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Benjamin Ramtoula

Polytechnique Montreal

Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape


Aug 18, 2021
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame

* 38 pages, 4 figures 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

* For team website, see https://costar.jpl.nasa.gov/ 

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MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception


Dec 16, 2020
Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame, Mac Schwager

* 12 pages, 6 figures, to be published in 2020 International Symposium on Experimental Robotics (ISER) 

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CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks


Oct 19, 2019
Benjamin Ramtoula, Ricardo de Azambuja, Giovanni Beltrame

* 8 pages, 6 figures, 1 table 

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DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams


Sep 26, 2019
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame

* 8 pages, 11 figures, 2 tables 

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Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance


Sep 23, 2019
Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini, Giovanni Beltrame

* 7 pages, 7 figures 

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