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Research Output 1997 2019

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Article
2019

High-speed autonomous quadrotor navigation through visual and inertial paths

Do, T., Carrillo-Arce, L. C. & Roumeliotis, S., Apr 1 2019, In : International Journal of Robotics Research. 38, 4, p. 486-504 19 p.

Research output: Contribution to journalArticle

Autonomous Navigation
Navigation
High Speed
Path
Baseline
2018
4 Citations (Scopus)

Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication

Luft, L., Schubert, T., Roumeliotis, S. & Burgard, W., Sep 1 2018, In : International Journal of Robotics Research. 37, 10, p. 1152-1167 16 p.

Research output: Contribution to journalArticle

Multi-robot Systems
Decentralized
Pairwise
Robot
Robots
2 Citations (Scopus)

Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices

Guo, C. X., Sartipi, K., Dutoit, R. C., Georgiou, G. A., Li, R., Oleary, J., Nerurkar, E. D., Hesch, J. A. & Roumeliotis, S., Oct 1 2018, In : IEEE Transactions on Robotics. 34, 5, p. 1349-1369 21 p., 8430569.

Research output: Contribution to journalArticle

Mobile devices
Constrained optimization
Trajectories
Data storage equipment
Processing
2015
8 Citations (Scopus)

A bank of maximum A Posteriori (MAP) estimators for target tracking

Huang, G., Zhou, K., Trawny, N. & Roumeliotis, S. I., Feb 1 2015, In : IEEE Transactions on Robotics. 31, 1, p. 85-103 19 p., 7001276.

Research output: Contribution to journalArticle

Extended Kalman filters
Target tracking
Bearings (structural)
Trajectories
Linearization
2014
102 Citations (Scopus)

Camera-IMU-based localization: Observability analysis and consistency improvement

Hesch, J. A., Kottas, D. G., Bowman, S. L. & Roumeliotis, S. I., Jan 1 2014, In : International Journal of Robotics Research. 33, 1, p. 182-201 20 p.

Research output: Contribution to journalArticle

Inertial Navigation System
Inertial navigation systems
Observability
Camera
Cameras
96 Citations (Scopus)

Consistency analysis and improvement of vision-aided inertial navigation

Hesch, J. A., Kottas, D. G., Bowman, S. L. & Roumeliotis, S. I., Feb 2014, In : IEEE Transactions on Robotics. 30, 1, p. 158-176 19 p., 6605544.

Research output: Contribution to journalArticle

Inertial navigation systems
Navigation
Observability
Kalman filters
Error analysis
2013
19 Citations (Scopus)

A multi-objective exploration strategy for mobile robots under operational constraints

Amanatiadis, A. A., Chatzichristofis, S. A., Charalampous, K., Doitsidis, L., Kosmatopoulos, E. B., Tsalides, P., Gasteratos, A. & Roumeliotis, S., Jan 1 2013, In : IEEE Access. 1, p. 691-702 12 p., 6605521.

Research output: Contribution to journalArticle

Mobile robots
Robots
Cost functions
Supervisory personnel
Kinematics
33 Citations (Scopus)

A quadratic-complexity observability-constrained unscented kalman filter for slam

Huang, G. P., Mourikis, A. I. & Roumeliotis, S., Jul 12 2013, In : IEEE Transactions on Robotics. 29, 5, p. 1226-1243 18 p., 6553094.

Research output: Contribution to journalArticle

Observability
Kalman filters
Computational complexity
Linear regression
Extended Kalman filters
6 Citations (Scopus)

Determining 3-D relative transformations for any combination of range and bearing measurements

Zhou, X. S. & Roumeliotis, S. I., Jan 1 2013, In : IEEE Transactions on Robotics. 29, 2, p. 458-474 17 p., 6377311.

Research output: Contribution to journalArticle

Bearings (structural)
Robots
Calibration
Distance measurement
2012
69 Citations (Scopus)

3D LIDAR-camera intrinsic and extrinsic calibration: Identifiability and analytical least-squares-based initialization

Mirzaei, F. M., Kottas, D. G. & Roumeliotis, S. I., Apr 1 2012, In : International Journal of Robotics Research. 31, 4, p. 452-467 16 p.

Research output: Contribution to journalArticle

Identifiability
Initialization
Cost functions
Least Squares
Calibration
35 Citations (Scopus)

Two efficient solutions for visual odometry using directional correspondence

Naroditsky, O., Zhou, X. S., Gallier, J., Roumeliotis, S. I. & Daniilidis, K., Feb 29 2012, In : IEEE Transactions on Pattern Analysis and Machine Intelligence. 34, 4, p. 818-824 7 p., 6095561.

Research output: Contribution to journalArticle

Efficient Solution
Correspondence
Units of measurement
Mobile devices
Gravitation
2011
114 Citations (Scopus)

Multirobot active target tracking with combinations of relative observations

Zhou, K. & Roumeliotis, S., Aug 1 2011, In : IEEE Transactions on Robotics. 27, 4, p. 678-695 18 p., 5735231.

Research output: Contribution to journalArticle

Target tracking
Sensors
Robots
Bearings (structural)
Computational complexity
47 Citations (Scopus)

Observability-based consistent EKF estimators for multi-robot cooperative localization

Huang, G. P., Trawny, N., Mourikis, A. I. & Roumeliotis, S. I., Jan 1 2011, In : Autonomous Robots. 30, 1, p. 99-122 24 p.

Research output: Contribution to journalArticle

Observability
Extended Kalman filters
Robots
Linearization
20 Citations (Scopus)

Power-SLAM: A linear-complexity, anytime algorithm for SLAM

Nerurkar, E. D. & Roumeliotis, S., May 1 2011, In : International Journal of Robotics Research. 30, 6, p. 772-788 17 p.

Research output: Contribution to journalArticle

Simultaneous Localization and Mapping
Linear Complexity
Extended Kalman filters
Kalman Filter
Covariance matrix
71 Citations (Scopus)

Set-membership constrained particle filter: Distributed adaptation for sensor networks

Farahmand, S., Roumeliotis, S. & Giannakis, G. B., Sep 1 2011, In : IEEE Transactions on Signal Processing. 59, 9, p. 4122-4138 17 p., 5876336.

Research output: Contribution to journalArticle

Sensor networks
Sensors
Communication
Target tracking
Fusion reactions
2010
37 Citations (Scopus)

Design and analysis of a portable indoor localization aid for the visually impaired

Hesch, J. A. & Roumeliotis, S. I., Sep 1 2010, In : International Journal of Robotics Research. 29, 11, p. 1400-1415 16 p.

Research output: Contribution to journalArticle

Visually Impaired
Observability
Gyroscopes
Person
Laser Scanner
33 Citations (Scopus)

Interrobot transformations in 3-D

Trawny, N., Zhou, X. S., Zhou, K. & Roumeliotis, S. I., Apr 1 2010, In : IEEE Transactions on Robotics. 26, 2, p. 226-243 18 p., 5437247.

Research output: Contribution to journalArticle

Robots
Bearings (structural)
Observability
Calibration
Sensors
99 Citations (Scopus)

Kalman Filtering in Wireless Sensor Networks: Reducing communication cost in state-estimation problems

Ribeiro, A., Schizas, I. D., Roumeliotis, S. & Giannakis, G. B., Jan 1 2010, In : IEEE Control Systems. 30, 2, p. 66-86 21 p.

Research output: Contribution to journalArticle

Kalman Filtering
Wireless Sensor Networks
Wireless sensor networks
Radar
Distributed Sensing
88 Citations (Scopus)

Observability-based rules for designing consistent EKF SLAM estimators

Huang, G. P., Mourikis, A. I. & Roumeliotis, S. I., Apr 1 2010, In : International Journal of Robotics Research. 29, 5, p. 502-528 27 p.

Research output: Contribution to journalArticle

Simultaneous Localization and Mapping
Observability
Extended Kalman filters
Kalman Filter
Estimator
2009
223 Citations (Scopus)

Vision-aided inertial navigation for spacecraft entry, descent, and landing

Mourikis, A. I., Trawny, N., Roumeliotis, S. I., Johnson, A. E., Ansar, A. & Matthies, L., Mar 23 2009, In : IEEE Transactions on Robotics. 25, 2, p. 264-280 17 p.

Research output: Contribution to journalArticle

Landing
Spacecraft
Navigation
Sounding rockets
Inertial navigation systems
2008
268 Citations (Scopus)

A Kalman filter-based algorithm for IMU-camera calibration: Observability analysis and performance evaluation

Mirzaei, F. M. & Roumeliotis, S., Oct 7 2008, In : IEEE Transactions on Robotics. 24, 5, p. 1143-1156 14 p.

Research output: Contribution to journalArticle

Units of measurement
Observability
Kalman filters
Cameras
Calibration
8 Citations (Scopus)

Appearance-based mapping using minimalistic sensor models

Rybski, P. E., Roumeliotis, S., Gini, M. & Papanikopoulos, N., Jan 1 2008, In : Autonomous Robots. 24, 3, p. 229-246 18 p.

Research output: Contribution to journalArticle

Robots
Sensors
Bearings (structural)
Position measurement
Image recognition
134 Citations (Scopus)

Consensus in Ad hoc WSNs with noisy links-part II: Distributed estimation and smoothing of random signals

Schizas, I. D., Giannakis, G. B., Roumeliotis, S. & Ribeiro, A., Apr 1 2008, In : IEEE Transactions on Signal Processing. 56, 4, p. 1650-1666 17 p.

Research output: Contribution to journalArticle

Mean square error
Wireless sensor networks
Sensors
State estimation
Parallel algorithms
120 Citations (Scopus)

Decentralized quantized Kalman filtering with scalable communication cost

Msechu, E. J., Roumeliotis, S. I., Ribeiro, A. & Giannakis, G. B., Aug 1 2008, In : IEEE Transactions on Signal Processing. 56, 8 I, p. 3727-3741 15 p.

Research output: Contribution to journalArticle

Communication
Costs
Mean square error
Wireless sensor networks
Innovation
55 Citations (Scopus)

Optimal motion strategies for range-only constrained multisensor target tracking

Zhou, K. & Roumeliotis, S., Sep 24 2008, In : IEEE Transactions on Robotics. 24, 5, p. 1168-1185 18 p.

Research output: Contribution to journalArticle

Target tracking
Sensors
Distance measurement
Linear programming
Computational complexity
89 Citations (Scopus)

Robot-to-robot relative pose estimation from range measurements

Zhou, X. S. & Roumeliotis, S. I., Nov 12 2008, In : IEEE Transactions on Robotics. 24, 6, p. 1379-1393 15 p.

Research output: Contribution to journalArticle

Robots
Distance measurement
Intelligent robots
Observability
Derivatives
2007
75 Citations (Scopus)

Autonomous stair climbing for tracked vehicles

Mourikis, A. I., Trawny, N., Roumeliotis, S., Helmick, D. M. & Matthies, L., Jul 1 2007, In : International Journal of Robotics Research. 26, 7, p. 737-758 22 p.

Research output: Contribution to journalArticle

Tracked vehicles
Stairs
Robot
Velocity Measurement
Robust Performance
47 Citations (Scopus)

SC-KF mobile robot localization: A stochastic cloning Kalman filter for processing relative-state measurements

Mourikis, A. I., Roumeliotis, S. & Burdick, J. W., Aug 1 2007, In : IEEE Transactions on Robotics. 23, 4, p. 717-730 14 p.

Research output: Contribution to journalArticle

Cloning
Kalman filters
Mobile robots
Processing
Extended Kalman filters
111 Citations (Scopus)

Vision-aided inertial navigation for pin-point landing using observations of mapped landmarks

Trawny, N., Mourikis, A. I., Roumeliotis, S. I., Johnson, A. E. & Montgomery, J. F., May 1 2007, In : Journal of Field Robotics. 24, 5, p. 357-378 22 p.

Research output: Contribution to journalArticle

Landing
Navigation
Units of measurement
Extended Kalman filters
Planets
2006
70 Citations (Scopus)

Optimal sensor scheduling for resource-constrained localization of mobile robot formations

Mourikis, A. I. & Roumeliotis, S. I., Oct 1 2006, In : IEEE Transactions on Robotics. 22, 5, p. 917-931 15 p.

Research output: Contribution to journalArticle

Mobile robots
Scheduling
Robots
Sensors
Covariance matrix
147 Citations (Scopus)

Performance analysis of multirobot cooperative localization

Mourikis, A. I. & Roumeliotis, S., Aug 1 2006, In : IEEE Transactions on Robotics. 22, 4, p. 666-681 16 p.

Research output: Contribution to journalArticle

Position measurement
Robots
Directed graphs
Sensors
Mobile robots
26 Citations (Scopus)

Predicting the performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)

Mourikis, A. I. & Roumeliotis, S. I., Dec 1 2006, In : International Journal of Robotics Research. 25, 12, p. 1273-1286 14 p.

Research output: Contribution to journalArticle

Simultaneous Localization and Mapping
Robot
Robots
Uncertainty
Positioning
57 Citations (Scopus)

Slip-compensated path following for planetary exploration rovers

Helmick, D. M., Roumeliotis, S. I., Cheng, Y., Clouse, D. S., Bajracharya, M. & Matthies, L. H., Jan 1 2006, In : Advanced Robotics. 20, 11, p. 1257-1280 24 p.

Research output: Contribution to journalArticle

Kinematics
Kalman filters
Wheels
Units of measurement
275 Citations (Scopus)

SOI-KF: Distributed Kalman filtering with low-cost communications using the sign of innovations

Ribeiro, A., Giannakis, G. B. & Roumeliotis, S., Dec 1 2006, In : IEEE Transactions on Signal Processing. 54, 12, p. 4782-4795 14 p.

Research output: Contribution to journalArticle

Innovation
Communication
Costs
State estimation
Random processes
36 Citations (Scopus)

The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development

Montgomery, J. F., Johnson, A. E., Roumeliotis, S. I. & Matthies, L. H., Mar 1 2006, In : Journal of Field Robotics. 23, 3-4, p. 245-267 23 p.

Research output: Contribution to journalArticle

Testbeds
Helicopters
Propulsion
Landing
Parachutes
2004
17 Citations (Scopus)
Mobile robots
Robots
Position measurement
Topology
Uncertainty
75 Citations (Scopus)

Propagation of uncertainty in cooperative multirobot localization: Analysis and experimental results

Roumeliotis, S. & Rekleitis, I. M., Jul 1 2004, In : Autonomous Robots. 17, 1, p. 41-54 14 p.

Research output: Contribution to journalArticle

Robots
Kalman filters
Mobile robots
Uncertainty
Sensors
2002
39 Citations (Scopus)

Algorithms and sensors for small robot path following

Hogg, R. W., Rankin, A. L., Roumeliotis, S. I., McHenry, M. C., Helmick, D. M., Bergh, C. F. & Matthies, L., Jan 1 2002, In : Proceedings-IEEE International Conference on Robotics and Automation. 4, p. 3850-3857 8 p.

Research output: Contribution to journalArticle

Robots
Sensors
Signal interference
Accelerometers
Mobile robots
505 Citations (Scopus)

Distributed multirobot localization

Roumeliotis, S. & Bekey, G. A., Oct 1 2002, In : IEEE Transactions on Robotics and Automation. 18, 5, p. 781-795 15 p.

Research output: Contribution to journalArticle

Robots
Kalman filters
Sensors
Parallel algorithms
Mobile robots
96 Citations (Scopus)
Cloning
Displacement measurement
Processing
Kalman filters
Mobile robots
2001
10 Citations (Scopus)

Sensors and algorithms for small robot leader/follower behavior

Hogg, R. W., Rankin, A. L., McHenry, M. C., Helmick, D. M., Bergh, C. F., Roumeliotis, S. I. & Matthies, L., Jan 1 2001, In : Proceedings of SPIE-The International Society for Optical Engineering. 4364, p. 72-85 14 p.

Research output: Contribution to journalArticle

robots
Robot
Robots
Sensor
sensors
2000
130 Citations (Scopus)
Kalman filters
Mobile robots
Robots
Sensors
Testing
1999
58 Citations (Scopus)

Smoother based 3D attitude estimation for mobile robot localization

Roumeliotis, S. I., Sukhatme, G. S. & Bekey, G. A., Jan 1 1999, In : Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 1979-1986 8 p.

Research output: Contribution to journalArticle

Mobile robots
Kalman filters
Innovation
1998
65 Citations (Scopus)

Fault detection and identification in a mobile robot using multiple-model estimation

Roumeliotis, S. I., Sukhatme, G. S. & Bekey, G. A., Jan 1 1998, In : Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 2223-2228 6 p.

Research output: Contribution to journalArticle

Fault detection
Mobile robots
Identification (control systems)
Sensors
Kalman filters