467303835, 2011.
- 32.
- L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A linear approximation for graph-based simultaneous localization and mapping, in Proc. of the Int. Conf. Robotics: Science and Systems (RSS), available online http://www.roboticsproceedings.org/rss07/p06.html, pp. 41-48, 2011.
- 33.
- L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A first-order solution to simultaneous localization and mapping with graphical models, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1764-1771, ISBN: 9781612843865, 2011.
- 34.
- R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Multi agent localization from noisy relative pose measurements, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 364-369, ISBN: 9781612843865, 2011.
- 35.
- J. Du, L. Carlone, M. Kaouk Ng, M., B. Bona, M. Indri, A comparative study on active SLAM and autonomous exploration with Particle Filters, in Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 916-923, ISBN: 9781457708381, 2011.
- 36.
- L. Carlone and B. Bona, On registration of uncertain three-dimensional vectors with application to robotics, in Proc. of the 18th IFAC World Congress, pp. 8150-8158, ISBN: 9783902661937, 2011.
- 37.
- G. Calafiore, L. Carlone, M. Wei, Distributed optimization techniques for range localization in networked systems, in Proc. of the IEEE Conference on Decision and Control (CDC), pp. 2221-2226. ISBN: 9781424477456, 2010.
- 38.
- F. Abrate, B. Bona, M. Indri, L. Carlone, Cooperative robotic teams for supervision and management of large logistic spaces: methodology and applications, in Proc. of the 15th IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA), pp. 1-8, ISBN: 9781424468485, 2010.
- 39.
- L. Carlone, R. Micalizio, G. Nuzzolo, E. Scala, D. Tedone, STEPS (Sistemi e Tecnologie per l’EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st Demonstration, in Proc. of the 40th Int. Conf. on Environmental Systems (ICES), 2010.
- 40.
- L. Carlone, J. Du, M. Kaouk Ng, B. Bona, M. Indri, An application of Kullback-Leibler Divergence to active SLAM and exploration with Particle Filters, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), pp. 287-293, ISBN: 9781424466740, 2010.
- 41.
- G. Calafiore, L. Carlone, M. Wei, A distributed Gauss-Newton approach for range-based localization of multi agent formations, in Proc. of the 2010 IEEE Multi-Conference on Systems and Control (MSC), pp. 1152-1157, ISBN: 9781424453542, 2010.
- 42.
- G. Calafiore, L. Carlone, M. Wei, A distributed gradient method for localization of formations using relative range measurements, in Proc. of the 2010 IEEE Multi- Conference on Systems and Control (MSC), pp. 1146-1151, ISBN: 9781424453542, 2010.
- 43.
- G. Calafiore, L. Carlone, M. Wei, Position estimation from relative distance measurements in multi-agents formations, in Proc. of the 18th Mediterranean Conf. on Control and Automation (MED), pp. 148-153, ISBN: 9781424480913, 2010.
- 44.
- G. Calafiore, L. Carlone, M. Wei, Network localization from range measurements: algorithms and numerical experiments, in Proc. of the Int. Conf. on Cybernetics & Intelligent Systems, Int. Conf. on Robotics, Automation & Mechatronics, pp. 225-230, ISBN: 9781424464999, 2010.
- 45.
- V. Macchia, S. Rosa, L. Carlone, B. Bona, An application of omnidirectional vision to grid-based SLAM in indoor environments, in Proc. of the 2010 Int. Conf. on Robotics and Automation (ICRA), Workshop on Omnidirectional Robot Vision, ISBN: 9788895872025, 2010.
- 46.
- L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M.Indri, Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 243-249, ISBN: 9781424450381, 2010.
- 47.
- L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Reverse KLD-Sampling for measuring uncertainty in Rao-Blackwellized Particle Filters SLAM, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), Workshop on Performance Evaluation and Benchmarking for Next Intelligent Robots and Systems, 2009.
- 48.
- L. Carlone and B. Bona, A comparative study on robust localization: fault tolerance and robustness test on probabilistic filters for range-based positioning, in Proc. of the 14th Int. Conf. on Advanced Robotics (ICAR), pp. 1-8, ISBN: 9781424448555, 2009.
- 49.
- L. Carlone and B. Bona, Preliminary results on robust global localization: fault tolerance and robustness test on Probabilistic Shaping, in Proc. of 9th Conf. on Autonomous Robot Systems and Competitions, pp. 27-33, ISBN: 9788208972, 2009.
- 50.
- L. Carlone and B. Bona, Probabilistic Shaping with Radial Gaussian: a probabilistic approach to 2D and 3D robotic multilateration, in Proc. of the Israeli Conf. of Robotics, 2008.

- 1.
- M. Bianchi, L. Carlone, D. Girlando, A. Mangone, I. Belmonte, B. Bona, A. Bonarini, M. Matteucci, Apparato di illuminazione robotizzato e metodo di comando, IT MI20091066, Priority: 16/6/2009, Publication: 17/12/2010.
- 2.
- D. Girlando, A. Mangone, L. Carlone, M. Bianchi, A. Bonarini, B. Bona, M. Matteucci, I. Belmonte, Robotized lighting apparatus and control method, WO2010146446, Priority: 16/6/2009, Publication: 23/12/2010.

Last updated: February 3, 2017