Publications

2024

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.

   @article{Ebadi24tro-surveySLAMSubt,
     fullauthor = {Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, 	Simon-Pierre Desch\^{e}nes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petracek, Matej Petrlik, Andrzej Reinke, Vıt Kratky, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling,Francois Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone},
     author = {Ebadi, K. and Bernreiter, L. and Biggie, H. and Catt, G. and Chang, Y. and Chatterjee, A. and Denniston, C.E. and Desch\^{e}nes, S-P. and Harlow, K. and Khattak, S. and Nogueira, L. and Palieri, M. and Petr\'{a}\u{c}ek, P. and Petrl\'{i}k, P. and Reinke, A. and Kr\'{a}tk\'{y}, V. and Zhao, S. and Agha-mohammadi, A. and Alexis, K. and Heckman, C. and Khosoussi, K. and Kottege, N. and Morrell, B. and Hutter, M. and Pauling, F. and Pomerleau, F. and Saska, M. and Scherer, S. and Siegwart, R. and Williams, J.L. and Carlone, L.},
     title = {Present and Future of {SLAM} in Extreme Environments: The DARPA SubT Challenge},
     journal = {{IEEE} Trans. Robotics},
     note = {\linkToPdf{https://arxiv.org/pdf/2208.01787.pdf}},
     pdf = {https://arxiv.org/pdf/2208.01787.pdf},
     year = {2024}
   }
   

2023

1. 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).

   @article{Chang23ral-DLite,
     author = {Chang, Y. and Ballotta, L. and Carlone, L.},
     title = {{D-Lite}: Navigation-Oriented Compression of {3D} Scene Graphs under Communication Constraints},
     journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
     note = {\linkToPdf{https://arxiv.org/pdf/2209.06111.pdf},\linkToVideo{https://youtu.be/nKYXU5VC6A8}},
     pdf = {https://arxiv.org/pdf/2209.06111.pdf},
     year = {2023}
   }
   

2. 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.

   @article{Hughes23arxiv-hydraFoundations,
     author = {Hughes, N. and Chang, Y. and Hu, S. and Talak, R. and Abdulhai, R. and Strader, J. and Carlone, L.},
     title = {Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems},
     journal = {arXiv preprint: 2305.07154},
     note = {\linkToPdf{https://arxiv.org/pdf/2305.07154.pdf},\linkToVideo{https://youtu.be/AEaBq2-FeY0}},
     pdf = {https://arxiv.org/pdf/2305.07154.pdf},
     year = {2023}
   }
   

3. 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).

   @inproceedings{Tian23iros-KimeraMultiExperiments,
     author = {Tian, Y. and Chang, Y. and Quang, L. and Schang, A. and Nieto-Granda, C. and How, J.P. and Carlone, L.},
     title = {Resilient and Distributed Multi-Robot Visual {SLAM}: Datasets, Experiments, and Lessons Learned},
     booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
     note = {\linkToPdf{https://arxiv.org/pdf/2304.04362.pdf},\linkToVideo{https://youtu.be/7yYMRNMdKjY},\linkToCode{https://github.com/MIT-SPARK/Kimera-Multi},\linkToWeb{https://github.com/MIT-SPARK/Kimera-Multi-Data}},
     pdf = {https://arxiv.org/pdf/2304.04362.pdf},
     year = {2023}
   }
   

4. 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).

   @inproceedings{Chang23iros-HydraMulti,
     author = {Chang, Y. and Hughes, N. and Ray, A. and Carlone, L.},
     title = {{Hydra-Multi}: Collaborative Online Construction of {3D} Scene Graphs with Multi-Robot Teams},
     booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
     note = {\linkToPdf{https://arxiv.org/pdf/2304.13487.pdf}},
     pdf = {https://arxiv.org/pdf/2304.13487.pdf},
     year = {2023}
   }
   

2022

1. 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).

   @article{Chang22ral-LAMP2,
     title = {{LAMP 2.0}: A Robust Multi-Robot {SLAM} System for Operation in Challenging Large-Scale Underground Environments},
     author = {Chang, Y. and Ebadi, K. and Denniston, C. and Ginting, M. Fadhil and Rosinol, A. and Reinke, A. and Palieri, M. and Shi, J. and A, Chatterjee and Morrell, B. and Agha-mohammadi, A. and Carlone, L.},
     note = {\linkToPdf{https://arxiv.org/pdf/2205.13135.pdf}},
     journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
     volume = {7},
     number = {4},
     pdf = {https://arxiv.org/pdf/2205.13135.pdf},
     code = {https://github.com/NeBula-Autonomy/LAMP},
     year = {2022}
   }
   

2. 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).

   @article{Dennison22ral-loopPrioritization,
     title = {Loop Closure Prioritization for Efficient and Scalable Multi-Robot {SLAM}},
     author = {Denniston, C. and Chang, Y. and Reinke, A. and Ebadi, K. and Sukhatme, G. and Carlone, L. and Morrell, B. and Agha-mohammadi, A.},
     journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
     note = {\linkToPdf{https://arxiv.org/pdf/2205.12402.pdf}},
     pdf = {https://arxiv.org/pdf/2205.12402.pdf},
     year = {2022}
   }
   

3. 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.

   @article{Reinke22ral-LOCUS2,
     title = {{LOCUS 2.0}: Robust and Computationally Efficient LiDAR Odometry for Real-Time Underground {3D} Mapping},
     author = {Reinke, A. and Palieri, M. and Morrell, B. and Chang, Y. and Ebadi, K. and Carlone, L. and Agha-mohammadi, A.},
     note = {\linkToPdf{https://arxiv.org/pdf/2205.11784.pdf}},
     journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
     volume = {7},
     number = {4},
     pages = {9043--9050},
     pdf = {https://arxiv.org/pdf/2205.11784.pdf},
     code = {https://github.com/NeBula-Autonomy/LOCUS},
     year = {2022}
   }
   

4. 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.

   @article{Agha22fr-Nebula,
     title = {{NeBula}: {TEAM CoSTAR’s} Robotic Autonomy Solution that Won {Phase II of DARPA Subterranean Challenge}},
     author = {{A. Agha et al.}},
     fullauthor = {Agha, A., Otsu, K., Morrell, B., Fan, D., Thakker, R., Santamaria-Navarro, A., Kim, S., Bouman, A., Lei, X., Edlund, J., Ginting, M., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J.,  Salhotra, G., Saboia Da Silva, M., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H., Melikyan, H., Choi, H., Daftry, S., Toupet, O., Wee, I.,  Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, J.},
     journal = {Field Robotics},
     volume = {2},
     pages = {1432--1506},
     note = {\linkToPdf{https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf}},
     pdf = {https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf},
     year = {2022}
   }
   

5. 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.

   @article{Tian22tro-KimeraMulti,
     title = {{Kimera-Multi}: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems},
     author = {Tian, Y. and Chang, Y. and Arias, F. Herrera and Nieto-Granda, C. and How, J.P. and Carlone, L.},
     journal = {{IEEE} Trans. Robotics},
     note = {accepted, arXiv preprint: 2106.14386, \linkToPdf{https://arxiv.org/pdf/2106.14386.pdf}},
     pdf = {https://arxiv.org/pdf/2106.14386.pdf},
     code = {https://github.com/MIT-SPARK/Kimera-Multi},
     bestpaper = {https://spectrum.ieee.org/multi-robot-slam-icra2023},
     year = {2022}
   }
   

6. 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).

   @inproceedings{Hughes22rss-hydra,
     title = {{Hydra:} A Real-time Spatial Perception Engine for {3D} Scene Graph Construction and Optimization},
     fullauthor = {Nathan Hughes, Yun Chang, Luca Carlone},
     author = {Hughes, N. and Chang, Y. and Carlone, L.},
     booktitle = {Robotics: Science and Systems (RSS)},
     note = {\linkToPdf{https://arxiv.org/pdf/2201.13360.pdf}},
     pdf = {https://arxiv.org/pdf/2201.13360.pdf},
     code = {https://github.com/MIT-SPARK/Hydra},
     year = {2022}
   }
   

2021

1. 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.

   @article{Rosinol21ijrr-Kimera,
     title = {Kimera: from {SLAM} to Spatial Perception with {3D} Dynamic Scene Graphs},
     author = {Rosinol, A. and Violette, A. and Abate, M. and Hughes, N. and Chang, Y. and Shi, J. and Gupta, A. and Carlone, L.},
     journal = {Intl. J. of Robotics Research},
     volume = {40},
     number = {12--14},
     pages = {1510--1546},
     note = {arXiv preprint: 2101.06894, \linkToPdf{https://arxiv.org/pdf/2101.06894.pdf}},
     pdf = {https://arxiv.org/pdf/2101.06894.pdf},
     code = {https://github.com/MIT-SPARK/Kimera},
     year = {2021}
   }
   

2. 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).

   @inproceedings{Chang21icra-KimeraMulti,
     title = {{Kimera-Multi}: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping},
     author = {Chang, Y. and Tian, Y. and How, J.P. and Carlone, L.},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     note = {arXiv preprint: 2011.04087, \linkToPdf{https://arxiv.org/pdf/2011.04087.pdf}},
     pdf = {https://arxiv.org/pdf/2011.04087.pdf},
     code = {https://github.com/MIT-SPARK/Kimera-Multi},
     year = {2021}
   }
   

2020

1. 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.

   @article{Lajoie20ral-doorSLAM,
     author = {Lajoie, P. and Ramtoula, B. and Chang, Y. and Carlone, L. and Beltrame, G.},
     title = {{DOOR-SLAM:} Distributed, Online, and Outlier Resilient SLAM for Robotic Teams},
     note = {\linkToVideo{https://www.youtube.com/watch?v=h0bqURQlZGA},
     	\linkToCode{https://github.com/MISTLab/DOOR-SLAM},
     	\linkToPdf{https://arxiv.org/pdf/1909.12198.pdf}},
     volume = {5},
     number = {2},
     pages = {1656--1663},
     pdf = {https://arxiv.org/pdf/1909.12198.pdf},
     journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
     year = {2020}
   }
   

2. 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).

   @inproceedings{Rosinol20icra-Kimera,
     title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
     author = {Rosinol, A. and Abate, M. and Chang, Y. and Carlone, L.},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     year = {2020},
     pdf = {https://arxiv.org/pdf/1910.02490.pdf},
     video = {https://www.youtube.com/watch?v=-5XxXRABXJs},
     code = {https://github.com/MIT-SPARK/Kimera}
   }
   

3. 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).

   @inproceedings{Ebadi20icra-LAMP,
     author = {Ebadi, K. and Chang, Y. and Palieri, M. and Stephens, A. and Hatteland, A. and Heiden, E. and Thakur, A. and Morrell, B. and Carlone, L. and Aghamohammadi, A.},
     title = {{LAMP:} Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     pdf = {https://arxiv.org/pdf/2003.01744.pdf},
     year = {2020}
   }