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Conference publications:


  • Preventing and Correcting Mistakes in Lifelong Mapping
    European Conference on Mobile Robots (ECMR),
    September, 2021
    Paper (IEEE Link)
  • View management for lifelong visual maps
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
    November, 2019
    Paper (IEEE Link)
  • Lifelong Mapping using Adaptive Local Maps
    European Conference on Mobile Robots (ECMR),
    September, 2019
    Paper (IEEE Link)
  • Fast Nonlinear Approximation of Pose Graph Node Marginalization
    IEEE-RAS International Conference on Robotics and Automation (ICRA),
    May, 2018
    Paper (IEEE Link)
  • Heuristically initialized motion planning in a low cost consumer robot
    17th IEEE-RAS International Conference on Humanoid Robots,
    November, 2017
    Paper (IEEE Link)
  • Human Supervised Control of the ATLAS Humanoid Robot for Traversing Doors
    15th IEEE-RAS International Conference on Humanoid Robots,
    November, 2015
    Paper (IEEE Link)
  • NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA Robotics Challenge
    15th IEEE-RAS International Conference on Humanoid Robots,
    November, 2015
    Paper (IEEE Link)
  • A Simple Autonomous Chess Playing Robot for playing Chess against any opponent in Real Time
    International Conference on Computational Vision and Robotics,
    August, 2012
    Paper

Journal publications:


  • Lifelong Mapping in the Wild: Novel Strategies for Ensuring Map Stability and Accuracy over Time Evaluated on Thousands of Robots
    Robotics and Autonomous Systems Journal (Elsevier)
    March, 2023
    Article (Elsevier RAS Link)
  • Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge
    Journal of Field Robotics, DRC Special Issue (Wiley)
    January, 2017
    Article (Wiley JFR Link)

Book chapters:


  • What Happened at the DARPA Robotics Challenge Finals
    Book Title: The Darpa Robotics Challenge Finals: Humanoid Robots To The Rescue
    Springer International Publishing AG
    April, 2018
    Chapter (Springer Link)
  • Achieving Reliable Humanoid Robot Operations in the DARPA Robotics Challenge: Team WPI-CMU's Approach
    Book Title: The Darpa Robotics Challenge Finals: Humanoid Robots To The Rescue
    Springer International Publishing AG
    April, 2018
    Chapter (Springer Link)

Poster presentations:


  • [2019] Lifelong Mapping using Adaptive Local Maps 
    Presented at ECMR 2019
    Poster
  • [2015] Vision Based Door Detection for the DARPA Robotics Challenge Finals Door Task
    Presented at the Worcester Polytechnic Institute (WPI)
    Poster
  • [2014] Visibility Planning using the Baxter robot
    Presented at the Worcester Polytechnic Institute (WPI)
    Poster

Thesis:


  • Human Supervised Semi-Autonomous Approach for the DARPA Robotics Challenge Door Task
    Advisors: Taşkın Padır, Michael Gennert, Gregory Fischer
    Degree: MS in Robotics Engineering
    May, 2015
    Thesis (WPI Link)