Publications

(updated: Jan 1st, 2012)

Follow the links to obtain supplementary material for the paper, such as datasets and source code.

Some papers have an 8-page conference version, plus a longer technical report version. In that case, the PDF links to the long version.

My Erdos number is at most 5; there’s a path through logicians (Erdos - S.Shelah - D.M.Gabbay - L.Carlucci Aiello - D.Nardi - me), and a path through geometers (Erdos - A.L.Shields - Marsden - Murray - me).

If you are inside the Caltech or JPL networks (i.e., your IP is 131.215.x.x or 128.149.x.x), you can also access the list of “private” drafts, typically papers submitted to double-blind conferences that cannot be made googlable. Please do not distribute outside of Caltech.

Preprints / to appear

Any feedback on preprints is greatly appreciated! The quantum of feedback you can give is something along the lines of "I stopped reading because I got lost at point X".

A.C. and Davide Scaramuzza. Calibration by correlation using metric embedding from non-metric similarities, 2012. [ bibtex | supp. material ]

A.C., Antonio Franchi, Luca Marchionni, and Giuseppe Oriolo. Simultaneous calibration of odometry and sensor parameters for mobile robots, 2012. (journal version of ICRA paper). [ bibtex | supp. material ]

A.C., Magnus Hakansson, and Richard M. Murray. Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades, 2012. [ bibtex | supp. material | pdf ]

A.C. and Richard M. Murray. Learning diffeomorphism models of robotic sensorimotor cascades, 2012. [ bibtex | supp. material | pdf ]

Luca Carlone and A.C.. Linear estimation on SO(2) for graph-based simultaneous localization and mapping. 2012. [ bibtex | pdf ]

Refereed papers

A.C. and Richard M. Murray. Uncertain semantics, representation nuisances, and necessary invariance properties of bootstrapping agents. In Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, Aug 2011. [ bibtex | pdf ]

Davide Scaramuzza, A.C., and Kostas Daniilidis. Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2011. [ bibtex | pdf ]

A.C. and Richard M. Murray. Bootstrapping sensorimotor cascades: a group-theoretic perspective. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2011. [ bibtex | supp. material | pdf ]

(best conference
paper finalist)
A.C. and Richard M. Murray. Bootstrapping bilinear models of robotic sensorimotor cascades. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2011. [ bibtex | supp. material | slides | pdf ]

A.C.. Kalman filtering with intermittent observations: convergence for semi-Markov chains and an intrinsic performance measure. IEEE Transactions on Automatic Control, February 2011. [ bibtex | DOI | pdf ]

Shuo Han, A.C., Andrew D. Straw, and Richard M. Murray. A bio-plausible design for visual pose stabilization. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5679-5686, 2010. [ bibtex | DOI | video | slides | Abstract ]

A.C., Shuo Han, Sawyer B. Fuller, and Richard M. Murray. A bio-plausible design for visual attitude stabilization. In Proceedings of the 48th IEEE Conference on Decision and Control, 2009. [ bibtex | DOI | slides | pdf ]

A.C.. On the performance of Kalman filtering with intermittent observations: a geometric approach with fractals. In Proceedings of the American Control Conference (ACC), 2009. [ bibtex | supp. material | slides | pdf | Abstract ]

A.C.. On achievable accuracy for pose tracking. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009. [ bibtex | supp. material | slides | pdf | Abstract ]

Stefano Carpin and A.C.. An experimental assessment of the HSM3D algorithm for sparse and colored data. In Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), pages 3595-3600, 2009. [ bibtex | DOI ]

A.C. and Stefano Carpin. HSM3D: Feature-Less Global 6DOF Scan-Matching in the Hough/Radon Domain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009. [ bibtex | supp. material | slides | pdf | Abstract ]

A.C. and Richard M. Murray. Real-valued consensus over noisy quantized channels. In Proceedings of the American Control Conference (ACC), 2009. [ bibtex | supp. material | slides | pdf | Abstract ]

Daniele Calisi, A.C., Luca Iocchi, and Daniele Nardi. OpenRDK: A Modular Framework for Robotic Software Development. In Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), Nice, France, September 2008. [ bibtex | supp. material | slides | pdf | Abstract ]

A.C., Daniele Calisi, Alessandro De Luca, and Giuseppe Oriolo. A Bayesian framework for optimal motion planning with uncertainty. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [ bibtex | DOI | supp. material | slides | pdf | Abstract ]

A.C.. An ICP variant using a point-to-line metric. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [ bibtex | DOI | supp. material | slides | pdf | Abstract ]

A.C. and Gian Diego Tipaldi. Lazy Localization using the Frozen-Time Smoother. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [ bibtex | DOI | supp. material | pdf | Abstract ]

A.C., Luca Marchionni, and Giuseppe Oriolo. Simultaneous maximum-likelihood calibration of robot and sensor parameters. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [ bibtex | DOI | supp. material | video | slides | pdf | Abstract ]

A.C.. An accurate closed-form estimate of ICP's covariance. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3167-3172, Rome, Italy, April 2007. [ bibtex | DOI | supp. material | slides | pdf | Abstract ]

A.C.. On achievable accuracy for range-finder localization. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4170-4175, Rome, Italy, April 2007. [ bibtex | DOI | supp. material | slides | pdf | Abstract ]

A.C.. Scan matching in a probabilistic framework. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2291-2296, Orlando, Florida, 2006. [ bibtex | supp. material | slides | pdf ]

A.C., Luca Iocchi, and Giorgio Grisetti. Scan matching in the Hough domain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2739-2744, Barcelona, Spain, 2005. [ bibtex | supp. material | slides | pdf ]

Unrefereed papers

Paloma de la Puente and A.C.. Dense map inference with user-defined priors: from priorlets to scan eigenvariations. Technical Report CaltechCDSTR:2011.002, California Institute of Technology, 2011. [ bibtex | pdf ]

C. Scrapper, R. Madhavan, R. Lakaemper, A.C., A. Godil, A. Wagan, and A. Jacoff. Quantitative Assessment of Robot-Generated Maps. In Raj Madhavan, Edward Tunstel, and Elena Messina, editors, Performance Evaluation and Benchmarking of Intelligent Systems, pages 221-248. Springer US, 2009. 10.1007/978-1-4419-0492-8_10. [ bibtex | pdf | Abstract ]

A.C.. A comparison of algorithms for likelihood approximation in Bayesian localization. Technical report, Sapienza Universitá di Roma, 2006. [ bibtex | supp. material | pdf ]

S. Bahadori, D. Calisi, A.C., A. Farinelli, G. Grisetti, L. Iocchi, and D. Nardi. Intelligent Systems for Search and Rescue. Proc. of IROS Workshop “Urban Search and Rescue: from RoboCup to real world applications” (IROS), Sendai, Japan, 2004. [ bibtex | pdf ]