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2025 Journal Article Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean ChallengeKottege, Navinda, Williams, Jason, Tidd, Brendan, Talbot, Fletcher, Steindl, Ryan, Cox, Mark, Frousheger, Dennis, Hines, Thomas, Pitt, Alex, Tam, Benjamin, Wood, Brett, Hanson, Lauren, Lo Surdo, Katrina, Molnar, Tea, Wildie, Matt, Stepanas, Kazys, Catt, Gavin, Tychsen-Smith, Lachlan, Penfold, Dean, Overs, Les, Ramezani, Milad, Khosoussi, Kasra, Kendoul, Farid, Wagner, Glenn, Palmer, Duncan, Manderson, Jack, Medek, Corey, O'Brien, Matthew, Chen, Shengkang and Arkin, Ronald C. (2025). Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge. IEEE Transactions on Field Robotics, 2, 100-130. doi: 10.1109/tfr.2024.3522063 |
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2024 Journal Article Under-canopy navigation using aerial lidar mapsde Lima, Lucas Carvalho, Lawrance, Nicholas, Khosoussi, Kasra, Borges, Paulo and Brünig, Michael (2024). Under-canopy navigation using aerial lidar maps. IEEE Robotics and Automation Letters, 9 (8), 7031-7038. doi: 10.1109/lra.2024.3417115 |
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2024 Journal Article Present and Future of SLAM in Extreme Environments: The DARPA SubT ChallengeEbadi, Kamak, Bernreiter, Lukas, Biggie, Harel, Catt, Gavin, Chang, Yun, Chatterjee, Arghya, Denniston, Christopher E., Deschênes, Simon-Pierre, Harlow, Kyle, Khattak, Shehryar, Nogueira, Lucas, Palieri, Matteo, Petráček, Pavel, Petrlík, Matěj, Reinke, Andrzej, Krátký, Vít, Zhao, Shibo, Agha-mohammadi, Ali-akbar, Alexis, Kostas, Heckman, Christoffer, Khosoussi, Kasra, Kottege, Navinda, Morrell, Benjamin, Hutter, Marco, Pauling, Fred, Pomerleau, François, Saska, Martin, Scherer, Sebastian, Siegwart, Roland ... Carlone, Luca (2024). Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics, 40, 936-959. doi: 10.1109/tro.2023.3323938 |
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2023 Conference Publication Data-association-free landmark-based SLAMZhang, Yihao, Severinsen, Odin A., Leonard, John J., Carlone, Luca and Khosoussi, Kasra (2023). Data-association-free landmark-based SLAM. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 29 May-2 June 2023. Piscataway, NJ USA: Institute of Electrical and Electronics Engineers. doi: 10.1109/ICRA48891.2023.10160719 |
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2023 Journal Article Energy-aware, collision-free information gathering for heterogeneous robot teamsCai, Xiaoyi, Schlotfeldt, Brent, Khosoussi, Kasra, Atanasov, Nikolay, Pappas, George J. and How, Jonathan P. (2023). Energy-aware, collision-free information gathering for heterogeneous robot teams. IEEE Transactions on Robotics, 39 (4), 2585-2602. doi: 10.1109/tro.2023.3257512 |
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2022 Journal Article Incremental non-Gaussian inference for SLAM using normalizing flowsHuang, Qiangqiang, Pu, Can, Khosoussi, Kasra, Rosen, David M., Fourie, Dehann, How, Jonathan P. and Leonard, John J. (2022). Incremental non-Gaussian inference for SLAM using normalizing flows. IEEE Transactions on Robotics, 39 (2), 1458-1475. doi: 10.1109/tro.2022.3216498 |
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2021 Journal Article Distributed certifiably correct pose-graph optimizationTian, Yulun, Khosoussi, Kasra, Rosen, David M. and How, Jonathan P. (2021). Distributed certifiably correct pose-graph optimization. IEEE Transactions on Robotics, 37 (6), 2137-2156. doi: 10.1109/tro.2021.3072346 |
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2021 Conference Publication Non-monotone energy-aware information gathering for heterogeneous robot teamsCai, Xiaoyi, Schlotfeldt, Brent, Khosoussi, Kasra, Atanasov, Nikolay, Pappas, George J. and How, Jonathan P. (2021). Non-monotone energy-aware information gathering for heterogeneous robot teams. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561354 |
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2021 Conference Publication Multi-robot distributed semantic mapping in unfamiliar environments through online matching of learned representationsJamieson, Stewart, Fathian, Kaveh, Khosoussi, Kasra, How, Jonathan P. and Girdhar, Yogesh (2021). Multi-robot distributed semantic mapping in unfamiliar environments through online matching of learned representations. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561934 |
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2021 Conference Publication NF-iSAM: Incremental smoothing and mapping via normalizing flowsHuang, Qiangqiang, Pu, Can, Fourie, Dehann, Khosoussi, Kasra, How, Jonathan P. and Leonard, John J. (2021). NF-iSAM: Incremental smoothing and mapping via normalizing flows. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561436 |
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2020 Journal Article CLEAR: A consistent lifting, embedding, and alignment rectification algorithm for multiview data associationFathian, Kaveh, Khosoussi, Kasra, Tian, Yulun, Lusk, Parker and How, Jonathan P. (2020). CLEAR: A consistent lifting, embedding, and alignment rectification algorithm for multiview data association. IEEE Transactions on Robotics, 36 (6), 1686-1703. doi: 10.1109/tro.2020.3002432 |
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2020 Journal Article A resource-aware approach to collaborative loop-closure detection with provable performance guaranteesTian, Yulun, Khosoussi, Kasra and How, Jonathan P. (2020). A resource-aware approach to collaborative loop-closure detection with provable performance guarantees. The International Journal of Robotics Research, 40 (10-11), 1212-1233. doi: 10.1177/0278364920948594 |
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2019 Journal Article Reliable graphs for SLAMKhosoussi, Kasra, Giamou, Matthew, Sukhatme, Gaurav S., Huang, Shoudong, Dissanayake, Gamini and How, Jonathan P. (2019). Reliable graphs for SLAM. The International Journal of Robotics Research, 38 (2-3), 260-298. doi: 10.1177/0278364918823086 |
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2018 Conference Publication Talk resource-efficiently to me: optimal communication planning for distributed loop closure detectionGiamou, Matthew, Khosoussi, Kasra and How, Jonathan P. (2018). Talk resource-efficiently to me: optimal communication planning for distributed loop closure detection. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD Australia, 21-25 May 2018. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra.2018.8460783 |
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2018 Conference Publication Near-Optimal Budgeted Data Exchange for Distributed Loop Closure DetectionTian, Yulun, Khosoussi, Kasra, Giamou, Matthew, How, Jonathan P. and Kelly, Jonathan (2018). Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection. MIT Press Journals. doi: 10.15607/RSS.2018.XIV.071 |
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2016 Journal Article A sparse separable SLAM back-endKhosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2016). A sparse separable SLAM back-end. IEEE Transactions on Robotics, 32 (6) 7592861, 1536-1549. doi: 10.1109/TRO.2016.2609394 |
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2016 Conference Publication Tree-connectivity: Evaluating the graphical structure of SLAMKhosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2016). Tree-connectivity: Evaluating the graphical structure of SLAM. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/ICRA.2016.7487264 |
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2015 Conference Publication Exploiting the separable structure of SLAMKhosoussi, Kasra, Huang, Shoudong and Dissanyake, Gamini (2015). Exploiting the separable structure of SLAM. MIT Press Journals. doi: 10.15607/RSS.2015.XI.023 |
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2015 Journal Article Dimensionality reduction for point feature SLAM problems with spherical covariance matricesWang, Heng, Huang, Shoudong, Khosoussi, Kasra, Frese, Udo, Dissanayake, Gamini and Liu, Bingbing (2015). Dimensionality reduction for point feature SLAM problems with spherical covariance matrices. Automatica, 51, 149-157. doi: 10.1016/j.automatica.2014.10.114 |
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2014 Conference Publication Novel insights into the impact of graph structure on SLAMKhosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2014). Novel insights into the impact of graph structure on SLAM. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/IROS.2014.6942932 |
