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Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows


Oct 02, 2021
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

* Extension of work published at arXiv:2105.05045 

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NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows


May 11, 2021
Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard

* 8 pages, 6 figures, to be published in IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations


Mar 27, 2021
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh Girdhar

* 7 pages, 6 figures, 1 table; accepted for presentation in IEEE Int. Conf. on Robotics and Automation, ICRA '21, Xi'an, China, June 2021 

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Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams


Jan 26, 2021
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How

* Submitted to ICRA'21 

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Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization


Dec 21, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* technical report version 3 (add missing step in algorithm 1) 

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A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees


Jul 10, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* submitted to IJRR (extension of WAFR 2018 paper invited to IJRR) 

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Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints


Mar 09, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* Technical report 

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CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association


Feb 06, 2019
Kaveh Fathian, Kasra Khosoussi, Parker Lusk, Yulun Tian, Jonathan P. How


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Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees


Jan 17, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2018 (Extended Version) 

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Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection


Jun 01, 2018
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly

* RSS 2018 Extended Version 

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Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection


Mar 10, 2018
Matthew Giamou, Kasra Khosoussi, Jonathan P. How

* ICRA 2018; final version 

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Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach


Nov 03, 2016
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

* WAFR 2016 

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