Publications

2024

1. 

   An Overview of the Burer-Monteiro Method for Certifiable Robot Perception

   Alan Papalia, Yulun Tian, David M. Rosen, Jonathan P. How, and John J. Leonard

   arXiv preprint arXiv:2410.00117, 2024

   arXiv Bib

   @article{papalia2024overview,
     title = {An Overview of the Burer-Monteiro Method for Certifiable Robot Perception},
     author = {Papalia, Alan and Tian, Yulun and Rosen, David M. and How, Jonathan P. and Leonard, John J.},
     journal = {arXiv preprint arXiv:2410.00117},
     year = {2024},
     archiveprefix = {arXiv},
   }

2. preprint

   MAC: Maximizing Algebraic Connectivity for Graph Sparsification

   Kevin Doherty, Alan Papalia, Yewei Huang, David Rosen, Brendan Englot, and John Leonard

   arXiv preprint arXiv:2403.19879, 2024

   arXiv Bib

   @article{doherty2024mac,
     title = {MAC: Maximizing Algebraic Connectivity for Graph Sparsification},
     author = {Doherty, Kevin and Papalia, Alan and Huang, Yewei and Rosen, David and Englot, Brendan and Leonard, John},
     journal = {arXiv preprint arXiv:2403.19879},
     year = {2024},
     archiveprefix = {arXiv},
   }

3. 

   Certifiably Correct Range-Aided SLAM

   Alan Papalia, Andrew Fishberg, Brendan W. O’Neill, Jonathan P. How, David M. Rosen, and John J. Leonard

   IEEE Transactions on Robotics, 2024

   arXiv Bib

   @article{papalia24cora,
     author = {Papalia, Alan and Fishberg, Andrew and O'Neill, Brendan W. and How, Jonathan P. and Rosen, David M. and Leonard, John J.},
     journal = {IEEE Transactions on Robotics},
     title = {Certifiably Correct Range-Aided SLAM},
     year = {2024},
     volume = {40},
     number = {},
     pages = {4265-4283},
     keywords = {Simultaneous localization and mapping;Robots;Optimization;Certification;Sensors;Manifolds;Extraterrestrial measurements;Certifiable perception;range-aided simultaneous localization and mapping (RA-SLAM);Riemannian Staircase;semidefinite programming;ultrawideband (UWB)},
     archiveprefix = {arXiv},
   }

2023

1. 

   SCORE: A Second-Order Conic Initialization for Range-Aided SLAM

   Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, and John J. Leonard

   In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2023

   arXiv Bib

   @inproceedings{papalia23icra,
     title = {SCORE: A Second-Order Conic Initialization for Range-Aided SLAM},
     author = {Papalia, Alan and Morales, Joseph and Doherty, Kevin J. and Rosen, David M. and Leonard, John J.},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     archiveprefix = {arXiv},
     year = {2023},
   }

2022

1. ICRA

   Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks

   Alan Papalia, Nicole Thumma, and John Leonard

   In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022

   arXiv Bib

   @inproceedings{papalia22icra,
     title = {Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks},
     author = {Papalia, Alan and Thumma, Nicole and Leonard, John},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     pages = {10753--10759},
     year = {2022},
     organization = {IEEE},
     archiveprefix = {arXiv},
   }

2. RAL

   Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs

   Qiangqiang Huang, Alan Papalia, and John J. Leonard

   IEEE Robotics and Automation Letters, 2022

   arXiv Bib

   @article{huang22ral,
     title = {Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs},
     author = {Huang, Qiangqiang and Papalia, Alan and Leonard, John J.},
     journal = {IEEE Robotics and Automation Letters},
     volume = {7},
     number = {4},
     pages = {9232--9239},
     year = {2022},
     publisher = {IEEE},
     archiveprefix = {arXiv},
   }

3. OCEANS

   Loosely-Coupled Human-Robot Teams for Enhanced Undersea Operations

   Brendan W. O’Neill, Jesse R. Pelletier, Samuel Calvert, Alan Papalia, John J. Leonard, Lee Freitag, and Eric Gallimore

   In Proc. of the IEEE/MTS OCEANS Conf. and Exhibition, 2022

   Bib

   @inproceedings{oneill22oceans,
     title = {Loosely-Coupled Human-Robot Teams for Enhanced Undersea Operations},
     author = {O'Neill, Brendan W. and Pelletier, Jesse R. and Calvert, Samuel and Papalia, Alan and Leonard, John J. and Freitag, Lee and Gallimore, Eric},
     booktitle = {Proc. of the IEEE/MTS OCEANS Conf. and Exhibition},
     year = {2022},
     organization = {IEEE},
   }

4. OCEANS

   Submarine Cables as Precursors of Persistent Systems for Large Scale Oceans Monitoring and Autonomous Underwater Vehicles Operation

   Marcos Tieppo, Eduardo Pereira, Laura González García, Margarida Rolim, Emanuel Castanho, Aníbal Matos, António Silva, and 25 more authors

   In Proc. of the IEEE/MTS OCEANS Conf. and Exhibition, 2022

   Bib

   @inproceedings{tieppo22oceans,
     title = {Submarine Cables as Precursors of Persistent Systems for Large Scale Oceans Monitoring and Autonomous Underwater Vehicles Operation},
     author = {Tieppo, Marcos and Pereira, Eduardo and Garc{\'i}a, Laura Gonz{\'a}lez and Rolim, Margarida and Castanho, Emanuel and Matos, An{\'i}bal and Silva, Ant{\'o}nio and Ferreira, Bruno and Pascoal, Maria and Almeida, Eduardo and Costa, Filipe and Zabel, Fred and Faria, Jo{\~a}o and Azevedo, Jos{\'e} and Alves, Jos{\'e} and Moutinho, Jos{\'e} and Gon{\c{c}}alves, Lu{\'i}s and Martins, Marcos and Cruz, Nuno and Abreu, Nuno and Silva, Pedro and Viegas, R{\'u}ben and Jesus, S{\'e}rgio and Chen, T{\^a}nia and Miranda, Tiago and Papalia, Alan and Hart, Douglas and Leonard, John and Haji, Maha and de Weck, Olivier and Godart, Peter and Lermusiaux, Pierre},
     booktitle = {Proc. of the IEEE/MTS OCEANS Conf. and Exhibition},
     year = {2022},
     organization = {IEEE},
   }

2021

1. CHASE

   Inter-mobile-device distance estimation using network localization algorithms for digital contact logging applications

   Lillian Clark, Alan Papalia, Jônata Tyska Carvalho, Luca Mastrostefano, and Bhaskar Krishnamachari

   Smart Health, 2021

   arXiv Bib

   @article{clark21health,
     title = {Inter-mobile-device distance estimation using network localization algorithms for digital contact logging applications},
     author = {Clark, Lillian and Papalia, Alan and Carvalho, J{\^o}nata Tyska and Mastrostefano, Luca and Krishnamachari, Bhaskar},
     journal = {Smart Health},
     volume = {19},
     pages = {100168},
     year = {2021},
     publisher = {Elsevier},
     archiveprefix = {arXiv},
   }

2020

1. AUV

   Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging

   Alan Papalia, and John Leonard

   In IEEE/OES Autonomous Underwater Vehicles Symposium, 2020

   arXiv Bib

   @inproceedings{papalia20auv,
     title = {Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging},
     author = {Papalia, Alan and Leonard, John},
     booktitle = {IEEE/OES Autonomous Underwater Vehicles Symposium},
     year = {2020},
     organization = {IEEE},
     archiveprefix = {arXiv},
   }