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Electrical and Computer Engineering
FRoSt Lab
Field Robotic Systems Lab

Publications

2024

C. R. Samuelson and J. G. Mangelson, ``A Guided Gaussian-Dirichlet Random Field for Scientist-in-the-Loop Inference in Underwater Robotics," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024. PDF.

2023

K. Norman, D. Butterfield, and J. Mangelson, ``AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping'' in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, Michigan, USA, Oct 2023. Website. PDF.

D. Webb, J. Mangelson, and C. Archibald, ``Staying Connected: Improving Communication Between Underwater Vehicles Using An Autonomous Intermediary,'' in Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, Limerick, Ireland, June 2023.

2022

J. Johnson, J. Mangelson, and R. Beard, ``Continuous-Time Trajectory Estimation for Differentially Flat Systems,'' in IEEE Robotics and Automation Letters, 8, 145-151. 2022. PDF.

D. Benham, A. Newman, K. Ellis, R. Gill, and J. G. Mangelson, ``3D Reconstruction of Reefs using Autonomous Surface Vessels and an Analysis of Chain vs. 3D Rugosity Measurement Robustness,'' in Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, Hampton Roads, VA, October 2022. 3rd Place in IEEE OCEANS Student Poster Competition. PDF.

E. Potokar, K. Lay, K. Norman, D. Benham, T. Neilsen, M. Kaess, and J. Mangelson, ``HoloOcean: Realistic Sonar Simulation,'' in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, Oct 2022. PDF.

B. Forsgren, T. W. McLain, R. Vasudevan, M. Kaess, and J. Mangelson, ``Group-k Consistent Measurement Set Maximization for Robust Outlier Detection,'' in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, Oct 2022. PDF.

M. Qadri, P. Sodhi, J. Mangelson, F. Dellaert, and M. Kaess, ``InCOpt: Incremental Constrained Optimization using the Bayes Tree,'' in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, Oct 2022. PDF.

S. Scherer, V. Agrawal, G. Best, C. Cao, K. Cujic, R. Darnley, R. DeBortoli, E. Dexheimer, B. Drozd, R. Garg, I. Higgins, J. Keller, D. Kohanbash, L. Nogueira, R. Pradhan, M. Tatum,  V. Viswanathan, S. Willits, S. Zhao, H. Zhu, D. Abad, T. Angert,  G. Armstrong, R. Boirum, A. Dongare, M. Dworman, S. Hu, J. Jaekel, R. Ji, A. Lai, Y. Lee, A. Luong, J. Mangelson, J. Maier, J. Picard, K. Pluckter, A. Saba, M. Saroya, E. Scheide, N. Shoemaker-Trejo, J. Spisak, J. Teza, F. Yang, A. Wilson, H. Zhang, H. Choset, M. Kaess, A. Rowe, S. Singh, Ji. Zhang, G. Hollinger, M. Travers, ``Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots," in Field Robotics, 2, 678-734. 2022. PDF.

E. Potokar, S. Ashford, M. Kaess, and J. Mangelson, ``HoloOcean: An Underwater Robotics Simulator,'' in Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA, May 2022. Website. PDF.

S. Suresh, Z. Si, J. Mangelson, W. Yuan, and M. Kaess, ``ShapeMap 3-D: Efficient shape mapping through dense touch and vision,'' in Proceedings of the IEEE International ConfPDF.erence on Robotics and Automation, Philadelphia, PA, USA, May 2022. Website. PDF.

2021

M. Chang, W. Dong, J. Mangelson, M. Kaess, and S. Lucey, ``Map Compressibility Assessment for LiDAR Registration,'' in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic (Online), Sep. 2021. PDF.

M. Abello, J. G. Mangelson, and M. Kaess, ``A Graph-based method for joint instance segmentation of point clouds and image sequences,'' in Proceedings of the IEEE International Conference on Robotics and Automation, Xi'an, China, May 2021. PDF.

M. Chang, J. Mangelson, M. Kaess, and S. Lucey, ``HyperMap: Compressed 3D Map for Monocular Camera Registration,'' in Proceedings of the IEEE International Conference on Robotics and Automation, Xi'an, China, May 2021. PDF.

S. Suresh, M. Bauza, K. Yu, J. G. Mangelson, A. Rodriguez, and M. Kaess, ``Tactile SLAM: Real-time inference of shape and pose from planar pushing,'' in Proceedings of the IEEE International Conference on Robotics and Automation, Xi'an, China, May 2021. Finalist for Best Service Robotics Paper. PDF.

E. R. Potokar, K. Norman and J. G. Mangelson, "Invariant Extended Kalman Filtering for Underwater Navigation," in IEEE Robotics and Automation Letters. PDF. Bibtex.

2020

J. G. Mangelson, M. G. Jadidi, R. Vasudevan, and R. M. Eustice, “Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra.” IEEE Transactions on Robotics, 2020. PDF. Bibtex.

M. Hsiao, J. G. Mangelson, S. Suresh, C. Debrunner, and M. Kaess, “ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypotheis State and Map Estimations,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, Oct. 2020. PDF. Bibtex.

E. Dexheimer, J. G. Mangelson, and M. Kaess, “Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, Oct. 2020. PDF. Bibtex.

J. Jaekel, J. G. Mangelson, and M. Kaeass, “A Robust Multi-stereo Visual-Inertial Odometry Pipeline,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, Oct. 2020. PDF. Bibtex.

P. Sodhi, S. Choudhury, J. G. Mangelson, and M. Kaess, “ICS: Incremental Constrained Smoothing for State Estimation,” in Proceedings of the IEEE International Conference on Robotics and Automation, Paris, France, May 2020. PDF. Bibtex.

S. Suresh, P. Sodhi, J.G. Mangelson, D. Wettergreen, and M. Kaess, “Active SLAM using 3D Submap Saliency for Underwater Volumetic Exploration,” in Proceedings of the IEEE International Conference on Robotics and Automation, Paris, France, May 2020. PDF. Bibtex.

2019

J. G. Mangelson, J. Liu, R. M. Eustice, and R. Vasudevan, “Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sum-of-Squares Programming,” in Proceedings of the IEEE International Conference on Robotics and Automation, Montreal, Canada, May 2019. PDF. Bibtex.

2018

J. G. Mangelson, D. Dominic, R. M. Eustice, and R. Vasudevan, “Pairwise Consistent Measurement Set Maximization for Robust Multi-robot Map Merging,” in Proceedings of the IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. IEEE ICRA Best Paper on Multi-Robot Systems. PDF. Bibtex.

R. Hartley, J. G. Mangelson, L. Gan, M. G. Jadidi, J. M. Walls, R. M. Eustice, and J. W. Grizzle, “Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors,” in Proceedings of the IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. PDF. Bibtex.

J. G. Mangelson, R. Vasudevan, and R. M. Eustice, “Communication Constrained Trajectory Alignment For Multi Agent Inspection via Linear Programming,” in Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, Charleston, SC, October 2018. 1st Place in IEEE OCEANS Student Poster Competition. PDF. Bibtex.

2016

J. G. Mangelson, R. W. Wolcott, P. Ozog, and R. M. Eustice, “Robust Visual Fiducials for Skin-to-Skin Relative Ship Pose Estimation,” in Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, Monterey, CA, September 2016. PDF. Bibtex.