Education

Work Experience

Teaching

Awards & Honors

Skills

Publications

  1. Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C. E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petrác̆ek P., Petrlík, P., Reinke, A., Krátký, V., Zhao, S., Agha-mohammadi, A., Alexis, K., … Carlone, L. (2024). Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Trans. Robotics.
  2. Chang, Y., Ballotta, L., & Carlone, L. (2023). D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints. IEEE Robotics and Automation Letters (RA-L).
  3. Hughes, N., Chang, Y., Hu, S., Talak, R., Abdulhai, R., Strader, J., & Carlone, L. (2023). Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. ArXiv Preprint: 2305.07154.
  4. Tian, Y., Chang, Y., Quang, L., Schang, A., Nieto-Granda, C., How, J. P., & Carlone, L. (2023). Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).
  5. Chang, Y., Hughes, N., Ray, A., & Carlone, L. (2023). Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).
  6. Chang, Y., Ebadi, K., Denniston, C., Ginting, M. F., Rosinol, A., Reinke, A., Palieri, M., Shi, J., A, C., Morrell, B., Agha-mohammadi, A., & Carlone, L. (2022). LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. IEEE Robotics and Automation Letters (RA-L), 7(4).
  7. Denniston, C., Chang, Y., Reinke, A., Ebadi, K., Sukhatme, G., Carlone, L., Morrell, B., & Agha-mohammadi, A. (2022). Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. IEEE Robotics and Automation Letters (RA-L).
  8. Reinke, A., Palieri, M., Morrell, B., Chang, Y., Ebadi, K., Carlone, L., & Agha-mohammadi, A. (2022). LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground 3D Mapping. IEEE Robotics and Automation Letters (RA-L), 7(4), 9043–9050.
  9. A. Agha et al. (2022). NeBula: TEAM CoSTAR’s Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics, 2, 1432–1506.
  10. Tian, Y., Chang, Y., Arias, F. H., Nieto-Granda, C., How, J. P., & Carlone, L. (2022). Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. IEEE Trans. Robotics.
  11. Hughes, N., Chang, Y., & Carlone, L. (2022). Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. Robotics: Science and Systems (RSS).
  12. Rosinol, A., Violette, A., Abate, M., Hughes, N., Chang, Y., Shi, J., Gupta, A., & Carlone, L. (2021). Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs. Intl. J. of Robotics Research, 40(12–14), 1510–1546.
  13. Chang, Y., Tian, Y., How, J. P., & Carlone, L. (2021). Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA).
  14. Lajoie, P., Ramtoula, B., Chang, Y., Carlone, L., & Beltrame, G. (2020). DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. IEEE Robotics and Automation Letters (RA-L), 5(2), 1656–1663.
  15. Rosinol, A., Abate, M., Chang, Y., & Carlone, L. (2020). Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA).
  16. Ebadi, K., Chang, Y., Palieri, M., Stephens, A., Hatteland, A., Heiden, E., Thakur, A., Morrell, B., Carlone, L., & Aghamohammadi, A. (2020). LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. IEEE Intl. Conf. on Robotics and Automation (ICRA).