Publications

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2024

• Martina Stadler Kurtz*, Samuel Prentice*, Yasmin Veys, Long Quang, Carlos Nieto-Granda, Michael Novitzky, Ethan Stump, Nick Roy.Real-world Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System. 2024 ICRA Workshop on Field Robotics. 2024.
  [ PDF, BibTex ]

  @inproceedings{kurtz_prentice_fricra24,
   title={Real-world Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System},
   author={Kurtz*, Martina Stadler and Prentice*, Samuel and Veys, Yasmin and Quang, Long and Nieto-Granda, Carlos and Novitzky, Michael and Stump, Ethan and Roy, Nick},
   booktitle={2024 ICRA Workshop on Field Robotics},
   year={2024},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/kurtz_prentice_fricra24.pdf}
  }
  
  

• Michael Noseworthy*, Shaw* Seiji, Chad Kessens, Nick Roy.Amortized Inference for Efficient Grasp Model Adaptation. 2024 International Conference on Robotics and Automation (ICRA). 2024.
  [ PDF, BibTex ]

  @inproceedings{noseworthy_shaw_icra24,
   title={Amortized Inference for Efficient Grasp Model Adaptation},
   author={Noseworthy*, Michael and Seiji, Shaw* and Kessens, Chad and Roy, Nick},
   booktitle={2024 International Conference on Robotics and Automation (ICRA)},
   year={2024},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/noseworthy_shaw_icra24.pdf}
  }
  
  

• Yasmin Veys, Martina Stadler Kurtz, Nick Roy.Generating Sparse Probabilistic Graphs for Efficient Planning in Uncertain Environments. 2024 International Conference on Robotics and Automation (ICRA). 2024.
  [ PDF, BibTex ]

  @inproceedings{veys_icra_24,
   title={Generating Sparse Probabilistic Graphs for Efficient Planning in Uncertain Environments},
   author={Veys, Yasmin and Kurtz, Martina Stadler and Roy, Nick},
   booktitle={2024 International Conference on Robotics and Automation (ICRA)},
   year={2024},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/veys_icra_24.pdf}
  }
  
  

2023

• Christopher Bradley, Nick Roy.Learning Feasibility and Cost to Guide TAMP. 18th International Symposium on Experimental Robotics (ISER 2023). 2023.
  [ PDF, BibTex ]

  @inproceedings{cbradley_iser23,
   title={Learning Feasibility and Cost to Guide TAMP},
   author={Bradley, Christopher and Roy, Nick},
   booktitle={18th International Symposium on Experimental Robotics (ISER 2023)},
   year={2023},
   organization={IFRR},
   url = {http://groups.csail.mit.edu/rrg/papers/cbradley_iser_2023.pdf}
  }
  
  

• Andrew Messing*, Jacopo Banfi*, Martina Stadler, Ethan and Stump, Harish Ravichandar, Nicholas Roy, Seth Hutchinson.A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty. Proceedings of Robotics Science and Systems (RSS). 2023.
  [ PDF, BibTex ]

  @inproceedings{messing_banfi_rss23,
   title={A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty},
   author={Messing*, Andrew and Banfi*, Jacopo and Stadler, Martina and and Stump, Ethan and Ravichandar, Harish and Roy, Nicholas and Hutchinson, Seth},
   booktitle ={Proceedings of Robotics Science and Systems (RSS)},
   year={2023},
   url = {http://groups.csail.mit.edu/rrg/papers/messing_banfi_rss23.pdf}
  }
  
  

• Martina Stadler, Jacopo Banfi, Nicholas Roy.Approximating the Value of Collaborative Team Actions for Efficient Multiagent Navigation in Uncertain Graphs. Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling. 2023.
  [ PDF, BibTex ]

  @inproceedings{stadler_banfi_roy_icaps23,
   title={Approximating the Value of Collaborative Team Actions for Efficient Multiagent Navigation in Uncertain Graphs},
   author={Stadler, Martina and Banfi, Jacopo and Roy, Nicholas},
   booktitle={Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling},
    year={2023},
    url = {http://groups.csail.mit.edu/rrg/papers/stadler_banfi_roy_icaps23.pdf}
  }
  
  
  

2022

• J. Banfi, A. Messing, C. Kroninger, E. Stump, S. Hutchinson, N. Roy.Hierarchical planning for heterogeneous multi-robot routing problems via learned subteam performance. IEEE Robotics and Automation Letters. 2022.
  [ PDF, BibTex ]

  @Article{Banfi2022RAL,
    author = {J. Banfi and A. Messing and C. Kroninger and E. Stump and S. Hutchinson and N. Roy},
    title = {Hierarchical planning for heterogeneous multi-robot routing problems via learned subteam performance},
    journal = {IEEE Robotics and Automation Letters},
    year = {2022},
    volume = {7},
    number = {2},
    pages = {4464-4471},
    url = {http://groups.csail.mit.edu/rrg/papers/banfi_RAL_2022.pdf}
  }
  
  

• Christopher Bradley, Nick Roy.Learning to Guide Search in Long-Horizon Task and Motion Planning. CoRL 2022 Workshop on Learning, Perception, and Abstraction for Long-Horizon Planning. 2022.
  [ PDF, BibTex ]

  @inproceedings{cbradley_corl22,
   title={Learning to Guide Search in Long-Horizon Task and Motion Planning},
   author={Bradley, Christopher and Roy, Nick},
   booktitle={CoRL 2022 Workshop on Learning, Perception, and Abstraction for Long-Horizon Planning},
   year={2022},
   organization={IFRR},
   url = {http://groups.csail.mit.edu/rrg/papers/cbradley_corl_workshop_22.pdf}
  }
  
  

• V. Preston, G. Flaspohler, J. Kapit, W. Pardis, S. Youngs, D. E. Martocello, N. Roy, P. R. Girguis, S. D. Wankel, A. P. M. Michel.Discovering hydrothermalism from afar: in situ methane instrumentation and change-point detection for decision-making. Frontiers in Earth Science. 2022.
  [ PDF, BibTex ]

  @Article{preston2022frontiers,
    author = {V. Preston and G. Flaspohler and J. Kapit and W. Pardis and S. Youngs and D. E. Martocello and N. Roy and P. R. Girguis and S. D. Wankel and A. P. M. Michel},
    title = {Discovering hydrothermalism from afar: in situ methane instrumentation and change-point detection for decision-making},
    journal = {Frontiers in Earth Science},
    year = {2022},
    volume = {10},
    url = {http://groups.csail.mit.edu/rrg/papers/vpreston_hydrothermalism.pdf},
    doi = {10.3389/feart.2022.984355},
    issn = {2296-6463},
  }
  
  

• Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E Koditschck, Nicholas Roy.A hierarchical deliberative-reactive system architecture for task and motion planning in partially known environments. 2022 International Conference on Robotics and Automation (ICRA). 2022.
  [ PDF, Video, BibTex ]

  @inproceedings{vasilopoulos2022hierarchical,
    title={A hierarchical deliberative-reactive system architecture for task and motion planning in partially known environments},
    author={Vasilopoulos, Vasileios and Castro, Sebastian and Vega-Brown, William and Koditschck, Daniel E and Roy, Nicholas},
    booktitle={2022 International Conference on Robotics and Automation (ICRA)},
    pages={7342--7348},
    year={2022},
    organization={IEEE},
    url={https://arxiv.org/pdf/2202.01385},
    video={https://www.youtube.com/watch?v=CA4nh3d9Uf4}
  }
  
  

2021

• Christopher Bradley, Adam Pacheck, Gregory J Stein, Castro Sebastian, Nick Roy.Learning and Planning for Temporally Extended Tasks in Unknown Environments. 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021.
  [ PDF, BibTex ]

  @inproceedings{cbradley_icra21,
   title={Learning and Planning for Temporally Extended Tasks in Unknown Environments},
   author={Bradley, Christopher and Pacheck, Adam and Stein, Gregory J and Sebastian, Castro and Roy, Nick},
   booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
   year={2021},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/cbrad_icra_21.pdf}
  }
  
  

• W Nicholas Greene, Nicholas Roy.MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation using Incremental Viewpoint-Compensated Feature Extraction. 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021.
  [ PDF, BibTex ]

  @inproceedings{greene2021multiviewstereonet,
    title={MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation using Incremental Viewpoint-Compensated Feature Extraction},
    author={Greene, W Nicholas and Roy, Nicholas},
    booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={9242--9248},
    year={2021},
    organization={IEEE},
    url = {http://groups.csail.mit.edu/rrg/papers/greene_icra21.pdf}
  }
  
  

• Milo Knowles, Valentin Peretroukhin, W Nicholas Greene, Nicholas Roy.Toward robust and efficient online adaptation for deep stereo depth estimation. 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021.
  [ PDF, BibTex ]

  @inproceedings{knowles2021toward,
    title={Toward robust and efficient online adaptation for deep stereo depth estimation},
    author={Knowles, Milo and Peretroukhin, Valentin and Greene, W Nicholas and Roy, Nicholas},
    booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={12192--12198},
    year={2021},
    organization={IEEE},
    url={https://groups.csail.mit.edu/rrg/papers/knowles-icra21.pdf}
  }
  
  

• Katherine Liu, Kyel Ok, Nicholas Roy.VoluMon: Weakly-supervised volumetric monocular estimation with ellipsoid representations. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.
  [ PDF, BibTex ]

  @inproceedings{liu2021volumon,
    title={VoluMon: Weakly-supervised volumetric monocular estimation with ellipsoid representations},
    author={Liu, Katherine and Ok, Kyel and Roy, Nicholas},
    booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={5686--5693},
    year={2021},
    organization={IEEE},
    url={http://groups.csail.mit.edu/rrg/papers/liu_ok_iros_2021_camera_ready.pdf}
  }
  
  

• Michael Noseworthy*, Caris Moses*, Isaiah Brand*, Sebastian Castro, Leslie Pack Kaelbling, Tom{\'a}s Lozano-P{\'e}rez, Nicholas Roy.Active Learning of Abstract Plan Feasibility. Proceedings of Robotics Science and Systems (RSS). 2021.
  [ PDF, BibTex ]

  @inproceedings{noseworthy_moses_brand_rss21,
   title={Active Learning of Abstract Plan Feasibility},
   author={Noseworthy*, Michael and Moses*, Caris and Brand*, Isaiah and Castro, Sebastian and Kaelbling, Leslie Pack and Lozano-P{\'e}rez, Tom{\'a}s and Roy, Nicholas},
   booktitle ={Proceedings of Robotics Science and Systems (RSS)},
   year={2021},
   url = {http://groups.csail.mit.edu/rrg/papers/noseworthy_moses_brand_rss21.pdf}
  }
  
  

• Kyel Ok, Katherine Liu, Nicholas Roy.Hierarchical object map estimation for efficient and robust navigation. 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021.
  [ PDF, BibTex ]

  @inproceedings{ok2021hierarchical,
    title={Hierarchical object map estimation for efficient and robust navigation},
    author={Ok, Kyel and Liu, Katherine and Roy, Nicholas},
    booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={1132--1139},
    year={2021},
    organization={IEEE},
    url = {http://groups.csail.mit.edu/rrg/papers/ok_icra21.pdf}
  }
  
  

• Majdi I Radaideh, Isaac Wolverton, Joshua Joseph, James J Tusar, Uuganbayar Otgonbaatar, Nicholas Roy, Benoit Forget, Koroush Shirvan.Physics-informed reinforcement learning optimization of nuclear assembly design. Nuclear Engineering and Design. 2021.
  [ PDF, BibTex ]

  @article{radaideh2021physics,
    title={Physics-informed reinforcement learning optimization of nuclear assembly design},
    author={Radaideh, Majdi I and Wolverton, Isaac and Joseph, Joshua and Tusar, James J and Otgonbaatar, Uuganbayar and Roy, Nicholas and Forget, Benoit and Shirvan, Koroush},
    journal={Nuclear Engineering and Design},
    volume={372},
    pages={110966},
    year={2021},
    publisher={Elsevier},
    url={https://groups.csail.mit.edu/rrg/papers/NED-S-20-00912.pdf}
  }
  
  

• Martina Stadler, Katherine Liu, Nicholas Roy.Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.
  [ PDF, BibTex ]

  @inproceedings{stadler2021online,
    title={Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation},
    author={Stadler, Martina and Liu, Katherine and Roy, Nicholas},
    booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={5568--5575},
    year={2021},
    organization={IEEE},
    url={http://groups.csail.mit.edu/rrg/papers/stadler_iros21.pdf}
  }
  
  

2020

• J. Arkin*, D. Park*, S. Roy, M. Walter, N. Roy, T. Howard, R. Paul.Multimodal estimation and communication of latent semantic knowledge for robust execution of robot instructions. International Journal of Robotics Research (IJRR). 2020.
  [ PDF, BibTex ]

  @Article{Arkin2020IJRR,
    author =   {J. Arkin* and D. Park* and S. Roy and M. Walter and N. Roy and T. Howard and R. Paul},
    title =    {Multimodal estimation and communication of latent semantic knowledge for robust execution of robot instructions},
    journal =    {International Journal of Robotics Research (IJRR)},
    year =   {2020},
    url = {https://link.springer.com/chapter/10.1007/978-3-030-33950-0_39}
  }
  
  

• G. Flaspohler, N. Roy, J. Fisher III.Belief-Dependent Macro-Action Discovery in POMDPs using the Value of Information. Advances in Neural Information Processing (NeurIPS). 2020.
  [ PDF, BibTex ]

  @InProceedings{flaspohler_neurips_2020,
    author =   {G. Flaspohler and N. Roy and J. Fisher III},
    title =    {Belief-Dependent Macro-Action Discovery in POMDPs using the Value of Information},
    booktitle =  {Advances in Neural Information Processing (NeurIPS)},
    year =   {2020},
    url={http://groups.csail.mit.edu/rrg/papers/flaspohler_neurips_2020.pdf}
  }
  
  

• W. Nicholas Greene, Nicholas Roy.Metrically-Scaled Monocular SLAM using Learned Scale Factors. 2020 International Conference on Robotics and Automation (ICRA). 2020.
  [ PDF, BibTex ]

  @inproceedings{greene_icra20,
   title={Metrically-Scaled Monocular SLAM using Learned Scale Factors},
   author={Greene, W. Nicholas and Roy, Nicholas},
   booktitle={2020 International Conference on Robotics and Automation (ICRA)},
   pages={43--50},
   year={2020},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/greene_icra20.pdf}
  }
  
  

• Katherine Liu*, Martina Stadler*, Nicholas Roy.Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations. 2020 International Conference on Robotics and Automation (ICRA). 2020.
  [ PDF, BibTex ]

  @inproceedings{liu_stadler_icra20,
   title={Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations},
   author={Liu*, Katherine and Stadler*, Martina and Roy, Nicholas},
   booktitle={2020 International Conference on Robotics and Automation (ICRA)},
   pages={9555--9562},
   year={2020},
   organization={IEEE},
   url={http://groups.csail.mit.edu/rrg/papers/liu_stadler_icra20.pdf}
  }
  
  

• Caris Moses, Michael Noseworthy, Leslie Pack Kaelbling, Tom{\'a}s Lozano-P{\'e}rez, Nicholas Roy.Visual Prediction of Priors for Articulated Object Interaction. 2020 International Conference on Robotics and Automation (ICRA). 2020.
  [ PDF, BibTex ]

  @inproceedings{moses_noseworthy_icra20,
   title={Visual Prediction of Priors for Articulated Object Interaction},
   author={Moses, Caris and Noseworthy, Michael and Kaelbling, Leslie Pack and Lozano-P{\'e}rez, Tom{\'a}s and Roy, Nicholas},
   booktitle={2020 International Conference on Robotics and Automation (ICRA)},
   pages={10480--10486},
   year={2020},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/moses_noseworthy_icra20.pdf}
  }
  
  

• M. Ryll, J. Ware, J. Carter, N. Roy.Semantic Trajectory Planning for Long-Distant Unmanned Aerial Vehicle Navigation in Urban Environments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2020.
  [ PDF, BibTex ]

  @InProceedings{ryll_iros20,
    author =   {M. Ryll and J. Ware and J. Carter and N. Roy},
    title =    {Semantic Trajectory Planning for Long-Distant Unmanned Aerial Vehicle Navigation in Urban Environments},
    booktitle =  {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year =   {2020},
    url = {http://groups.csail.mit.edu/rrg/papers/mryll-iros20.pdf}
  }
  
  

• Gregory J. Stein*, Christopher Bradley*, Victoria Preston*, Nicholas Roy.Enabling Topological Planning with Monocular Vision. 2020 International Conference on Robotics and Automation (ICRA). 2020.
  [ PDF, BibTex ]

  @inproceedings{stein_bradley_preston_icra20,
   title={Enabling Topological Planning with Monocular Vision},
   author={Stein*, Gregory J. and Bradley*, Christopher and Preston*, Victoria and Roy, Nicholas},
   booktitle={2020 International Conference on Robotics and Automation (ICRA)},
   pages={1667--1673},
   year={2020},
   organization={IEEE},
   url = {http://groups.csail.mit.edu/rrg/papers/stein_bradley_preston_icra20.pdf}
  }
  
  

• Mycal Tucker, Derya Aksaray, Rohan Paul, Gregory J Stein, Nicholas Roy.Learning unknown groundings for natural language interaction with mobile robots. Robotics Research: The 18th International Symposium ISRR. 2020.
  [ PDF, BibTex ]

  @inproceedings{tucker2020learning,
    title={Learning unknown groundings for natural language interaction with mobile robots},
    author={Tucker, Mycal and Aksaray, Derya and Paul, Rohan and Stein, Gregory J and Roy, Nicholas},
    booktitle={Robotics Research: The 18th International Symposium ISRR},
    pages={317--333},
    year={2020},
    organization={Springer},
    url={https://dspace.mit.edu/bitstream/handle/1721.1/137310/isrr.pdf}
  }
  
  

• W. Vega-Brown, N. Roy.Task and Motion Planning is PSPACE-complete. AAAI Conference on Artificial Intelligence (AAAI). 2020.
  [ PDF, BibTex ]

  @InProceedings{vega-brown2020task,
    author =   {W. Vega-Brown and N. Roy},
    title =    {Task and Motion Planning is PSPACE-complete},
    booktitle =  {AAAI Conference on Artificial Intelligence (AAAI)},
    year =   {2020},
    url = {http://groups.csail.mit.edu/rrg/papers/vega-brown2020task.pdf}
  }
  
  

• V. Peretroukhin, M. Giamou, D. Rosen, W. N. Greene and N. Roy, J. Kelly.A Smooth Representation of SO(3) for Deep Rotation Learningwith Uncertainty. Proceedings of Robotics Science and Systems. 2020.
  [ PDF, BibTex ]

  @InProceedings{vperetroukhin_rss20,
    author =   {V. Peretroukhin and M. Giamou and D. Rosen and W. N. Greene
                    and N. Roy and J. Kelly},
    title =    {A Smooth Representation of SO(3) for Deep Rotation Learning
                    with Uncertainty}, 
    booktitle =  {Proceedings of Robotics Science and Systems},
    year =   {2020},
    url = {http://groups.csail.mit.edu/rrg/papers/vperetroukhin-rss20.pdf}
  }
  
  

2019

• G. Flaspohler, V. Preston, A. P. M. Michel and Y. Girdhar, N. Roy.Information-Guided Robotic Maximum Seek-and-Sample in PartiallyObservable Continuous Environments. Robotics and Automation Letters (RA-L). 2019.
  [ PDF, BibTex ]

  @Article{Flaspohler2019RAL,
    author =   {G. Flaspohler and V. Preston and A. P. M. Michel and
  Y. Girdhar and N. Roy},
    title =    {Information-Guided Robotic Maximum Seek-and-Sample in Partially
  Observable Continuous Environments},
    journal =    {Robotics and Automation Letters (RA-L)},
    year =   {2019},
    volume =   {4},
    number =   {4},
    pages =  {3782-3789},
    url = {http://groups.csail.mit.edu/rrg/papers/flaspohler_preston_2019_ral.pdf}
  }
  
  
  

• Daehyung Park, Michael Noseworthy, Rohan Paul, Subhro Roy, Nicholas Roy.Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning. Proceedings of the 3rd Conference on Robot Learning (CoRL). 2019.
  [ PDF, BibTex ]

  @inproceedings{daehyung_corl19,
   title={Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning},
   author={Park, Daehyung and Noseworthy, Michael and Paul, Rohan and Roy, Subhro and Roy, Nicholas},
   booktitle={Proceedings of the 3rd Conference on Robot Learning (CoRL)},
   year={2019},
   url={http://groups.csail.mit.edu/rrg/papers/daehyung_corl_19.pdf}
  }
  
  

• Genevieve Flaspohler*, Victoria Preston*, Anna P. M. Michel, Yogesh Girdhar, Nicholas Roy.Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments. Robotics and Automation Letters (RA-L). 2019.
  [ PDF, BibTex ]

  @inproceedings{flaspo_preston_RAL19,
   title={Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments},
   author={Flaspohler*, Genevieve and Preston*, Victoria and Michel, Anna P. M. and Girdhar, Yogesh and Roy, Nicholas},
   booktitle={Robotics and Automation Letters (RA-L)},
   pages={3782--3789},
   year={2019},
   url={http://groups.csail.mit.edu/rrg/papers/flaspohler_preston_2019_ral.pdf}
  }
   
  

• Michael Noseworthy, Rohan Paul, Subhro Roy, Daehyung Park, Nicholas Roy.Task-Conditioned Variational Autoencoders for Learning Movement Primitives. Proceedings of the 3rd Conference on Robot Learning (CoRL). 2019.
  [ PDF, BibTex ]

  @inproceedings{noseworthy_corl19,
   title={Task-Conditioned Variational Autoencoders for Learning Movement Primitives},
   author={Noseworthy, Michael and Paul, Rohan and Roy, Subhro and Park, Daehyung and Roy, Nicholas},
   booktitle={Proceedings of the 3rd Conference on Robot Learning (CoRL)},
   year={2019},
   url={http://groups.csail.mit.edu/rrg/papers/noseworthy_corl_19.pdf}
  }
  
  

• Kyel Ok*, Katherine Liu*, Kris Frey, Jonathan P How, Nick Roy.Robust Object-based SLAM for High-speed Autonomous Navigation. 2019 International Conference on Robotics and Automation (ICRA). 2019.
  [ PDF, BibTex ]

  @inproceedings{ok_liu_icra19,
   title={Robust Object-based SLAM for High-speed Autonomous Navigation},
   author={Ok*, Kyel and Liu*, Katherine and Frey, Kris and How, Jonathan P and Roy, Nick},
   booktitle={2019 International Conference on Robotics and Automation (ICRA)},
   pages={669--675},
   year={2019},
   organization={IEEE},
   url={http://groups.csail.mit.edu/rrg/papers/OkLiu19icra.pdf}
  }
  
  

• Subhro Roy*, Michael Noseworthy*, Rohan Paul, Daehyung Park, Nicholas Roy.Leveraging Past References for Robust Language Grounding. Proceedings of the 23rd Conference on Computational Natural Language Learning (CoNLL). 2019.
  [ PDF, BibTex ]

  @inproceedings{roy_noseworthy_conll19,
   title={Leveraging Past References for Robust Language Grounding},
   author={Roy*, Subhro and Noseworthy*, Michael and Paul, Rohan and Park, Daehyung and Roy, Nicholas},
   booktitle={Proceedings of the 23rd Conference on Computational Natural Language Learning (CoNLL)},
   pages={430--440},
   year={2019},
   url={http://groups.csail.mit.edu/rrg/papers/roy_noseworthy_conll_19.pdf}
  }
  
  

• Markus Ryll, John Ware, John Carter, Nick Roy.Efficient Trajectory Planning for High Speed Flight in Unknown Environments. 2019 International Conference on Robotics and Automation (ICRA). 2019.
  [ PDF, Video, BibTex ]

  @inproceedings{ryll_ICRA19,
   title={Efficient Trajectory Planning for High Speed Flight in Unknown Environments},
   author={Ryll, Markus and Ware, John and Carter, John and Roy, Nick},
   booktitle={2019 International Conference on Robotics and Automation (ICRA)},
   pages={732--738},
   year={2019},
   organization={IEEE},
   url={http://groups.csail.mit.edu/rrg/papers/ryll19a.pdf},
   video = {http://groups.csail.mit.edu/rrg/papers/ryll19a.mp4}
  }
  

2018

• J. Arkin, R. Paul, D. Park, S. Roy, N. Roy, T. Howard.Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments. Proceedings of the International Symposium on Experimental Robotics (ISER). 2018.
  [ PDF, Video, BibTex ]

  @inproceedings{Arkin2018ISER,
    author =   {J. Arkin and R. Paul and D. Park and S. Roy and N. Roy and T. Howard},
    title =    {Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments},
    booktitle =    {Proceedings of the International Symposium on Experimental Robotics (ISER)},
    year =   {2018},
    pdf={https://www.cse.iitd.ac.in/~rohanpaul/content/Papers/2018ISER-interaction.pdf},
    video={https://www.youtube.com/watch?v=JTVJkJavU6g&t=13s}
  }
  
  

• K. Doherty, G. E. Flaspohler, N. Roy, Y. Girdhar.Approximate Distributed Spatiotemporal Topic Models for Multi-Robot Terrain Characterization. Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS). 2018.
  [ PDF, BibTex ]

  @InProceedings{Doherty2018IROS,
    author =   {K. Doherty and G. E. Flaspohler and N. Roy and Y. Girdhar},
    title =    {Approximate Distributed Spatiotemporal Topic Models for Multi-Robot Terrain Characterization},
    booktitle =    {Proceedings of the IEEE/RSJ International Conference on
  Intelligence Robots and Systems (IROS)},
    year =   {2018},
    pdf={https://people.csail.mit.edu/kdoherty/assets/docs/kdoherty_iros2018.pdf}
  }
  
  

• G. E. Flaspohler, N. Roy, Y. Girdhar.Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{Flaspohler2018ICRA,
    author =   {G. E. Flaspohler and N. Roy and Y. Girdhar},
    title =    {Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2018},
    url={https://arxiv.org/abs/1711.10945},
    video={https://www.youtube.com/watch?v=9gIfU5-CvE0}
  }
  
  

• C. Guan, W. Vega-Brown, N. Roy.Efficient Planning for Near-optimal Compliant Manipulation Leveraging Environmental Contact. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
  [ PDF, BibTex ]

  @InProceedings{Guan2018ICRA,
    author =   {C. Guan and W. Vega-Brown and N. Roy},
    title =    {Efficient Planning for Near-optimal Compliant Manipulation Leveraging Environmental Contact},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and
  Automation (ICRA)},
    year =   {2018},
    url={https://github.com/guanchar/guanchar.github.io/raw/master/data/ICRA18_0127.pdf}
  }
  
  

• K. Liu*, K. Ok*, W. Vega-Brown, N. Roy.Deep Inference for Covariance Estimation: Learning Gaussian Noise Models for State Estimation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{Liu2018ICRA,
    author =   {K. Liu* and K. Ok* and W. Vega-Brown and N. Roy},
    title =    {Deep Inference for Covariance Estimation: Learning Gaussian Noise Models for State Estimation},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2018},
    url = {https://ieeexplore.ieee.org/abstract/document/8461047},
    video={https://www.youtube.com/watch?v=GyapQn5Rhz0}
  }
  
  
  

• R. Paul, J. Arkin, D. Aksaray, N. Roy, T. Howard.Efficient Grounding Abstract Spatial Concepts for Natural Language Interaction with Robot Platforms. International Journal of Robotics Research (IJRR). 2018.
  [ PDF, BibTex ]

  @Article{Paul2018IJRR,
    author =   {R. Paul and J. Arkin and D. Aksaray and N. Roy and T. Howard},
    title =    {Efficient Grounding Abstract Spatial Concepts for Natural Language Interaction with Robot Platforms},
    journal =    {International Journal of Robotics Research (IJRR)},
    year =   {2018},
    volume =   {37},
    number =   {10},
    pages =  {1269-1299},
    url = {http://journals.sagepub.com/doi/abs/10.1177/0278364918777627}
  }
  
  
  
  

• G. J. Stein, N. Roy.GeneSIS-RT: Generating Synthetic Images for training Secondary Real-world Tasks. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{Stein2018ICRA,
    author =   {G. J. Stein and N. Roy},
    title =    {GeneSIS-RT: Generating Synthetic Images for training Secondary Real-world Tasks},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2018},
    url={https://arxiv.org/pdf/1710.04280.pdf},
    video={https://www.youtube.com/watch?v=xfcvT-TcjS8}
  }
  
  

• V. Vasilopoulos, W. Vega-Brown, O. Arslan, N. Roy, D. Koditschek.Sensor-Based Reactive Symbolic Planning in Partially Known Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{Vasilopoulos2018ICRA,
    author =   {V. Vasilopoulos and W. Vega-Brown and O. Arslan and N. Roy and D. Koditschek},
    title =    {Sensor-Based Reactive Symbolic Planning in Partially Known Environments},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2018},
    url={http://groups.csail.mit.edu/rrg/papers/vasilopoulos2018sensor_a.pdf},
    video={http://groups.csail.mit.edu/rrg/papers/vasilopoulos2018sensor_a.mp4}
  }
  
  

• D. Nyga, S. Roy, R. Paul, D. Park, M. Pomarlan, M. Beetz, N. Roy.Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge. Proceedings of the Conference on Robot Learning (CoRL). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{nyga2018grounding,
    author =   {D. Nyga and S. Roy and R. Paul and D. Park and M. Pomarlan and M. Beetz and N. Roy},
    title =    {Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge},
    booktitle =    {Proceedings of the Conference on Robot Learning (CoRL)},
    year =   {2018},
    url = {http://proceedings.mlr.press/v87/nyga18a/nyga18a.pdf},
    video = {https://www.youtube.com/watch?v=uWv-l7XMoB8&feature=youtu.be}
  }
   
  

• G. J. Stein*, C. Bradley*, N. Roy.Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments. Proceedings of the Conference on Robot Learning (CoRL). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{stein2018learning,
    author =   {G. J. Stein* and C. Bradley* and N. Roy},
    title =    {Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments},
    booktitle =    {Proceedings of the Conference on Robot Learning (CoRL)},
    year =   {2018},
    url = {http://proceedings.mlr.press/v87/stein18a/stein18a.pdf},
    video = {https://youtu.be/hmJ-LON5mQc}
  }
  
  

• Y. Tian, K. Liu, K. Ok, L. Tran, D. Allen, N. Roy, J. P. How.Search and Rescue under the Forest Canopy using Multiple UAS. Proceedings of the International Symposium on Experimental Robotics (ISER). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{tian2018search,
    author =   {Y. Tian and K. Liu and K. Ok and L. Tran and D. Allen and N. Roy and J. P. How},
    title =    {Search and Rescue under the Forest Canopy using Multiple UAS},
    booktitle =    {Proceedings of the International Symposium on Experimental Robotics (ISER)},
    year =   {2018},
    url={http://groups.csail.mit.edu/rrg/papers/tian_liu_ok_iser2018.pdf},
    video={https://www.youtube.com/watch?v=2hRNx_0SWGw}
  }
  
  

• V. Vasilopoulos, W. Vega-Brown, T. Topping, N. Roy, D. Koditschek.Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS). 2018.
  [ PDF, Video, BibTex ]

  @InProceedings{vasilopoulos2018sensor,
    author =   {V. Vasilopoulos and W. Vega-Brown and T. Topping and N. Roy and D. Koditschek},
    title =    {Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator},
    booktitle =    {Proceedings of the IEEE/RSJ International Conference on
  Intelligence Robots and Systems (IROS)},
    year =   {2018},
    url = {http://groups.csail.mit.edu/rrg/papers/vasilopoulos2018sensor_b.pdf},
    video= {http://groups.csail.mit.edu/rrg/papers/vasilopoulos2018sensor_b.mp4}
  }
  
  

• William Vega-Brown, Nicholas Roy.Admissible abstractions for near-optimal task and motion planning. Proceedings of the International Joint Conference on Artificial Intelligence. 2018.
  [ PDF, Compressed Postscript, BibTex ]

  @inproceedings{vega-brown_IJCAI18,
    title={Admissible abstractions for near-optimal task and motion planning},
    author={William Vega-Brown and Nicholas Roy},
    booktitle={Proceedings of the International Joint Conference on Artificial Intelligence},
    year={2018},
    address={Stockholm},
    url={http://groups.csail.mit.edu/rrg/papers/vega-brown18a.pdf},
    note={http://groups.csail.mit.edu/rrg/papers/vega-brown18b.pdf}
  }
  
  
  

2017

• Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar.Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017.
  [ PDF, BibTex ]

  @inproceedings{flaspohler2017feature,
    title={Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models},
    author={Flaspohler, Genevieve and Roy, Nicholas and Girdhar, Yogesh},
    booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={1--8},
    year={2017},
    organization={IEEE},
    url ={https://groups.csail.mit.edu/rrg/papers/flaspohler_iros17.pdf}
  }
  
  

• W Nicholas Greene, Nicholas Roy.FLaME: Fast lightweight mesh estimation using variational smoothing on delaunay graphs. Proceedings of the IEEE International Conference on Computer Vision. 2017.
  [ PDF, Video, BibTex ]

  @inproceedings{nicholas2017flame,
    title={FLaME: Fast lightweight mesh estimation using variational smoothing on delaunay graphs},
    author={Nicholas Greene, W and Roy, Nicholas},
    booktitle={Proceedings of the IEEE International Conference on Computer Vision},
    pages={4686--4694},
    year={2017},
    url={https://groups.csail.mit.edu/rrg/papers/greene_iccv17.pdf},
    video={https://www.youtube.com/watch?v=8Wrn1vA7sig&feature=youtu.be}
  }
  
  

• Rohan Paul, Andrei Barbu, Sue Felshin, Boris Katz, Nicholas Roy.Temporal grounding graphs for language understanding with accrued visual-linguistic context. Proceedings of the 26th International Joint Conference on Artificial Intelligence. 2017.
  [ PDF, BibTex ]

  @inproceedings{paul2017temporal,
    title={Temporal grounding graphs for language understanding with accrued visual-linguistic context},
    author={Paul, Rohan and Barbu, Andrei and Felshin, Sue and Katz, Boris and Roy, Nicholas},
    booktitle={Proceedings of the 26th International Joint Conference on Artificial Intelligence},
    pages={4506--4514},
    year={2017},
    url={https://groups.csail.mit.edu/rrg/papers/PaulBarbu-IJCAI17.pdf}
  }
  
  

• Charles Richter, Nicholas Roy.Safe visual navigation via deep learning and novelty detection. Robotics: Science and Systems. 2017.
  [ PDF, BibTex ]

  @article{richter2017safe,
    title={Safe visual navigation via deep learning and novelty detection},
    author={Richter, Charles and Roy, Nicholas},
    journal={Robotics: Science and Systems},
    year={2017},
    publisher={Robotics: Science and Systems Foundation},
    url={https://groups.csail.mit.edu/rrg/papers/richter_rss17.pdf}
  }
  
  

2016

• Felix Duvallet, Matthew R Walter, Thomas Howard, Sachithra Hemachandra, Jean Oh, Seth Teller, Nicholas Roy, Anthony Stentz.Inferring maps and behaviors from natural language instructions. Experimental Robotics: The 14th International Symposium on Experimental Robotics. 2016.
  [ PDF, BibTex ]

  @inproceedings{duvallet2016inferring,
    title={Inferring maps and behaviors from natural language instructions},
    author={Duvallet, Felix and Walter, Matthew R and Howard, Thomas and Hemachandra, Sachithra and Oh, Jean and Teller, Seth and Roy, Nicholas and Stentz, Anthony},
    booktitle={Experimental Robotics: The 14th International Symposium on Experimental Robotics},
    pages={373--388},
    year={2016},
    organization={Springer},
    url={https://people.csail.mit.edu/mwalter/papers/duvallet14.pdf}
  }
  
  

• W Nicholas Greene, Kyel Ok, Peter Lommel, Nicholas Roy.Multi-level mapping: Real-time dense monocular slam. 2016 IEEE International Conference on Robotics and Automation (ICRA). 2016.
  [ PDF, Video, BibTex ]

  @inproceedings{greene2016multi,
    title={Multi-level mapping: Real-time dense monocular slam},
    author={Greene, W Nicholas and Ok, Kyel and Lommel, Peter and Roy, Nicholas},
    booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={833--840},
    year={2016},
    organization={IEEE},
    url = {https://groups.csail.mit.edu/rrg/papers/greene_icra16.pdf},
    video = {https://www.youtube.com/watch?v=qk2ViPVxmq0&feature=youtu.be}
  }
  
  

• Kyel Ok, W Nicholas Greene, Nicholas Roy.Simultaneous tracking and rendering: Real-time monocular localization for MAVs. 2016 IEEE International Conference on Robotics and Automation (ICRA). 2016.
  [ PDF, BibTex ]

  @inproceedings{ok2016simultaneous,
    title={Simultaneous tracking and rendering: Real-time monocular localization for MAVs},
    author={Ok, Kyel and Greene, W Nicholas and Roy, Nicholas},
    booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={4522--4529},
    year={2016},
    organization={IEEE},
    url = {https://groups.csail.mit.edu/rrg/papers/Ok16icra.pdf}
  }
  
  

• Rohan Paul, Jacob Arkin, Nicholas Roy, Thomas M Howard.Efficient grounding of abstract spatial concepts for natural language interaction with robot manipulators. Robotics: Science and Systems. 2016.
  [ PDF, BibTex ]

  @article{paul2016efficient,
    title={Efficient grounding of abstract spatial concepts for natural language interaction with robot manipulators},
    author={Paul, Rohan and Arkin, Jacob and Roy, Nicholas and M Howard, Thomas},
    journal={Robotics: Science and Systems},
    year={2016},
    publisher={Robotics: Science and Systems Foundation},
    url={https://www.roboticsproceedings.org/rss12/p37.pdf}
  }
  
  

• Valentin Peretroukhin, William Vega-Brown, Nicholas Roy, Jonathan Kelly.PROBE-GK: Predictive robust estimation using generalized kernels. 2016 IEEE International Conference on Robotics and Automation (ICRA). 2016.
  [ PDF, BibTex ]

  @inproceedings{peretroukhin2016probe,
    title={PROBE-GK: Predictive robust estimation using generalized kernels},
    author={Peretroukhin, Valentin and Vega-Brown, William and Roy, Nicholas and Kelly, Jonathan},
    booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={817--824},
    year={2016},
    organization={IEEE},
    url={https://people.csail.mit.edu/wrvb/files/publications/peretroukhin2016probe-gk.pdf}
  }
  
  

• Charles Richter, Nicholas Roy.Learning to Plan for Visibility in Navigation of Unknown Environments. Proceedings of the International Symposium on Experimental Robotics (ISER 2016). 2016.
  [ PDF, BibTex ]

  @InProceedings{richter_iser16,
    author  = {Charles Richter and Nicholas Roy},
    title = {Learning to Plan for Visibility in Navigation of Unknown Environments},
    booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER 2016)},
    year  = {2016},
    address = {Tokyo},
    url = {http://groups.csail.mit.edu/rrg/papers/richter_iser16.pdf}
  }
  
  

• William Vega-Brown, Nicholas Roy.Asymptotically optimal planning under piecewise-analytic constraints. Workshop on the Algorithmic Foundations of Robotics. 2016.
  [ PDF, Compressed Postscript, BibTex ]

  @inproceedings{vega-brown_WAFR16,
    title={Asymptotically optimal planning under piecewise-analytic constraints},
    author={William Vega-Brown and Nicholas Roy},
    booktitle={Workshop on the Algorithmic Foundations of Robotics},
    year={2016},
    address={San Francisco, CA},
    url={https://groups.csail.mit.edu/rrg/papers/vega-brown_wafr16a.pdf},
    note={https://groups.csail.mit.edu/rrg/papers/vega-brown_wafr16b.pdf}
  }
  

• John Ware, Nicholas Roy.An analysis of wind field estimation and exploitation for quadrotor flight in the urban canopy layer. 2016 IEEE International Conference on Robotics and Automation (ICRA). 2016.
  [ PDF, BibTex ]

  @inproceedings{ware2016analysis,
    title={An analysis of wind field estimation and exploitation for quadrotor flight in the urban canopy layer},
    author={Ware, John and Roy, Nicholas},
    booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={1507--1514},
    year={2016},
    organization={IEEE},
    url={https://groups.csail.mit.edu/rrg/papers/ware_icra16.pdf}
  }
  
  

2015

• A. Bry, C. Richter, A. Bachrach, N. Roy.Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in Dense Indoor Environments. International Journal of Robotics Research (IJRR). 2015.
  [ PDF, BibTex ]

  @Article{BryIJRR2015,
    author =   {A. Bry and C. Richter and A. Bachrach and N. Roy},
    title =    {Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in Dense Indoor Environments},
    journal =    {International Journal of Robotics Research (IJRR)},
    year =   {2015},
    volume =   {37},
    number =   {7},
    pages =  {969-1002},
    month =  {June},
    url = {http://groups.csail.mit.edu/rrg/papers/BryIJRR15.pdf}
  }
  
  

• R. Knepper, S. Tellex, A. Li, N. Roy, D. Rus.Recovering from Failure by Asking for Help. Autonomous Robots. 2015.
  [ PDF, BibTex ]

  @Article{Knepper2015AR,
    author =   {R. Knepper and S. Tellex and A. Li and N. Roy and D. Rus},
    title =    {Recovering from Failure by Asking for Help},
    journal =    {Autonomous Robots},
    year =   {2015},
    volume =   {39},
    pages =  {347-362},
    month =  {November},
    url = {http://groups.csail.mit.edu/rrg/papers/KnepperAURO15.pdf}
  }
   
  
  

• M. Walter, M. Antone, E. Chuangsuwanich, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, Y. Friedman, J. Glass, J. How, J. Jeon, S. Karaman, B. Luders, N. Roy, S. Tellex, S. Teller.A Situationally Aware Voice-commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments. Journal of Field Robotics (JFR). 2015.
  [ PDF, BibTex ]

  @Article{WalterJFR2015,
    author =   {M. Walter and M. Antone and E. Chuangsuwanich and A. Correa and R. Davis and L. Fletcher and E. Frazzoli and Y. Friedman and J. Glass and J. How and J. Jeon and S. Karaman and B. Luders and N. Roy and S. Tellex and S. Teller},
    title =    {A Situationally Aware Voice-commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments},
    journal =    {Journal of Field Robotics (JFR)},
    year =   {2015},
    volume =   {32},
    number =   {4},
    pages =  {590-628},
    month =  {June},
    url = {https://people.csail.mit.edu/jrg/2015/Walter-Robotics15.pdf}
  }
  
  

• Sachithra Hemachandra, Felix Duvallet, Thomas M Howard, Nicholas Roy, Anthony Stentz, Matthew R Walter.Learning models for following natural language directions in unknown environments. 2015 IEEE International Conference on Robotics and Automation (ICRA). 2015.
  [ PDF, BibTex ]

  @inproceedings{hemachandra2015learning,
    title={Learning models for following natural language directions in unknown environments},
    author={Hemachandra, Sachithra and Duvallet, Felix and Howard, Thomas M and Roy, Nicholas and Stentz, Anthony and Walter, Matthew R},
    booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={5608--5615},
    year={2015},
    organization={IEEE},
    url={https://felixduvallet.github.io/pubs/2015-hemachandra-icra.pdf}
  }
  
  

• Kyel Ok, Dinesh Gamage, Tom Drummond, Frank Dellaert, Nicholas Roy.Monocular image space tracking on a computationally limited MAV. 2015 IEEE International Conference on Robotics and Automation (ICRA). 2015.
  [ PDF, BibTex ]

  @inproceedings{ok2015monocular,
    title={Monocular image space tracking on a computationally limited MAV},
    author={Ok, Kyel and Gamage, Dinesh and Drummond, Tom and Dellaert, Frank and Roy, Nicholas},
    booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={6415--6422},
    year={2015},
    organization={IEEE},
    url={https://dellaert.github.io/files/Ok15icra.pdf}
  }
  
  

• Charles Richter, William Vega-Brown, Nicholas Roy.Bayesian Learning for Safe High-Speed Navigation in Unknown Environments. Proceedings of the International Symposium on Robotics Research (ISRR 2015). 2015.
  [ PDF, BibTex ]

  @InProceedings{richter_isrr15,
    author  = {Charles Richter and William Vega-Brown and Nicholas Roy},
    title = {Bayesian Learning for Safe High-Speed Navigation in Unknown Environments},
    booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR 2015)},
    year  = {2015},
    address = {Sestri Levante, Italy},
    url = {http://groups.csail.mit.edu/rrg/papers/richter_isrr15.pdf}
  }
  
  

2014

• Thomas Howard, Stefanie Tellex, Nicholas Roy.A Natural Language Planner Interface for Mobile Manipulators. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014). 2014.
  [ PDF, BibTex ]

  @InProceedings{Howard_ICRA14,
    author = {Thomas Howard and Stefanie Tellex and Nicholas Roy},
    title = {A Natural Language Planner Interface for Mobile Manipulators},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014)},
    year = {2014},
    address = {Hong Kong},
    url={http://groups.csail.mit.edu/rrg/papers/Howard_ICRA14.pdf}
  }
  
  

• J. Kelly, N. Roy, G. Sukhatme.Determining the Time Delay Between Inertial and Visual Sensor Measurements. IEEE Transactions on Robotics. 2014.
  [ PDF, BibTex ]

  @Article{Kelly2014TRO,
    author =   {J. Kelly and N. Roy and G. Sukhatme},
    title =    {Determining the Time Delay Between Inertial and Visual Sensor Measurements},
    journal =    {IEEE Transactions on Robotics},
    year =   {2014},
    volume =   {30},
    number =   {6},
    pages =  {1514-1523},
    month =  {December},
    url = {https://ieeexplore.ieee.org/abstract/document/6880764/}
  }
  
  

• Charles Richter, John Ware, Nicholas Roy.High-Speed Autonomous Navigation of Unknown Environments using Learned Probabilities of Collision. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014). 2014.
  [ PDF, BibTex ]

  @InProceedings{Richter_ICRA14,
    author  = {Charles Richter and John Ware and Nicholas Roy},
    title = {High-Speed Autonomous Navigation of Unknown Environments using Learned Probabilities of Collision},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014)},
    year  = {2014},
    address = {Hong Kong},
    url={http://groups.csail.mit.edu/rrg/papers/Richter_ICRA14.pdf}
  }
  
  

• J. Ryan, A. Banerjee, M. Cummings, N Roy.Comparing the performance of expert user heuristics and an integer linear program in aircraft carrier deck operations. IEEE Transactions on Cybernetics. 2014.
  [ PDF, BibTex ]

  @Article{Ryan2014Cyber,
    author =   {J. Ryan and A. Banerjee and M. Cummings and N Roy},
    title =    {Comparing the performance of expert user heuristics and an integer linear program in aircraft carrier deck operations},
    journal =    {IEEE Transactions on Cybernetics},
    year =   {2014},
    volume =   {44},
    number =   {6},
    pages =  {761-773},
    month =  {June},
    url = {https://dspace.mit.edu/handle/1721.1/90332}
  }
  
  

• S. Tellex, P. Thaker, J. Joseph, N. Roy.Learning Perceptually Grounded Word Meanings From Unaligned Parallel Data. Machine Learning Journal. 2014.
  [ PDF, BibTex ]

  @Article{Tellex2014MLJ,
    author =   {S. Tellex and P. Thaker and J. Joseph and N. Roy},
    title =    {Learning Perceptually Grounded Word Meanings From Unaligned Parallel Data},
    journal =    {Machine Learning Journal},
    year =   {2014},
    volume =   {94},
    number =   {2},
    pages =  {151-167},
    month =  {February},
    url = {http://groups.csail.mit.edu/rrg/papers/TellexMLJ14.pdf}
  }
  
  

• Maurice F Fallon, Matthew Antone, Nicholas Roy, Seth Teller.Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. 2014 IEEE-RAS International Conference on Humanoid Robots. 2014.
  [ PDF, BibTex ]

  @inproceedings{fallon2014drift,
    title={Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing},
    author={Fallon, Maurice F and Antone, Matthew and Roy, Nicholas and Teller, Seth},
    booktitle={2014 IEEE-RAS International Conference on Humanoid Robots},
    pages={112--119},
    year={2014},
    organization={IEEE},
    url={https://groups.csail.mit.edu/robotics-center/public_papers/Fallon14a.pdf}
  }
  
  

• Stefanie Tellex, Ross Knepper, Adrian Li, Daniela Rus, Nicholas Roy.Asking for help using inverse semantics. Robotics: Science and Systems. 2014.
  [ PDF, BibTex ]

  @article{tellex2014asking,
    title={Asking for help using inverse semantics},
    author={Tellex, Stefanie and Knepper, Ross and Li, Adrian and Rus, Daniela and Roy, Nicholas},
    journal={Robotics: Science and Systems},
    year={2014},
    publisher={Robotics: Science and Systems Foundation},
    url={https://groups.csail.mit.edu/rrg/papers/Tellex_RSS2014.pdf}
  }
  
  

• William R Vega-Brown, Marek Doniec, Nicholas G Roy.Nonparametric Bayesian inference on multivariate exponential families. Advances in Neural Information Processing Systems. 2014.
  [ PDF, BibTex ]

  @article{vega2014nonparametric,
    title={Nonparametric Bayesian inference on multivariate exponential families},
    author={Vega-Brown, William R and Doniec, Marek and Roy, Nicholas G},
    journal={Advances in Neural Information Processing Systems},
    volume={27},
    year={2014},
    url={https://groups.csail.mit.edu/rrg/papers/VegaBrown_NIPS2014.pdf}
  }
  
  

2013

• R. Deits, S. Tellex, P. Thaker, D. Simeonov, T. Kollar, N. Roy.Clarifying Commands with Information-Theoretic Human-Robot Dialog. Journal of Human-Robot Interaction. 2013.
  [ PDF, BibTex ]

  @Article{Deits2013JHRI,
    author =   {R. Deits and S. Tellex and P. Thaker and D. Simeonov and T. Kollar and N. Roy},
    title =    {Clarifying Commands with Information-Theoretic Human-Robot Dialog},
    journal =    {Journal of Human-Robot Interaction},
    year =   {2013},
    volume =   {2},
    number =   {2},
    pages =  {58-79},
    url = {https://people.csail.mit.edu/stefie10/publications/deits13.pdf}
  }
  
  

• P. Espinace, T. Kollar, N. Roy, A. Soto.Indoor scene recognition by a mobile robot through adaptive object detection. Robots and Autonomous Systems. 2013.
  [ PDF, BibTex ]

  @Article{Espinace2013RAS,
    author =   {P. Espinace and T. Kollar and N. Roy and A. Soto},
    title =    {Indoor scene recognition by a mobile robot through adaptive object detection},
    journal =    {Robots and Autonomous Systems},
    year =   {2013},
    volume =   {61},
    number =   {9},
    pages =  {932-937},
    month =  {September},
    url = {http://groups.csail.mit.edu/rrg/papers/espinaceRAS13.pdf}
  }
  
  

• A. Geramifard, T. Walsh, S. Tellex, G. Chowdhary, N. Roy, J. How.A Tutorial on Linear Function Approximators for Dynamic Programming andReinforcement Learning. Foundations and Trends in Machine Learning. 2013.
  [ PDF, BibTex ]

  @Article{Geramifard2013FTML,
    author =   {A. Geramifard and T. Walsh and S. Tellex and G. Chowdhary and N. Roy and J. How},
    title =    {A Tutorial on Linear Function Approximators for Dynamic Programming and
  Reinforcement Learning},
    journal =    {Foundations and Trends in Machine Learning},
    year =   {2013},
    volume =   {6},
    number =   {4},
    pages =  {375-451},
    url = {https://dl.acm.org/doi/abs/10.1561/2200000042}
  }
  
  

• Charles Richter, Adam Bry, Nicholas Roy.Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments. Proceedings of the International Symposium of Robotics Research (ISRR 2013). 2013.
  [ PDF, BibTex ]

  @InProceedings{Richter_ISRR13,
    author  = {Charles Richter and Adam Bry and Nicholas Roy},
    title = {Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments},
    booktitle = {Proceedings of the International Symposium of Robotics Research (ISRR 2013)},
    year  = {2013},
    address = {Singapore},
    url = {http://groups.csail.mit.edu/rrg/papers/Richter_ISRR13.pdf}
  }
  
  

• Georges Aoude and Brandon Luders and Joshua Joseph and Nicholas Roy and Jonathan P. How.Probabilistically safe motion planning to avoid dynamicobstacles with uncertain motion patterns. Auton. Robots. 2013.
  [ PDF, BibTex ]

  @article{aoudeLJRH13,
    author    = {Georges Aoude and
                 Brandon Luders and
                 Joshua Joseph and
                 Nicholas Roy and
                 Jonathan P. How},
    title     = {Probabilistically safe motion planning to avoid dynamic
                 obstacles with uncertain motion patterns},
    journal   = {Auton. Robots},
    volume    = {35},
    number    = {1},
    year      = {2013},
    pages     = {51-76},
    url  = {http://groups.csail.mit.edu/rrg/papers/aoudeLJRH13.pdf}
  }
  
  

• Mario Bollini, Stefanie Tellex, Tyler Thompson, Nicholas Roy, Daniela Rus.Interpreting and executing recipes with a cooking robot. Experimental Robotics: The 13th International Symposium on Experimental Robotics. 2013.
  [ PDF, BibTex ]

  @inproceedings{bollini2013interpreting,
    title={Interpreting and executing recipes with a cooking robot},
    author={Bollini, Mario and Tellex, Stefanie and Thompson, Tyler and Roy, Nicholas and Rus, Daniela},
    booktitle={Experimental Robotics: The 13th International Symposium on Experimental Robotics},
    pages={481--495},
    year={2013},
    organization={Springer},
    url={http://static.cs.brown.edu/people/stellex/publications/bollini12.pdf}
  }
  
  

• Alborz Geramifard, Thomas J Walsh, Nicholas Roy, Jonathan P How.Batch-iFDD for Representation Expansion in Large MDPs. Uncertainty in Artificial Intelligence. 2013.
  [ PDF, BibTex ]

  @inproceedings{geramifard2013batch,
    title={Batch-iFDD for Representation Expansion in Large MDPs},
    author={Geramifard, Alborz and Walsh, Thomas J and Roy, Nicholas and How, Jonathan P},
    booktitle={Uncertainty in Artificial Intelligence},
    pages={242},
    year={2013},
    organization={Citeseer},
    url={https://people.csail.mit.edu/agf/Files/13UAI-BatchiFDD.pdf}
  }
  
  

• J. Joseph, A. Geramifard, W. Roberts, J. How, N. Roy.Reinforcement Learning with Misspecified Model Classes. IEEE International Conference on Robotics and Automation (ICRA). 2013.
  [ PDF, BibTex ]

  @inproceedings{josephICRA13,
    Author = {J. Joseph and A. Geramifard and W. Roberts and J. How and N. Roy},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Title = {{Reinforcement Learning with Misspecified Model Classes}},
    Year = {2013},
    url={http://groups.csail.mit.edu/rrg/papers/josephICRA13.pdf}
  }
  
  

• Stefanie Tellex, Pratiksha Thaker, Robin Deits, Dimitar Simeonov, Thomas Kollar, Nicholas Roy.Toward information theoretic human-robot dialog. Robotics: Science and Systems. 2013.
  [ PDF, BibTex ]

  @article{tellex2013toward,
    title={Toward information theoretic human-robot dialog},
    author={Tellex, Stefanie and Thaker, Pratiksha and Deits, Robin and Simeonov, Dimitar and Kollar, Thomas and Roy, Nicholas},
    year={2013},
    journal={Robotics: Science and Systems},
    publisher={Robotics: Science and Systems Foundation},
    url={https://www.roboticsproceedings.org/rss08/p52.pdf}
  }
  
  

• William Vega-Brown, Abraham Bachrach, Adam Bry, Jonathan Kelly, and Nicholas Roy.CELLO: A Fast Algorithm for Covariance Estimation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013). 2013.
  [ PDF, BibTex ]

  @InProceedings{vegabrownICRA13,
    author =       {William Vega-Brown and Abraham Bachrach and Adam Bry and Jonathan Kelly and and Nicholas Roy},
    title =        {CELLO: A Fast Algorithm for Covariance Estimation},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics
  and Automation (ICRA 2013)},
    year =         {2013},
    address =      {Karlsruhe, Germany},
    url = {http://groups.csail.mit.edu/rrg/papers/vegabrown_icra13.pdf}
  }
  
  

2012

• M. Cummings, J. Marquez, N. Roy.Human-Automated Path Planning Optimization and Decision Support. International Journal of Human-Computer Studies. 2012.
  [ PDF, BibTex ]

  @Article{Cummings12,
    author =   {M. Cummings and J. Marquez and N. Roy},
    title =    {Human-Automated Path Planning Optimization and Decision Support},
    journal =  {International Journal of Human-Computer Studies},
    year =   {2012},
    volume =   {70},
    number =   {2},
    month =  {Feb.},
    pages =        {116-128},
    url = {http://groups.csail.mit.edu/rrg/papers/PATH-AUG2011.pdf}
  }
  
  

• F. Doshi-Velez, D. Pfau, N. Roy.Bayesian Nonparametric Methods for Partially-Observable Reinforcement Learning. IEEE Transactions on Pattern Analysis and Machine Intelligence. 2012.
  [ PDF, BibTex ]

  @Article{Doshi-Velez2015PAMI,
    author =   {F. Doshi-Velez and D. Pfau and N. Roy},
    title =    {Bayesian Nonparametric Methods for Partially-Observable Reinforcement Learning},
    journal =    {IEEE Transactions on Pattern Analysis and Machine Intelligence},
    year =   {2012},
    month =  {August},
    url = {https://scholar.harvard.edu/files/finale/files/doshi-velez-tpami-2013.pdf}
  }
  
  

• F. Doshi-Velez, J. Pineau, N. Roy.Reinforcement Learning with Limited Reinforcement: UsingBayes Risk for Active Learning in POMDPs. Artificial Intelligence Journal. 2012.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Doshi12AIJ,
    author =   {F. Doshi-Velez and J. Pineau and N. Roy},
    title =    {Reinforcement Learning with Limited Reinforcement: Using
                    Bayes Risk for Active Learning in POMDPs},
    journal =    {Artificial Intelligence Journal},
    year =   {2012},
    volume =   {187-188},
    pages =  {115-132},
    month =  {August},
    note = {http://groups.csail.mit.edu/rrg/papers/icml08-fd.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icml08-fd.pdf}
  }
  
  

• F. Doshi-Velez, W. Li, Y. Battat, B. Charrow and D. Curtis, J. Park, S. Hemachandra, J. Velez, C. Walsh and D. Fredette, B. Reimer, N. Roy, S. Teller.Improving Safety and Operational Efficiency inResidential Care Settings With WiFi-Based Localization. Journal of the American Medical Directors Association. 2012.
  [ PDF, BibTex ]

  @Article{JAMDA2012,
    author =       {F. Doshi-Velez and W. Li and Y. Battat and B. Charrow
  and D. Curtis and J. Park and S. Hemachandra and J. Velez and C. Walsh
  and D. Fredette and B. Reimer and N. Roy and S. Teller},
    title =        {Improving Safety and Operational Efficiency in
  Residential Care Settings With WiFi-Based Localization},
    journal =      {Journal of the American Medical Directors Association},
    year =         {2012},
    volume =       {13},
    issue =        {6},
    pages =        {558-563},
    month =        {August},
    url = {http://groups.csail.mit.edu/rrg/papers/JAMDA2012.pdf}
  }
  
  

• Abraham Bachrach, Samuel Prentice, Ruijie He, Peter Henry, Albert S Huang, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy.Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments. The International Journal of Robotics Research. 2012.
  [ PDF, BibTex ]

  @article{bachrach2012estimation,
    title={Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments},
    author={Bachrach, Abraham and Prentice, Samuel and He, Ruijie and Henry, Peter and Huang, Albert S and Krainin, Michael and Maturana, Daniel and Fox, Dieter and Roy, Nicholas},
    journal={The International Journal of Robotics Research},
    volume={31},
    number={11},
    pages={1320--1343},
    year={2012},
    publisher={Sage Publications Sage UK: London, England},
    url={https://groups.csail.mit.edu/rrg/papers/ijrr11-brm.pdf}
  }
  
  

• Adam Bry, Abraham Bachrach, Nicholas Roy.State Estimation for Aggressive Flight in GPS-DeniedEnvironments Using Onboard Sensing. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012). 2012.
  [ PDF, BibTex ]

  @InProceedings{bryICRA12,
    author =       {Adam Bry and Abraham Bachrach and Nicholas Roy},
    title =        {State Estimation for Aggressive Flight in GPS-Denied
  Environments Using Onboard Sensing},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics
  and Automation (ICRA 2012)},
    year =         {2012},
    address =      {St Paul, MN},
    url = {http://groups.csail.mit.edu/rrg/papers/icra12_aggressive_flight.pdf}
  }
  
  

• Alborz Geramifard, Joshua D Redding, Joshua Joseph, Nicholas Roy, Jonathan P How.Model estimation within planning and learning. 2012 American Control Conference (ACC). 2012.
  [ PDF, BibTex ]

  @inproceedings{geramifard2012model,
    title={Model estimation within planning and learning},
    author={Geramifard, Alborz and Redding, Joshua D and Joseph, Joshua and Roy, Nicholas and How, Jonathan P},
    booktitle={2012 American Control Conference (ACC)},
    pages={793--799},
    year={2012},
    organization={IEEE},
    url={https://groups.csail.mit.edu/rrg/papers/12ACC-AdaptiveModel.pdf}
  }
  
  
  
  

• Joshua Joseph, Finale Doshi-Velez, Nicholas Roy.A Bayesian Nonparametric Approach to Modeling Battery Health. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012). 2012.
  [ PDF, BibTex ]

  @InProceedings{josephICRA12,
    author =       {Joshua Joseph and Finale Doshi-Velez and Nicholas Roy},
    title =        {A Bayesian Nonparametric Approach to Modeling Battery Health},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics
  and Automation (ICRA 2012)},
    year =         {2012},
    address =      {St Paul, MN},
    url = {http://groups.csail.mit.edu/rrg/papers/icra12_battery_modeling.pdf}
  }
  
  

• Jessica Marquez, M Cummings, Nicholas Roy, Maithilee Kunda, Dava Newman.Collaborative human-computer decision support for planetary surface traversal. Infotech at Aerospace. 2012.
  [ PDF, BibTex ]

  @inproceedings{marquez2012collaborative,
    title={Collaborative human-computer decision support for planetary surface traversal},
    author={Marquez, Jessica and Cummings, M and Roy, Nicholas and Kunda, Maithilee and Newman, Dava},
    booktitle={Infotech at Aerospace},
    pages={6993},
    year={2012},
    pdf={https://groups.csail.mit.edu/rrg/papers/MarquezAIAAPaper.pdf}
  }
  
  

2011

• Alborz Geramifard, Finale Doshi, Josh Redding, Nicholas Roy, Jonathan P. How.Incremental Feature Dependency Discovery. Proceedings of the 23rd International Conference on Machine Learning (ICML) [Acceptance 26\%]. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @inproceedings{11icml-iFDD,
    Author = {Alborz Geramifard and Finale Doshi and Josh Redding and Nicholas Roy and Jonathan P. How},
    Booktitle = {Proceedings of the 23rd International Conference on Machine Learning (ICML) [Acceptance 26\%]},
    Title = {Incremental Feature Dependency Discovery},
    Year = {2011},
    url = {http://groups.csail.mit.edu/rrg/papers/iFDD-Final.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/iFDD-Final.ps.gz}
  }
  
  

• S. Tellex, T. Kollar, S. Dickerson, M. R. Walter, A. G. Banerjee, S. Teller, N. Roy.Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation. Proceedings of the National Conference on Artificial Intelligence (AAAI). 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{AAAI11Tellex,
    author =   {S. Tellex and T. Kollar and S. Dickerson and M.  R. Walter and A. G. Banerjee and S. Teller and N. Roy},
    title =    {Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation},
    booktitle =  {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
    year =   {2011},
    address =  {San Francisco, CA},
    note = {http://groups.csail.mit.edu/rrg/papers/tellex11.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/tellex11.pdf}
  }
  
  

• Albert S.~Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy.Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera. Proceedings of the International Symposium of Robotics Research (ISRR). 2011.
  [ PDF, BibTex ]

  @InProceedings{AHuangISRR11,
    author =   {Albert S.~Huang and Abraham Bachrach and Peter Henry and Michael Krainin and Daniel Maturana and Dieter Fox and Nicholas Roy},
    title =    {Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera},
    booktitle =  {Proceedings of the International Symposium of Robotics Research (ISRR)},
    year =   {2011},
    address =  {Flagstaff, AZ},
    url = {http://groups.csail.mit.edu/rrg/papers/isrr11-ah.pdf}
  }
  
  

• G. Aoude, J. Joseph, N. Roy, J. How.Mobile Agent Trajectory Prediction using Bayesian Nonparametric Reachability Trees. Proceedings of AIAA Infotech at Aerospace. 2011.
  [ PDF, BibTex ]

  @InProceedings{Aoude11AIAA,
    author =       {G. Aoude and J. Joseph and N. Roy and J. How},
    title =        {Mobile Agent Trajectory Prediction using Bayesian Nonparametric Reachability Trees},
    booktitle =    {Proceedings of AIAA Infotech at Aerospace},
    year =         {2011},
    address =      {St. Louis, MO},
    url = {http://groups.csail.mit.edu/rrg/papers/Aoude_Infotech11.pdf}
  }
  
  
  

• A. Bachrach, S. Prentice, R. He, N. Roy.RANGE - Robust Autonomous Navigation in GPS-denied Environments. Journal of Field Robotics. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @article{BachrachJFR11,
     AUTHOR = {A. Bachrach and S. Prentice and R. He and N. Roy},
     TITLE  ={RANGE - Robust Autonomous Navigation in GPS-denied Environments},
     journal = {Journal of Field Robotics},
     YEAR = {2011},
     VOLUME = {28},
     NUMBER = {5},
     PAGES = {644-666},
     MONTH = {September},
     NOTE = {http://groups.csail.mit.edu/rrg/papers/jfr-mav-11.ps.gz},
     URL = {http://groups.csail.mit.edu/rrg/papers/jfr-mav-11.pdf}
     }
  
  

• A. G. Banerjee, M. Ono, N. Roy, B. C. Williams.Regression-based LP Solver for Chance-Constrained Finite Horizon Optimal Control with Nonconvex Constraints. Proceedings of the American Control Conference. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Banerjee11ACC,
    author =       {A. G. Banerjee and M. Ono and N. Roy and B. C. Williams},
    title =        {Regression-based {LP} Solver for Chance-Constrained Finite Horizon Optimal Control with Nonconvex Constraints},
    booktitle =    {Proceedings of the American Control Conference},
    year =         {2011},
    address =      {San Francisco, CA},
    note = {http://groups.csail.mit.edu/rrg/papers/ashis_ACC11.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ashis_ACC11.pdf}
  }
  
  

• Y. Boussemart, M. L. Cummings, J. Las Fargeas, N. Roy.Supervised vs. Unsupervised Learning for Operator State Modelingin Unmanned Vehicle Settings. Journal of Aerospace Computing, Information, and Communication (1542-9423). 2011.
  [ PDF, BibTex ]

  @article{Boussemart11JACIC,
     AUTHOR = {Y. Boussemart and M. L. Cummings and J. Las Fargeas and N. Roy},
     TITLE  ={Supervised vs. Unsupervised Learning for Operator State Modeling
                    in Unmanned Vehicle Settings},
     journal = {Journal of Aerospace Computing, Information, and Communication (1542-9423)},
     YEAR = {2011},
     VOLUME = {8},
     NUMBER = {3},
     PAGES = {71-85},
     URL = {http://groups.csail.mit.edu/rrg/papers/AIAA-46767-263.pdf}
     }
  
  

• A. Bry, N. Roy.Rapidly-exploring Random Belief Trees for Motion Planning Under Uncertainty. Proceedings of the IEEE International Conference on Robotics and Automation. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Bry11ICRA,
    author =       {A. Bry and N. Roy},
    title =        {Rapidly-exploring Random Belief Trees for Motion Planning Under Uncertainty},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation},
    year =         {2011},
    address =      {Shanghai, China},
    note = {http://groups.csail.mit.edu/rrg/papers/abry_icra11.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/abry_icra11.pdf}
  }
  
  

• A. Geramifard, J. Redding, N. Roy, J. P. How.UAV Cooperative Control with Stochastic Risk Models. Proceedings of the American Control Conference (ACC). 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @inproceedings{Geramifard11ACC, 
          author = {A. Geramifard and J. Redding and N. Roy and J. P. How},
          title = {{UAV} Cooperative Control with Stochastic Risk Models},
          booktitle =    {Proceedings of the American Control Conference (ACC)},
          year =         {2011},
          address =      {San Francisco, CA},
          note = {http://groups.csail.mit.edu/rrg/papers/ageramifard_ACC11.ps.gz},
          url = {http://groups.csail.mit.edu/rrg/papers/ageramifard_ACC11.pdf}
  }
  
  
  

• R. He, E. Brunskill, N. Roy.Efficient Planning under Uncertainty with Macro-actions. Journal of Artificial Intelligence Research. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{He11JAIR,
    author =   {R. He and E. Brunskill and N. Roy},
    title =    {Efficient Planning under Uncertainty with Macro-actions},
    journal =    {Journal of Artificial Intelligence Research},
    year =   {2011},
    volume =       {40},
    pages =        {523-570},
    month =        {February},
    note = {http://groups.csail.mit.edu/rrg/papers/jair11-rjeb.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/jair11-rjeb.pdf}
  }
  
  

• J. C. Ryan, M. L. Cummings, N. Roy, A. Banerjee, A. Schulte.Designing an Interactive Local and Global Decision Support System for Aircraft Carrier Deck Scheduling. Proceedings of AIAA Infotech at Aerospace. 2011.
  [ PDF, BibTex ]

  @InProceedings{Jason11AIAA,
    author =       {J. C. Ryan and M. L. Cummings and N. Roy and A. Banerjee and A. Schulte},
    title =        {Designing an Interactive Local and Global Decision Support System for Aircraft Carrier Deck Scheduling},
    booktitle =    {Proceedings of AIAA Infotech at Aerospace},
    year =         {2011},
    address =      {St. Louis, MO},
    url = {http://groups.csail.mit.edu/rrg/papers/Ryan_Infotech11.pdf}
  }
  
  

• J. Joseph, F. Doshi-Velez, A. Huang, N. Roy.A Bayesian Nonparametric Approach to Modeling Motion Patterns. Autonomous Robots. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Joseph11AURO,
    author =   {J. Joseph and F. Doshi-Velez and A. Huang and N. Roy},
    title =    {A Bayesian Nonparametric Approach to Modeling Motion Patterns},
    journal =  {Autonomous Robots},
    year =   {2011},
    volume =   {31},
    number =   {4},
    month =  {Nov.},
    pages =        {383-400},
    url = {http://groups.csail.mit.edu/rrg/papers/auro11-jj.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/auro11-jj.ps.gz}
  }
  
  

• B. Reimer, B. Mehler, J. Coughlin, N. Roy, J. Dusek.The impact of a naturalistic hands-free cellular phone task on heart rate and simulated driving performance in two age groups. Transportation Research Part F: Traffic Psychology and Behaviour. 2011.
  [ BibTex ]

  @Article{Reimer10TRF,
    author =   {B. Reimer and B. Mehler and J. Coughlin and N. Roy and J. Dusek},
    title =    {The impact of a naturalistic hands-free cellular phone task on heart rate and simulated driving performance in two age groups},
    journal =    {Transportation Research Part F: Traffic Psychology and Behaviour},
    year =   {2011},
  }
  
  

• B. Reimer, B. Mehler, J. Coughlin, N. Roy, J. Dusek.The impact of a naturalistic hands-free cellular phone taskon heart rate and simulated driving performance intwo age groups. Transportation Research Part F: Traffic Psychology and Behaviour. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @article{Reimer11TRF,
    author =   {B. Reimer and B. Mehler and J. Coughlin and N. Roy and J. Dusek},
    title =    {The impact of a naturalistic hands-free cellular phone task
                    on heart rate and simulated driving performance in
                    two age groups},
    journal =    {Transportation Research Part F: Traffic Psychology and
                    Behaviour},
    volume =       {14},
    number =       {1},
    pages =        {13-25},
    month =        {January},
    year =   {2011},
    note = {http://groups.csail.mit.edu/rrg/papers/trf10-br.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/trf10-br.pdf}
  }
  
  

• Stephanie Gil, Samuel Prentice, Nicholas Roy, Daniela Rus.Decentralized Control for Optimizing Communication with Infeasible Regions. Proceedings of the International Symposium of Robotics Research (ISRR). 2011.
  [ PDF, BibTex ]

  @InProceedings{SGilISRR11,
    author =   {Stephanie Gil and Samuel Prentice and Nicholas Roy and Daniela Rus},
    title =    {Decentralized Control for Optimizing Communication with Infeasible Regions},
    booktitle = {Proceedings of the International Symposium of Robotics Research (ISRR)},
    year =   {2011},
    address =  {Flagstaff, AZ},
    url = {https://people.csail.mit.edu/prentice/papers/isrr11-gil.pdf}
  }
  
  
  

• S. Hemachandra, T. Kollar, N. Roy, S. Teller.Following and Interpreting Narrated Guided Tours. Proceedings of the IEEE International Conference on Robotics and Automation. 2011.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Sachi11ICRA,
    author =       {S. Hemachandra and T. Kollar and N. Roy and S. Teller},
    title =        {Following and Interpreting Narrated Guided Tours},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation},
    year =         {2011},
    address =      {Shanghai, China},
    note = {http://groups.csail.mit.edu/rrg/papers/sachi_icra11.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/sachi_icra11.pdf}
  }
  
  

• S. Tellex,  T. Kollar,  S. Dickerson,  M. R. Walter,  A. G. Banerjee,  S. Teller,  N. Roy .Approaching the Symbol Grounding Problem with Probabilistic Graphical Models. AI Magazine. 2011.
  [ PDF, BibTex ]

  @article{Tellex11a,
  author = {S. Tellex and  T. Kollar and  S. Dickerson and  M. R. Walter and  A. G. Banerjee and  S. Teller and  N. Roy },
  title={Approaching the Symbol Grounding Problem with Probabilistic Graphical Models},
  journal={AI Magazine},
  volume={32},
  number={4},
  pages={64--76},
  year={2011},
  url={http://groups.csail.mit.edu/rrg/papers/tellex12-ai.pdf}
  }
  
  

• J. Velez, G. Hemann, A. Huang, I. Posner, N. Roy.Planning to Perceive: Exploiting Mobility for Robust Object Detection. Proceedings of the International Conference on Automated Planning and Scheduling. 2011.
  [ PDF, BibTex ]

  @InProceedings{Velez11ICAPS,
    author =       {J. Velez and G. Hemann and A. Huang and I. Posner and N. Roy},
    title =        {Planning to Perceive: Exploiting Mobility for Robust Object Detection},
    booktitle =    {Proceedings of the International Conference on Automated Planning and Scheduling},
    year =         {2011},
    address =      {Freiburg, Germany},
    url = {http://groups.csail.mit.edu/rrg/papers/velezj_icaps11.pdf}
  }
  
  

• J. Velez, G. Hemann, A. Huang, I. Posner, N. Roy.Active Exploration for Robust Object Detection. Proceedings of the Joint Conference on Artificial Intelligence. 2011.
  [ PDF, BibTex ]

  @InProceedings{Velez11IJCAI,
    author =       {J. Velez and G. Hemann and A. Huang and I. Posner and N. Roy},
    title =        {Active Exploration for Robust Object Detection},
    booktitle =    {Proceedings of the Joint Conference on Artificial Intelligence},
    year =         {2011},
    address =      {Barcelona, Spain},
    url = {http://groups.csail.mit.edu/rrg/papers/velezj_ijcai11.pdf}
  }
  
  

2010

• Emma Brunskill, Leslie Kaelbling, Tom\'as Lozano-P\'erez, Nicholas Roy.Planning in partially-observable switching-mode continuous domains. Annals of Mathematics and Artificial Intelligence. 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @article{Brunskill10AMAI,
     author = {Emma Brunskill and Leslie Kaelbling and Tom\'as Lozano-P\'erez and Nicholas Roy},
     title = {Planning in partially-observable switching-mode continuous domains},
     journal = {Annals of Mathematics and Artificial Intelligence},
     publisher = {Springer Netherlands},
     pages = {1-32},
     year = {2010},
     note = {http://groups.csail.mit.edu/rrg/papers/amai10-eb.ps.gz},
     url = {http://groups.csail.mit.edu/rrg/papers/amai10-eb.pdf}
  }
  
  

• F. Doshi, D. Wingate, J. Tenenbaum, N. Roy.Nonparametric Bayesian Policy Priors for Reinforcement Learning. Neural Information Processing Systems (NIPS). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Doshi10NIPS,
  author={F. Doshi and D. Wingate and J. Tenenbaum and N. Roy},
  booktitle={Neural Information Processing Systems (NIPS)},
  title={Nonparametric Bayesian Policy Priors for Reinforcement Learning},
  address={Vancouver, Canada},
  year={2010},
  month={December},
  note = {http://groups.csail.mit.edu/rrg/papers/fdoshi_nips2010.ps.gz},
  url = {http://groups.csail.mit.edu/rrg/papers/fdoshi_nips2010.pdf}
  }
  
  

• P. Espinace, T. Kollar, A. Soto, N. Roy.Indoor Scene Recognition Through Object Detection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Espinace10ICRA,
    author =   {P. Espinace and T. Kollar and A. Soto and N. Roy},
    title =    {Indoor Scene Recognition Through Object Detection},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2010},
    address =  {Anchorage, AK},
    note = {http://groups.csail.mit.edu/rrg/papers/icra10-pp.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra10-pp.pdf}
  }
  
  
  

• R. He, E. Brunskill, N. Roy.PUMA: Planning under Uncertainty with Macro-Actions. Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{He10AAAI,
    author =   {R. He and E. Brunskill and N. Roy},
    title =    {PUMA: Planning under Uncertainty with Macro-Actions},
    booktitle =    {Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI)},
    year =   {2010},
    address =  {Atlanta, GA},
    note = {http://groups.csail.mit.edu/rrg/papers/aaai10-rh.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/aaai10-rh.pdf}
  }
  
  
  

• R. He, A. Bachrach, N. Roy.Efficient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{He10ICRA,
    author =   {R. He and A. Bachrach and N. Roy},
    title =    {Efficient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2010},
    address =  {Anchorage, AK},
    note = {http://groups.csail.mit.edu/rrg/papers/icra10-rh.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra10-rh.pdf}
  }
  
  

• R. He, A. Bachrach, M. Achtelik, A. Geramifard, D. Gurdan,  S. Prentice, J. Stumpf, N. Roy.On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries. International Journal of Robotics Research. 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{He10IJRR,
    author =   {R. He and A. Bachrach and M. Achtelik and A. Geramifard and D. Gurdan and  S. Prentice and J. Stumpf and N. Roy},
    title =    {On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries},
    journal =    {International Journal of Robotics Research},
    year =   {2010},
    volume =   {29},
    number =   {5},
    pages =  {529-546},
    month =  {April},
    note = {http://groups.csail.mit.edu/rrg/papers/ijrr10-mav.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ijrr10-mav.pdf}
  }
  
  

• Albert S. Huang, Stefanie Tellex, Abraham Bachrach, Thomas Kollar, Deb Roy, Nicholas Roy.Natural Language Command of an Autonomous Micro-Air Vehicle. {International Conference on Intelligent Robots and Systems (IROS)}. 2010.
  [ PDF, BibTex ]

  @inproceedings{Huang10IROS,
      author = {Albert S. Huang and Stefanie Tellex and Abraham Bachrach and Thomas Kollar and Deb Roy and Nicholas Roy},
      title = {Natural Language Command of an Autonomous Micro-Air Vehicle},
      booktitle = {{International Conference on Intelligent Robots and Systems (IROS)}},
      month = {Oct.},
      year = {2010},
      address = {Taipei, Taiwan},
      url = {http://groups.csail.mit.edu/rrg/papers/2010-directions-iros.pdf}
  }
  
  
  

• J. Joseph, F. Doshi-Velez, N. Roy.A Bayesian Nonparametric Approach to Modeling Mobility. Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Joseph10AAAI,
    author =   {J. Joseph and F. Doshi-Velez and N. Roy},
    title =    {A Bayesian Nonparametric Approach to Modeling Mobility},
    booktitle =    {Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI)},
    year =   {2010},
    address =  {Atlanta, GA},
    note = {http://groups.csail.mit.edu/rrg/papers/aaai10-jj.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/aaai10-jj.pdf}
  }
  
  
  

• B. Kim, M. Kaess, L. Fletcher, J. Leonard, A. Bachrach and N. Roy, S. Teller.Multiple relative pose graphs for robustcooperative mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Kim10ICRA,
  author={B. Kim and M. Kaess and L. Fletcher and J. Leonard and A. Bachrach
                    and N. Roy and S. Teller},
  booktitle={Proceedings of the IEEE International Conference
                    on Robotics and Automation (ICRA)},
  title={Multiple relative pose graphs for robust
                    cooperative mapping},
  address={Anchorage, AK},
  year={2010},
  month={May},
  pages={3185 -3192},
  note = {http://groups.csail.mit.edu/rrg/papers/icra10-bk.ps.gz},
  url = {http://groups.csail.mit.edu/rrg/papers/icra10-bk.pdf}
  }
  
  

• T. Kollar, S. Tellex, D. Roy, N. Roy.Toward Understanding Natural Language Directions. Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction. 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Kollar10HRI,
    author =   {T. Kollar and S. Tellex and D. Roy and N. Roy},
    title =    {Toward Understanding Natural Language Directions},
    booktitle =    {Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction},
    pages =  {259-266},
    year =   {2010},
    address =  {Osaka, Japan},
    url = {http://groups.csail.mit.edu/rrg/papers/hri10-tk.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/hri10-tk.ps.gz}
  }
  
  

• T. Kollar, S. Tellex, D. Roy, N. Roy.Grounding Verbs of Motion in Natural Language Commands to Robots. Proceedings of the International Symposium on Experimental Robotics (ISER). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @inproceedings{Kollar10ISER,
  author={T. Kollar and S. Tellex and D. Roy and N. Roy},
  booktitle={Proceedings of the International Symposium on Experimental Robotics (ISER)},
  title={Grounding Verbs of Motion in Natural Language Commands to Robots},
  address={New Delhi, India},
  year={2010},
  month={December},
  url = {http://groups.csail.mit.edu/rrg/papers/tkollar_iser2010.pdf},
  note = {http://groups.csail.mit.edu/rrg/papers/tkollar_iser2010.ps.gz}
  }
  
  

• J. McGrew, J. How, L. Bush, B. Williams, N. Roy.Air Combat Strategy Using Approximate Dynamic Programming. Journal of Guidance, Control and Dynamics. 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{McGrew10JGCD,
    author =   {J. McGrew and J. How and L. Bush and B. Williams and N. Roy},
    title =    {Air Combat Strategy Using Approximate Dynamic Programming},
    journal =    {Journal of Guidance, Control and Dynamics},
    year =   {2010},
    volume =   {33},
    number =   {5},
    pages =  {1641-1654},
    month =  {Sept-Oct},
    note = {http://groups.csail.mit.edu/rrg/papers/jgcd10-jm.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/jgcd10-jm.pdf}
  }
  
  
  

• S. Teller, A. Correa, R. Davis, L. Fletcher and E. Frazzoli, J. Glass, J.P. How, J. H. Jeon, S. Karaman, B. Luders, N. Roy, T. Sainath, M.R. Walter.A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2010.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Teller10ICRA,
    author =   {S. Teller and A. Correa and R. Davis and L. Fletcher and
  E. Frazzoli and J. Glass and J.P. How and J. H. Jeon and S. Karaman and B. Luders and N. Roy and T. Sainath and M.R. Walter},
    title =    {A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year =   {2010},
    address =  {Anchorage, AK},
    note = {http://groups.csail.mit.edu/rrg/papers/icra10-st.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra10-st.pdf}
  }
  
  

• Stefanie Tellex, Thomas Kollar, George Shaw, Nicholas Roy, Deb Roy.Grounding Spatial Language for Video Search. Proceedings of the Eleventh International Conference on Multimodal Interfaces (ICMI). 2010.
  [ PDF, BibTex ]

  @InProceedings{Tellex10ICMI,
  author={Stefanie Tellex and Thomas Kollar and George Shaw and Nicholas Roy and Deb Roy},
  year=2010,
  title={Grounding Spatial Language for Video Search},
  booktitle={Proceedings of the Eleventh International Conference on Multimodal Interfaces (ICMI)},
  url = {http://groups.csail.mit.edu/rrg/papers/tellex10.pdf}
  }
  
  
  

2009

• M. Achtelik, A. Bachrach, R. He, S. Prentice and N. Roy.Stereo Vision and Laser Odometry for AutonomousHelicopters in GPS-denied Indoor Environments. Proceedings of the SPIE Unmanned Systems Technology XI. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Achtelik09SPIE,
    author =   {M. Achtelik and A. Bachrach and R. He and S. Prentice and
                    N. Roy},
    title =    {Stereo Vision and Laser Odometry for Autonomous
                    Helicopters in GPS-denied Indoor Environments},
    booktitle =  {Proceedings of the SPIE Unmanned Systems Technology XI},
    year =   {2009},
    volume =   {7332},
    address =  {Orlando, F},
    note = {http://groups.csail.mit.edu/rrg/papers/spie09.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/spie09.pdf}
  }
  
  

• R. He A. Bachrach.Autonomous Flight in Unknown Indoor Environments. International Journal of Micro Air Vehicles. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Bachrach09IJMAV,
    author =   {A. Bachrach, R. He, N. Roy},
    title =    {Autonomous Flight in Unknown Indoor Environments},
    journal =    {International Journal of Micro Air Vehicles},
    year =   {2009},
    volume =   {1},
    number =   {4},
    pages =  {217-228},
    month =  {December},
    note = {http://groups.csail.mit.edu/rrg/papers/ijmav09.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ijmav09.pdf}
  }
  
  

• E. Brunskill, B. Leffler, L. Li, M. Littman, N. Roy.Provably Efficient Learning with Typed Parametric Models. Journal of Machine Learning Research. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Brunskill09JMLR,
    author =   {E. Brunskill and B. Leffler and L. Li and M. Littman and N. Roy},
    title =    {Provably Efficient Learning with Typed Parametric Models},
    journal =    {Journal of Machine Learning Research},
    year =   {2009},
    volume =   {10},
    month =   {Aug},
    pages =  {1955-1988},
    note = {http://groups.csail.mit.edu/rrg/papers/brunskill09a.ps.gz},
    url = {http://www.jmlr.org/papers/volume10/brunskill09a/brunskill09a.pdf}
  }
  
  

• J. Glover, D. Rus, N. Roy.Probabilistic Models of Object Geometry with Application to Grasping. International Journal of Robotics Research. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Glover09IJRR,
    author =   {J. Glover and D. Rus and N. Roy},
    title =    {Probabilistic Models of Object Geometry with Application to Grasping},
    journal =    {International Journal of Robotics Research},
    year =   {2009},
    volume =   {28},
    number =   {8},
    pages =  {999-1019},
    month =  {August},
    note = {http://groups.csail.mit.edu/rrg/papers/ijrr09-jg.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ijrr09-jg.pdf}
  }
  
  

• Vu Anh Huynh, Nicholas Roy.icLQG: Combining Local and Global Optimizationfor Control in Information Space. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2009.
  [ BibTex ]

  @InProceedings{Huynh09ICRA,
    author =   {Vu Anh Huynh and Nicholas Roy},
    title =    {icLQG: Combining Local and Global Optimization
  for Control in Information Space},
    booktitle =    {Proceedings of the IEEE International
  Conference on Robotics and Automation (ICRA)},
    year =   {2009},
    address =  {Kobe, Japan},
  }
  
  

• Thomas Kollar, Nicholas Roy.Utilizing object-object and object-scene context when planning to find things. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Kollar09ICRA,
    author =   {Thomas Kollar and Nicholas Roy},
    title =    {Utilizing object-object and object-scene context when planning to find things},
    booktitle =    {Proceedings of the IEEE International
  Conference on Robotics and Automation (ICRA)},
    year =   {2009},
    address =  {Kobe, Japan},
    note = {http://groups.csail.mit.edu/rrg/papers/icra09-tk.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra09-tk.pdf}
  }
  
  

• J. Langelaan, N. Roy.Enabling New Missions for Robotic Aircraft. Science. 2009.
  [ PDF, BibTex ]

  @Article{Langelaan09Science,
    author =   {J. Langelaan and N. Roy},
    title =    {Enabling New Missions for Robotic Aircraft},
    journal =    {Science},
    year =   {2009},
    volume =   {326},
    number =   {5690},
    pages =  {1642-1644},
    month =  {December},
    url = {http://www.sciencemag.org/cgi/content/summary/326/5960/1642}
  }
  
  

• C. Plagemann, S. Mischke, S. Prentice, K. Kersting, N. Roy, W. Burgard.A Bayesian Regression approach to Terrain Mapping and an Application to Legged Robot Locomotion. Journal of Field Robotics. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Plagemann09JFR,
    author =   {C. Plagemann and S. Mischke and S. Prentice and K. Kersting and N. Roy and W. Burgard},
    title =    {A Bayesian Regression approach to Terrain Mapping and an Application to Legged Robot Locomotion},
    journal =    {Journal of Field Robotics},
    year =   {2009},
    volume =   {26},
    number =   {10},
    pages =  {757-862},
    month =  {October},
    note = {http://groups.csail.mit.edu/rrg/papers/jfr09-cp.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/jfr09-cp.pdf}
  }
  
  

• S. Prentice, N. Roy.The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance. International Journal of Robotics Research. 2009.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Prentice09IJRR,
    author =   {S. Prentice and N. Roy},
    title =    {The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance},
    journal =    {International Journal of Robotics Research},
    year =   {2009},
    volume =   {8},
    number =   {11-12},
    pages =  {1448-1465},
    month =  {December},
    note = {http://groups.csail.mit.edu/rrg/papers/ijrr09-brm.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ijrr09-brm.pdf}
  }
  
  

• Yuan Wei, Emma Brunskill, Thomas Kollar, Nicholas Roy.Where to Go: Interpreting Natural Directions Using Global Inference. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2009.
  [ BibTex ]

  @InProceedings{Wei09ICRA,
    author =   {Yuan Wei and Emma Brunskill and Thomas Kollar and Nicholas Roy},
    title =    {Where to Go: Interpreting Natural Directions Using Global Inference},
    booktitle =    {Proceedings of the IEEE International
  Conference on Robotics and Automation (ICRA)},
    year =   {2009},
    address =  {Kobe, Japan},
  }
  
  

• Abraham Bachrach, Alborz Garamifard, Daniel Gurdan, Ruijie He, Sam Prentice, Jan Stumpf, Nicholas Roy.Co-ordinated tracking and planning using air and ground vehicles. Experimental Robotics: The Eleventh International Symposium. 2009.
  [ PDF, BibTex ]

  @inproceedings{bachrach2009co,
    title={Co-ordinated tracking and planning using air and ground vehicles},
    author={Bachrach, Abraham and Garamifard, Alborz and Gurdan, Daniel and He, Ruijie and Prentice, Sam and Stumpf, Jan and Roy, Nicholas},
    booktitle={Experimental Robotics: The Eleventh International Symposium},
    pages={137--146},
    year={2009},
    organization={Springer},
    pdf={https://dspace.mit.edu/bitstream/handle/1721.1/58750/Roy_Co-ordinated%20tracking.pdf;sequence=1}
  }
  
  

• Abraham Bachrach, Ruijie He, Nicholas Roy.Autonomous Flight in Unstructured and Unknown Indoor Environments. European COnference on Micro Air Vehicles. 2009.
  [ PDF, BibTex ]

  @article{bachrachautonomous,
    title={Autonomous Flight in Unstructured and Unknown Indoor Environments},
    author={Bachrach, Abraham and He, Ruijie and Roy, Nicholas},
    booktitle={European COnference on Micro Air Vehicles},
    year={2009},
    url={https://groups.csail.mit.edu/rrg/papers/emav09.pdf}
  }
  
  

• Yves Boussemart, Jonathan Las Fargeas, Mary L Cummings, Nicholas Roy.Comparing learning techniques for hidden Markov Models of human supervisory control behavior. AIAA Infotech at Aerospace Conference and AIAA Unmanned... Unlimited Conference. 2009.
  [ PDF, BibTex ]

  @inproceedings{boussemart2009comparing,
    title={Comparing learning techniques for hidden Markov Models of human supervisory control behavior},
    author={Boussemart, Yves and Las Fargeas, Jonathan and Cummings, Mary L and Roy, Nicholas},
    booktitle={AIAA Infotech at Aerospace Conference and AIAA Unmanned... Unlimited Conference},
    pages={1842},
    year={2009},
    pdf={https://dspace.mit.edu/bitstream/handle/1721.1/56295/Cummings_ComparingLearning.pdf?sequence=1&isAllowed=y}
  }
  
  

• Lawrence Bush, Brian Williams, Nicholas Roy.Unifying plan-space value-based approximate dynamic programming policies and open loop feedback control. AIAA Infotech at Aerospace Conference and AIAA Unmanned... Unlimited Conference. 2009.
  [ PDF, BibTex ]

  @inproceedings{bush2009unifying,
    title={Unifying plan-space value-based approximate dynamic programming policies and open loop feedback control},
    author={Bush, Lawrence and Williams, Brian and Roy, Nicholas},
    booktitle={AIAA Infotech at Aerospace Conference and AIAA Unmanned... Unlimited Conference},
    pages={1982},
    year={2009},
    url={https://arc.aiaa.org/doi/abs/10.2514/6.2009-1982}
  }
  
  

• Katie Byl, Alec Shkolnik, Sam Prentice, Nick Roy, Russ Tedrake.Reliable dynamic motions for a stiff quadruped. Experimental Robotics: The Eleventh International Symposium. 2009.
  [ PDF, BibTex ]

  @inproceedings{byl2009reliable,
    title={Reliable dynamic motions for a stiff quadruped},
    author={Byl, Katie and Shkolnik, Alec and Prentice, Sam and Roy, Nick and Tedrake, Russ},
    booktitle={Experimental Robotics: The Eleventh International Symposium},
    pages={319--328},
    year={2009},
    organization={Springer},
    pdf={https://groups.csail.mit.edu/rrg/papers/iser08-kb.pdf}
  }
  
  

• Jonathan P How, Cameron Fraser, Karl C Kulling, Luca F Bertuccelli, Olivier Toupet, Luc Brunet, Abe Bachrach, Nicholas Roy.Increasing autonomy of UAVs. IEEE Robotics \& Automation Magazine. 2009.
  [ PDF, BibTex ]

  @article{how2009increasing,
    title={Increasing autonomy of UAVs},
    author={How, Jonathan P and Fraser, Cameron and Kulling, Karl C and Bertuccelli, Luca F and Toupet, Olivier and Brunet, Luc and Bachrach, Abe and Roy, Nicholas},
    journal={IEEE Robotics \& Automation Magazine},
    volume={16},
    number={2},
    pages={43--51},
    year={2009},
    publisher={IEEE},
    url={https://dspace.mit.edu/handle/1721.1/51874}
  }
  
  

• Sooho Park, Han-Lim Choi, Nicholas Roy, Jonathan How.Learning covariance dynamics for path planning of UAV sensors in a large-scale dynamic environment. AIAA Guidance, Navigation, and Control Conference. 2009.
  [ PDF, BibTex ]

  @inproceedings{park2009learning,
    title={Learning covariance dynamics for path planning of UAV sensors in a large-scale dynamic environment},
    author={Park, Sooho and Choi, Han-Lim and Roy, Nicholas and How, Jonathan},
    booktitle={AIAA Guidance, Navigation, and Control Conference},
    pages={6116},
    year={2009},
    url={https://dspace.mit.edu/handle/1721.1/55348}
  }
  
  

• Jan Peters, Jun Morimoto, Russ Tedrake, Nicholas Roy.Robot learning [TC Spotlight]. IEEE Robotics \& Automation Magazine. 2009.
  [ PDF, BibTex ]

  @article{peters2009robot,
    title={Robot learning [TC Spotlight]},
    author={Peters, Jan and Morimoto, Jun and Tedrake, Russ and Roy, Nicholas},
    journal={IEEE Robotics \& Automation Magazine},
    volume={16},
    number={3},
    pages={19--20},
    year={2009},
    publisher={IEEE},
    pdf={https://groups.csail.mit.edu/robotics-center/public_papers/Peters09.pdf}
  }
  
  

2008

• Emma Brunskill, Leslie Kaelbling, Tomas Lozano-Perez, Nicholas Roy.Continuous-State POMDPs with Hybrid Dynamics. Proceedings of the Tenth International Symposium on Artificial Intelligence and Mathematics (ISAIM). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Brunskill08ISAIM,
    author =   {Emma Brunskill and Leslie Kaelbling and Tomas Lozano-Perez and Nicholas
  Roy},
    title =    {Continuous-State POMDPs with Hybrid Dynamics},
    booktitle =    {Proceedings of the Tenth International Symposium on Artificial
  Intelligence and Mathematics (ISAIM)},
    year =   {2008},
    address =  {Fort Lauderdale, FL},
    month =  {January},
    url = {http://groups.csail.mit.edu/rrg/papers/isaim08-eb.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/isaim08-eb.ps.gz}
  }
  
  

• Emma Brunskill, Bethany R. Leffler, Lihong Li, Michael L. Littman and Nicholas Roy.CORL: A Continuous-state Offset-dynamics Reinforcement Learner. Proceedings of the 24th Conference on Uncertainty in Artificial Intelligence (UAI 2008). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Brunskill08UAI,
    author =   {Emma Brunskill and Bethany R. Leffler and Lihong Li and Michael L. Littman and
  Nicholas Roy},
    title =    {CORL: A Continuous-state Offset-dynamics Reinforcement Learner},
    booktitle =    {Proceedings of the 24th Conference on Uncertainty in Artificial
  Intelligence (UAI 2008)},
    year =   {2008},
    address =  {Helsinki, Finland},
    url= {http://groups.csail.mit.edu/rrg/papers/uai08-eb.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/uai08-eb.ps.gz}
  }
  
  

• Finale Doshi, Nicholas Roy.The Permutable POMDP: Fast Solutions to POMDPs forPreference Elicitation. Proceedings of the Seventh International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Doshi08AAMAS,
    author =   {Finale Doshi and Nicholas Roy},
    title =    {The Permutable POMDP: Fast Solutions to POMDPs for
  Preference Elicitation},
    booktitle =    {Proceedings of the Seventh International Conference on
  Autonomous Agents and Multiagent Systems (AAMAS 2008)},
    year =   {2008},
    address =  {Estoril, Portugal},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/aamas08-fd.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/aamas08-fd.pdf}
  }
  
  

• F. Doshi, N. Roy.Spoken Language Interaction with Model Uncertainty: An Adaptive Human-Robot Interaction System. Connection Science. 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Doshi08ConnSci,
    author =   {F. Doshi and N. Roy},
    title =    {Spoken Language Interaction with Model Uncertainty: An Adaptive Human-Robot Interaction System},
    journal =    {Connection Science},
    year =   {2008},
    volume =   {20},
    number =   {4},
    pages =  {299-319},
    note = {http://groups.csail.mit.edu/rrg/papers/connsci08.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/connsci08.pdf}
  }
  
  

• Finale Doshi, Joelle Pineau, Nicholas Roy.Reinforcement Learning with Limited Reinforcement: UsingBayes Risk for Active Learning in POMDPs. Proceedings of the 25th International Conference on Machine Learning (ICML 2008). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Doshi08ICML,
    author =   {Finale Doshi and Joelle Pineau and Nicholas Roy},
    title =    {Reinforcement Learning with Limited Reinforcement: Using
  Bayes Risk for Active Learning in POMDPs},
    booktitle =    {Proceedings of the 25th International Conference on Machine
  Learning (ICML 2008)},
    year =   {2008},
    address =  {Helsinki, Finland},
    url = {http://groups.csail.mit.edu/rrg/papers/isaim08-fd.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/isaim08-fd.ps.gz}
  }
  
  

• Finale Doshi, Joelle Pineau, Nicholas Roy.Reinforcement Learning with Limited Reinforcement: UsingBayes Risk for Active Learning in POMDPs. Proceedings of the Tenth International Symposium on Artificial Intelligence and Mathematics (ISAIM). 2008.
  [ BibTex ]

  @InProceedings{Doshi08ISAIM,
    author =   {Finale Doshi and Joelle Pineau and Nicholas Roy},
    title =    {Reinforcement Learning with Limited Reinforcement: Using
                    Bayes Risk for Active Learning in POMDPs},
    booktitle =    {Proceedings of the Tenth International Symposium on Artificial
  Intelligence and Mathematics (ISAIM)},
    year =   {2008},
    address =  {Fort Lauderdale, FL},
    month =  {January},
  }
  
  

• Jared Glover, Daniela Rus, Nicholas Roy.Manipulation using Probabilistic Models of Object Geometry. Proceedings of Robotics: Science and Systems (RSS 2008). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Glover08RSS,
    author =   {Jared Glover and Daniela Rus and Nicholas Roy},
    title =    {Manipulation using Probabilistic Models of Object Geometry},
    booktitle =    {Proceedings of Robotics: Science and Systems (RSS 2008)},
    year =   {2008},
    address =  {Zurich, Switzerland},
    note = {http://groups.csail.mit.edu/rrg/papers/rss08-jg.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/rss08-jg.pdf}
  }
  
  

• Ruijie He, Sam Prentice, Nicholas Roy.Planning in Information Space for a Quadrotor Helicopter ina GPS-denied Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{He08ICRA,
    author =   {Ruijie He and Sam Prentice and Nicholas Roy},
    title =    {Planning in Information Space for a Quadrotor Helicopter in
  a GPS-denied Environments},
    booktitle =    {Proceedings of the IEEE International Conference on Robotics
  and Automation (ICRA 2008)},
    pages =  {1814-1820},
    year =   {2008},
    address =  {Los Angeles, CA},
    url = {http://groups.csail.mit.edu/rrg/papers/icra08-rh.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/icra08-rh.ps.gz}
  }
  
  

• Damien Jourdan, Nicholas Roy..Optimal Sensor Placement for Agent Localization. ACM Transactions on Sensor Networks. 2008.
  [ BibTex ]

  @Article{Jourdan08TOSN,
    author =   {Damien Jourdan and Nicholas Roy.},
    title =    {Optimal Sensor Placement for Agent Localization},
    journal =    {ACM Transactions on Sensor Networks},
    year =   {2008},
    volume =   {4},
    number =   {3},
    month =  {August},
  }
  
  

• Thomas Kollar, Nicholas Roy..Efficient optimization of information-theoreticexploration in SLAM. Proceedings of the National Conference of Artificial Intelligence (AAAI 08). 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Kollar08AAAI,
    author =   {Thomas Kollar and Nicholas Roy.},
    title =    {Efficient optimization of information-theoretic
                    exploration in SLAM},
    booktitle =    {Proceedings of the National Conference of Artificial
                    Intelligence (AAAI 08)},
    year =   {2008},
    month =  {July},
    note = {http://groups.csail.mit.edu/rrg/papers/aaai08-tk.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/aaai08-tk.pdf}
  }
  
  

• Thomas Kollar, Nicholas Roy.Trajectory Optimization using Reinforcement Learning for Map Exploration. International Journal of Robotics Research. 2008.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Kollar08IJRR,
    author =   {Thomas Kollar and Nicholas Roy},
    title =    {Trajectory Optimization using Reinforcement Learning for Map Exploration},
    journal =    {International Journal of Robotics Research},
    year =   {2008},
    volume =   {27},
    number =   {2},
    pages =  {175-197},
    month =  {February},
    note = {http://groups.csail.mit.edu/rrg/papers/ijrr08-tk.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ijrr08-tk.pdf}
  }
  
  
  

• Christian Plagemann, Sebastian Mischke, Sam Prentice, Kristian Kersting, Nicholas Roy, Wolfram Burgard.Learning predictive terrain models for legged robot locomotion. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008.
  [ PDF, BibTex ]

  @inproceedings{plagemann2008learning,
    title={Learning predictive terrain models for legged robot locomotion},
    author={Plagemann, Christian and Mischke, Sebastian and Prentice, Sam and Kersting, Kristian and Roy, Nicholas and Burgard, Wolfram},
    booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    pages={3545--3552},
    year={2008},
    organization={IEEE},
    pdf={https://people.csail.mit.edu/prentice/papers/iros08-cp.pdf}
  }
  
  

2007

• Emma Brunskill, Thomas Kollar, Nicholas Roy.Topological Mapping Using Spectral Clustering and Classification. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Brunskill07IROS,
    author =   {Emma Brunskill and Thomas Kollar and Nicholas Roy},
    title =    {Topological Mapping Using Spectral Clustering and Classification},
    booktitle =  {Proceedings of the IEEE/RSJ International Conference on
    Intelligent Robots and Systems (IROS)},
    year =   {2007},
    address =  {San Diego},
    month =  {October},
    url = {http://groups.csail.mit.edu/rrg/papers/iros07-eb.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/iros07-eb.ps.gz}
  }
  
  

• Finale Doshi, Nicholas Roy.Efficient Model Learning for Dialog Management. Proceedings of Human-Robot Interaction (HRI 2007). 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Doshi07HRI,
    author =   {Finale Doshi and Nicholas Roy},
    title =    {Efficient Model Learning for Dialog Management},
    booktitle =  {Proceedings of Human-Robot Interaction (HRI 2007)},
    year =   {2007},
    address =  {Washington, DC},
    month =  {March},
    note = {http://groups.csail.mit.edu/rrg/papers/hri07.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/hri07.pdf}
  }
  
  

• Finale Doshi, Emma Brunskill, Alec Shkolnik, Thomas Kollar and Khashayar Rohanimanesh, Russ Tedrake, Nicholas Roy.Collision Detection in Legged Locomotion using Supervised Learning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Doshi07IROS,
    author =   {Finale Doshi and Emma Brunskill and Alec Shkolnik and Thomas Kollar and
    Khashayar Rohanimanesh and Russ Tedrake and Nicholas Roy},
    title =    {Collision Detection in Legged Locomotion using Supervised Learning},
    booktitle =  {Proceedings of the IEEE/RSJ International Conference on
    Intelligent Robots and Systems (IROS)},
    year =   {2007},
    address =  {San Diego},
    month =  {October},
    note = {http://groups.csail.mit.edu/rrg/papers/iros07-fd.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/iros07-fd.pdf}
  }
  
  

• Sam Prentice, Nicholas Roy.The Belief Roadmap: Efficient Planning in Linear POMDPs byFactoring the Covariance. Proceedings of the 13th International Symposium of Robotics Research (ISRR). 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Prentice07ISRR,
    author =   {Sam Prentice and Nicholas Roy},
    title =    {The Belief Roadmap: Efficient Planning in Linear POMDPs by
    Factoring the Covariance},
    booktitle =  {Proceedings of the 13th International Symposium of Robotics
    Research (ISRR)},
    year =   {2007},
    address =  {Hiroshima, Japan},
    month =  {November},
    url = {http://groups.csail.mit.edu/rrg/papers/isrr07.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/isrr07.ps.gz}
  }
  
  

• Nicholas Roy, John Leonard, Una-May O'Reilly, Daniela Rus and Seth Teller.The Experience of Teaching Software Development in aRobotics Project Course. Proceedings of the Third International CDIO Conference and Collaborators' Meeting. 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy07CDIO,
    author =   {Nicholas Roy and John Leonard and Una-May O'Reilly and Daniela Rus
    and Seth Teller},
    title =    {The Experience of Teaching Software Development in a
    Robotics Project Course},
    booktitle =  {Proceedings of the Third International CDIO Conference and
    Collaborators' Meeting},
    year =   {2007},
    address =  {Cambridge, MA},
    month =  {June},
    note = {http://groups.csail.mit.edu/rrg/papers/cdio07.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/cdio07.pdf}
  }
  
  

• Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard and Nicholas Roy.Analyzing Gaussian Proposal Distributions for Mapping withRao-Blackwellized Particle Filters. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2007.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Stachniss07IROS,
    author =   {Cyrill Stachniss and Giorgio Grisetti and Wolfram Burgard and
    Nicholas Roy},
    title =    {Analyzing Gaussian Proposal Distributions for Mapping with
    Rao-Blackwellized Particle Filters},
    booktitle =  {Proceedings of the IEEE/RSJ International Conference on
    Intelligent Robots and Systems (IROS)},
    year =   {2007},
    address =  {San Diego},
    month =  {October},
    url = {http://groups.csail.mit.edu/rrg/papers/iros07-cs.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/iros07-cs.ps.gz}
  }
  
  

• Emily Craparo, Jonathan How, Daniela Pucci de Farias, Nicholas Roy.Decentralized Estimation under Communication Constraints. AIAA Guidance, Navigation and Control Conference and Exhibit. 2007.
  [ PDF, BibTex ]

  @inproceedings{craparo2007decentralized,
    title={Decentralized Estimation under Communication Constraints},
    author={Craparo, Emily and How, Jonathan and Pucci de Farias, Daniela and Roy, Nicholas},
    booktitle={AIAA Guidance, Navigation and Control Conference and Exhibit},
    pages={6751},
    year={2007},
    pdf={https://faculty.nps.edu/emcrapar/GNC2007.pdf}
  }
  
  

• Finale Doshi, Nicholas Roy.Learning User Models with Limited Reinforcement: An Adaptive Human-Robot Interaction System. International Symposium on Language and Robots. 2007.
  [ PDF, BibTex ]

  @inproceedings{doshilearning,
    title={Learning User Models with Limited Reinforcement: An Adaptive Human-Robot Interaction System},
    author={Doshi, Finale and Roy, Nicholas},
    year={2007},
    booktitle={International Symposium on Language and Robots},
    pdf={https://groups.csail.mit.edu/rrg/papers/langro08.pdf}
  }
  
  

• Nicholas Roy, Han-Lim Choi, Daniel Gombos, James Hansen, Jonathan How, Sooho Park.Adaptive observation strategies for forecast error minimization. Computational Science--ICCS 2007: 7th International Conference, Beijing, China, May 27-30, 2007, Proceedings, Part I 7. 2007.
  [ PDF, BibTex ]

  @inproceedings{roy2007adaptive,
    title={Adaptive observation strategies for forecast error minimization},
    author={Roy, Nicholas and Choi, Han-Lim and Gombos, Daniel and Hansen, James and How, Jonathan and Park, Sooho},
    booktitle={Computational Science--ICCS 2007: 7th International Conference, Beijing, China, May 27-30, 2007, Proceedings, Part I 7},
    pages={1138--1146},
    year={2007},
    organization={Springer},
    url={https://link.springer.com/chapter/10.1007/978-3-540-72584-8_149}
  }
  
  

• N Roy, J Pineau.Robotics and Independence for the Elderly. Gerontechnology: Growing old in a technological society. 2007.
  [ BibTex ]

  @article{roy2007robotics,
    title={Robotics and Independence for the Elderly},
    author={Roy, N and Pineau, J},
    journal={Gerontechnology: Growing old in a technological society},
    pages={209--242},
    year={2007}
  }
  
  

2006

• Damien B. Jourdan, Nicholas Roy.Optimal Sensor Placement for Agent Localization. Proceedings of the IEEE/ION Position Location and Navigation Symposium (PLANS 2006). 2006.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Jourdan06PLANS,
    author =   {Damien B. Jourdan and Nicholas Roy},
    title =    {Optimal Sensor Placement for Agent Localization},
    booktitle =    {Proceedings of the IEEE/ION Position Location and Navigation
                    Symposium (PLANS 2006)},
    year =   {2006},
    address =  {San Diego, CA},
    month =  {April},
    note = {http://groups.csail.mit.edu/rrg/papers/plans06-dj.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/plans06-dj.pdf}
  }
  
  

• Thomas Kollar, Nicholas Roy.Using Reinforcement Learning to ImproveExploration Trajectories for Error Minimization. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006). 2006.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Kollar06ICRA,
    author =   {Thomas Kollar and Nicholas Roy},
    title =    {Using Reinforcement Learning to Improve
                    Exploration Trajectories for Error Minimization},
    booktitle =    {Proceedings of the IEEE International Conference on
                    Robotics and Automation (ICRA 2006)},
    pages =  {3338-3343},
    year =   {2006},
    address =  {Orlando, FL},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/icra06-tk.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra06-tk.pdf}
  }
  
  

• Patrycja Missiuro, Nicholas Roy.Adapting Probabilistic Roadmaps to Handle Uncertain Maps. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006). 2006.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Missiuro06ICRA,
    author =   {Patrycja Missiuro and Nicholas Roy},
    title =    {Adapting Probabilistic Roadmaps to Handle Uncertain Maps},
    booktitle =    {Proceedings of the IEEE International Conference on
                    Robotics and Automation (ICRA 2006)},
    pages =  {1261-1267},
    year =   {2006},
    address =  {Orlando, FL},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/icra06-pm.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra06-pm.pdf}
  }
  
  

• Nicholas Roy, Caleb Earnest.Dynamic Action Spaces for Information Gain Maximizationin Search and Exploration. Proceedings of the American Control Conference (ACC 2006). 2006.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy06ACC,
    author =   {Nicholas Roy and Caleb Earnest},
    title =    {Dynamic Action Spaces for Information Gain Maximization
                    in Search and Exploration},
    booktitle =  {Proceedings of the American Control Conference (ACC 2006)},
    year =   {2006},
    address =  {Minneapolis, MN},
    OPTmonth =   {June},
    note = {http://groups.csail.mit.edu/rrg/papers/acc06.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/acc06.pdf}
  }
  
  

• Oliver Brock, Sven Koenig, Nicholas Roy, Gaurav Sukhatme.Special Issue on Robotics: Science and Systems 2005. The International Journal of Robotics Research. 2006.
  [ PDF, BibTex ]

  @article{brock2006special,
    title={Special Issue on Robotics: Science and Systems 2005},
    author={Brock, Oliver and Koenig, Sven and Roy, Nicholas and Sukhatme, Gaurav},
    journal={The International Journal of Robotics Research},
    volume={25},
    number={12},
    pages={1163--1163},
    year={2006},
    publisher={Sage Publications Sage CA: Thousand Oaks, CA},
    url={https://journals.sagepub.com/doi/abs/10.1177/02783649506073387}
  }
  
  

2005

• Emma Brunskill, Nicholas Roy.SLAM using Incremental Probabilistic PCA andDimensionality Reduction. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2005.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Brunskill05ICRA,
    author =   {Emma Brunskill and Nicholas Roy},
    title =    {SLAM using Incremental Probabilistic PCA and
                    Dimensionality Reduction},
    booktitle =  {Proceedings of the IEEE International Conference on Robotics
    and Automation (ICRA)},
    year =   {2005},
    address =  {Barcelona, Spain},
    note = {http://groups.csail.mit.edu/rrg/papers/icra05-eb.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra05-eb.pdf}
  }
  
  

• Damien B. Jourdan, John J. Deyst Jr., Moe Z. Win and Nicholas Roy.Monte Carlo Localization in Dense Multipath EnvironmentsUsing UWB Ranging. Proceedings of the IEEE International Conference on Ultra-Wideband (ICU 2005). 2005.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Jourdan05ICU,
    author =   {Damien B. Jourdan and John J. Deyst Jr. and Moe Z. Win and
                    Nicholas Roy},
    title =    {Monte Carlo Localization in Dense Multipath Environments
                    Using UWB Ranging},
    booktitle =  {Proceedings of the IEEE International Conference on
                    Ultra-Wideband (ICU 2005)},
    year =   {2005},
    address =  {Zurich, Switzerland},
    month =  {September},
    note = {http://groups.csail.mit.edu/rrg/papers/icu05-dj.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icu05-dj.pdf}
  }
  
  

• Nicholas Roy, Geoffrey Gordon, Sebastian Thrun.Finding Approximate POMDP solutions ThroughBelief Compression. Journal of Artificial Intelligence Research. 2005.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Roy05JAIR,
    author =   {Nicholas Roy and Geoffrey Gordon and Sebastian Thrun},
    title =    {Finding Approximate POMDP solutions Through
                    Belief Compression},
    journal =    {Journal of Artificial Intelligence Research},
    year =   {2005},
    volume =   {23},
    pages =  {1-40},
    note = {http://groups.csail.mit.edu/rrg/papers/jair05.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/jair05.pdf}
  }
  
  

• Robert Sim, Nicholas Roy.Global A-Optimal Robot Exploration in SLAM. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2005.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Sim05ICRA,
    author =   {Robert Sim and Nicholas Roy},
    title =    {Global A-Optimal Robot Exploration in SLAM},
    booktitle =  {Proceedings of the IEEE International Conference on Robotics
    and Automation (ICRA)},
    year =   {2005},
    address =  {Barcelona, Spain},
    note = {http://groups.csail.mit.edu/rrg/papers/icra05-rs.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra05-rs.pdf}
  }
  
  

2004

• Robert Sim, Gregory Dudek, Nicholas Roy.Online Control Policy Optimization for Minimizing MapUncertainty during Exploration. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2004). 2004.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Sim04ICRA,
    author =   {Robert Sim and Gregory Dudek and Nicholas Roy},
    title =    {Online Control Policy Optimization for Minimizing Map
                    Uncertainty during Exploration},
    booktitle =    {Proceedings of the IEEE International Conference on
                    Robotics and Automation (ICRA 2004)},
    year =   {2004},
    address =  {New Orleans, LA},
    month =  {April},
    pages =        {1758 - 1763},
    note = {http://groups.csail.mit.edu/rrg/papers/icra04.ps.gz},
    url = {https://web.mit.edu/nickroy/www/papers/icra04.pdf}
  }
  
  

2003

• Joelle Pineau, Michael Montemerlo, Martha Pollack and Nicholas Roy, Sebastian Thrun.Towards robotic assistants in nursing homes: Challenges and results. Robotics and Autonomous Systems. 2003.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Pineau03RAS,
    author =   {Joelle Pineau and Michael Montemerlo and Martha Pollack and
                    Nicholas Roy and Sebastian Thrun},
    title =    {Towards robotic assistants in nursing homes: Challenges and results},
    journal =    {Robotics and Autonomous Systems},
    year =   {2003},
    volume =   {42},
    number =   {3},
    pages =  {271-281},
    month =  {March},
    note = {http://groups.csail.mit.edu/rrg/papers/jpineau-ras03.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/jpineau-ras03.pdf}
  }
  
  

• Nicholas Roy, Geoffrey Gordon, Sebastian Thrun.Planning under Uncertainty for Reliable Health Care Robotics. Proceedings of the International Conference on Field and Service Robotics (FSR 2003). 2003.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy03FSR,
    author =   {Nicholas Roy and Geoffrey Gordon and Sebastian Thrun},
    title =    {Planning under Uncertainty for Reliable Health Care Robotics},
    booktitle =    {Proceedings of the International Conference on Field and
                    Service Robotics (FSR 2003)},
    year =   {2003},
    address =  {Lake Yamanaka, Japan},
    month =  {July},
    note = {http://groups.csail.mit.edu/rrg/papers/fsr03.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/fsr03.pdf}
  }
  
  

• Michael Montemerlo, Nicholas Roy, Sebastian Thrun.Perspectives on Standardization in Mobile Robot Programming: The Carnegie Mellon Navigation (CARMEN) Toolkit. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003). 2003.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy03IROS,
    author =   {Michael Montemerlo and Nicholas Roy and Sebastian Thrun},
    title =    {Perspectives on Standardization in Mobile Robot Programming: The Carnegie Mellon Navigation (CARMEN) Toolkit},
    booktitle =    {Proceedings of the IEEE/RSJ International Conference on
                    Intelligent Robots and Systems (IROS 2003)},
    pages =  {2436-2441},
    year =   {2003},
    volume =   {3},
    address =  {Las Vegas, NV},
    month =  {October},
    url = {http://groups.csail.mit.edu/rrg/papers/iros03.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/iros03.ps.gz}
  }
  
  

2002

• J. Matthews, S. Engberg, M. Montemerlo, J. Pineau and N. Roy, J. Rogers, S. Thrun, S. Handler and T. Starrett, D. Ting, R. Travis.The Nursebot project: Results of preliminary field studiesduring development of a personal robotic assistant for olderadults. Proceedings of the Greater Pittsburgh 14th Annual Nursing Research Conference. 2002.
  [ BibTex ]

  @InProceedings{Matthews02A,
    author =   {J. Matthews and S. Engberg and M. Montemerlo and J. Pineau
                    and N. Roy and J. Rogers and S. Thrun and S. Handler and
                    T. Starrett and D. Ting and R. Travis},
    title =    {The Nursebot project: Results of preliminary field studies
                    during development of a personal robotic assistant for older
                    adults},
    booktitle =    {Proceedings of the Greater Pittsburgh 14th Annual Nursing
                    Research Conference},
    year =   {2002},
    address =  {Pittsburgh, PA},
  }
  
  
  

• Judy Matthews, Sandra Engberg, Michael Montemerlo and Joelle Pineau, Nicholas Roy, Joan Rogers and Sebastian Thrun.Robotic assistance during ambulation by older adults. Proceedings of the Annual Conference of the American Medical Informatics Association. 2002.
  [ BibTex ]

  @InProceedings{Matthews02B,
    author =   {Judy Matthews and Sandra Engberg and Michael Montemerlo and
                    Joelle Pineau and Nicholas Roy and Joan Rogers and
                    Sebastian Thrun},
    title =    {Robotic assistance during ambulation by older adults},
    booktitle =    {Proceedings of the Annual Conference of the American Medical
                    Informatics Association},
    year =   {2002},
    address =  {San Antonio, TX},
  }
  
  

• Michael Montemerlo, Joelle Pineau, Nicholas Roy and Sebastian Thrun, Vandana Verma.Experiences with a Mobile Robotic Guide for the Elderly. Proceedings of the National Conference of Artificial Intelligence (AAAI 02). 2002.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Montemerlo02AAAI,
    author =   {Michael Montemerlo and Joelle Pineau and Nicholas Roy and
                    Sebastian Thrun and Vandana Verma},
    title =    {Experiences with a Mobile Robotic Guide for the Elderly},
    booktitle =    {Proceedings of the National Conference of Artificial
                    Intelligence (AAAI 02)},
    year =   {2002},
    address =  {Edmonton,AB},
    month =  {July},
    pages =  {587-592},
    note = {http://groups.csail.mit.edu/rrg/papers/AAAI02.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/AAAI02.pdf}
  }
  
  

• Joelle Pineau, Nicholas Roy, Michael Montemerlo and Sebastian Thrun, Martha Pollac.Probabilistic control of human robot interaction:Experiments with a robotic assistant for nursing home. Proceedings of the IARP-IEEE/RAS Workshop on Robot Dependability. 2002.
  [ BibTex ]

  @InProceedings{PineauRASW02,
    author =   {Joelle Pineau and Nicholas Roy and Michael Montemerlo and
                    Sebastian Thrun and Martha Pollac},
    title =    {Probabilistic control of human robot interaction:
                    Experiments with a robotic assistant for nursing home},
    booktitle =    {Proceedings of the IARP-IEEE/RAS Workshop on Robot
                    Dependability},
    year =   {2002},
    editor =   {G. Giralt and R. Chatila},
  }
  
  

• M. E. Pollack, L. Brown, D. Colbry, C. Orosz and B. Peintner, S. Ramakrishnan, S. Engberg and J.T. Matthews, J. Dunbar-Jacobs, C. McCarthy and S. Thrun, M. Montemerlo, J. Pineau, and N. Roy.Pearl: A mobile robotic assistant to the elderly. AAAI Workshop 2002 notes. 2002.
  [ BibTex ]

  @InProceedings{Pollack02,
    author =   {M. E. Pollack and L. Brown and D. Colbry and C. Orosz and
                    B. Peintner and S. Ramakrishnan and S. Engberg and
                    J.T. Matthews and J. Dunbar-Jacobs and C. McCarthy and
                    S. Thrun and M. Montemerlo and J. Pineau and and N. Roy},
    title =    {Pearl: A mobile robotic assistant to the elderly},
    booktitle =    {AAAI Workshop 2002 notes},
    year =   {2002},
    address =  {Edmonton, AB},
  }
  
  

• Nicholas Roy, Sebastian Thrun.Motion Planning through Policy Search. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002). 2002.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy02IROS,
    author =   {Nicholas Roy and Sebastian Thrun},
    title =    {Motion Planning through Policy Search},
    booktitle =    {Proceedings of the IEEE/RSJ International Conference on
    Intelligent Robots and Systems (IROS 2002)},
    year =   {2002},
    address =  {Lausanne, Switzerland},
    month =    {September},
    pages =        {2419-2424},
    note = {http://groups.csail.mit.edu/rrg/papers/iros02.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/iros02.pdf}
  }
  
  

• Nicholas Roy, Geoffrey Gordon.Exponential Family PCA for Belief Compression in POMDPs. Advances in Neural Information Processing 15 (NIPS). 2002.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy02NIPS,
    author =   {Nicholas Roy and Geoffrey Gordon},
    title =    {Exponential Family {PCA} for Belief Compression in {POMDP}s},
    booktitle =    {Advances in Neural Information Processing 15 (NIPS)},
    year =   {2002},
    pages =        {1043-1049},
    editor =   {Suzanna Becker and Sebastian Thrun, and Klaus Obermayer},
    address =  {Vancouver, Canada},
    month =  {December},
    url = {http://groups.csail.mit.edu/rrg/papers/nips02.pdf},
    note = {http://groups.csail.mit.edu/rrg/papers/nips02.ps.gz}
  }
  
  

2001

• Nicholas Roy, Gregory Dudek.Collaborative Exploration and Rendezvous: Algorithms,Performance Bounds and Observations. Autonomous Robots. 2001.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Roy00AR,
    author =   {Nicholas Roy and Gregory Dudek},
    title =    {Collaborative Exploration and Rendezvous: Algorithms,
        Performance Bounds and Observations},
    journal =  {Autonomous Robots},
    year =   {2001},
    volume =   {11},
    number =   {2},
    month =  {Sept.},
    pages =        {117-136},
    note = {http://groups.csail.mit.edu/rrg/papers/ARJournal.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ARJournal.pdf}
  }
  
  

• Nicholas Roy, Andrew McCallum.Toward Optimal Active Learning through Monte Carlo Estimation of Error Reduction. Proceedings of the International Conference on Machine Learning (ICML 2001). 2001.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy01ICML,
    author =   {Nicholas Roy and Andrew McCallum},
    title =    {Toward Optimal Active Learning through {M}onte {C}arlo Estimation of Error Reduction},
    booktitle =  {Proceedings of the International Conference on Machine Learning (ICML 2001)},
    year =   {2001},
    address =  {Williamstown, MA},
    note = {http://groups.csail.mit.edu/rrg/papers/icml01.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icml01.pdf}
  }
  
  

2000

• Nicholas Roy, Joelle Pineau, Sebastian Thrun.Spoken Dialog Management for Robots. The Proceedings of the Association for Computational Linguistics. 2000.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy00ACL,
    author =       {Nicholas Roy and Joelle Pineau and Sebastian Thrun},
    title =        {Spoken Dialog Management for Robots},
    booktitle =    {The Proceedings of the Association for Computational Linguistics},
    year =         {2000},
    note = {http://groups.csail.mit.edu/rrg/papers/acl00.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/acl00.pdf}
  }
  
  

• Nicholas Roy.Finding Approximate POMDP solutions Through Belief State Compression. Proposal. 2000.
  [ BibTex ]

  @article{Roy00Proposal,
    author =   {Nicholas Roy},
    title =    {Finding Approximate POMDP solutions Through Belief State Compression},
    booktitle = {Proposal},
    institution =  {Carnegie Mellon University},
    year =   {2000},
    number = {1}
  }
  

• Nicholas Roy, Gregory Baltus, Dieter Fox, Francine Gemperle, Jennifer Goetz, Tad Hirsch, Dimitris Margaritis, Michael Montemerlo, Joelle Pineau and Jamieson Schulte, Sebastian Thrun.Towards Personal Service Robots for the Elderly. Proceedings of the Workshop on Interactive Robots and Entertainment (WIRE 2000). 2000.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy00WIRE,
    author =   {Nicholas Roy and Gregory Baltus and Dieter Fox and Francine
        Gemperle and Jennifer Goetz and Tad Hirsch and Dimitris
        Margaritis and Michael Montemerlo and Joelle Pineau and
        Jamieson Schulte and Sebastian Thrun},
    title =    {Towards Personal Service Robots for the Elderly},
    booktitle =  {Proceedings of the Workshop on Interactive Robots and
        Entertainment (WIRE 2000)},
    year =   {2000},
    address =  {Pittsburgh, PA},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/wire2000.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/wire2000.pdf}
  }
  
  

• S. Thrun, M. Beetz, M. Bennewitz, W. Burgard and A.B. Cremers, F. Dellaert, D. Fox, D. Haehnel and C. Rosenberg, N. Roy, J. Schulte, D. Schulz.Probabilistic Algorithms and the Interactive MuseumTour-Guide Robot Minerva. International Journal of Robotics Research. 2000.
  [ PDF, Compressed Postscript, BibTex ]

  @Article{Thrun00IJRR,
    author =   {S. Thrun and M. Beetz and M. Bennewitz and W. Burgard and
        A.B. Cremers and F. Dellaert and D. Fox and D. Haehnel and
        C. Rosenberg and N. Roy and J. Schulte and D. Schulz},
    title =    {Probabilistic Algorithms and the Interactive Museum
        Tour-Guide Robot Minerva},
    journal =  {International Journal of Robotics Research},
    year =   {2000},
    volume =   {19},
    number =   {11},
    month =  {November},
    pages =        {972-999},
    note = {http://www.cs.cmu.edu/~thrun/papers/thrun.ijrr-minerva.ps.gz},
    url = {http://www.cs.cmu.edu/~thrun/papers/thrun.ijrr-minerva.pdf}
  }
  
  

1999

• Nicholas Roy, Wolfram Burgard, Dieter Fox and Sebastian Thrun.Coastal Navigation -- Mobile Robot Navigation withUncertainty in Dynamic Environments. Proc. of the IEEE International Conference on Robotics and Automation (ICRA). 1999.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy99ICRAa,
    author =       {Nicholas Roy and Wolfram Burgard and Dieter Fox and
                    Sebastian Thrun},
    title =        {Coastal Navigation -- Mobile Robot Navigation with
                    Uncertainty in Dynamic Environments},
    booktitle =    {Proc. of the IEEE International Conference on Robotics
        and Automation (ICRA)},
    year =         {1999},
    address =      {Detroit, MI},
    month =        {May},
    note = {http://groups.csail.mit.edu/rrg/papers/icra99.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra99.pdf}
  }
  
  

• Nicholas Roy, Sebastian Thrun.Online Self-Calibration for Mobile Robots. Proc. of the IEEE/RSJ International Conference on Robotics and Automation (ICRA). 1999.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy99ICRAb,
    author =   {Nicholas Roy and Sebastian Thrun},
    title =    {Online Self-Calibration for Mobile Robots},
    booktitle =  {Proc. of the IEEE/RSJ International Conference on Robotics
        and Automation (ICRA)},
    year =   {1999},
    address =  {Detroit, MI},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/icra99a.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/icra99a.pdf}
  }
  
  

• Nicholas Roy, Sebastian Thrun.Coastal Navigation with Mobile Robots. Advances in Neural Processing Systems 12. 1999.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy99NIPS,
    author =       {Nicholas Roy and Sebastian Thrun},
    title =        {Coastal Navigation with Mobile Robots},
    booktitle =    {Advances in Neural Processing Systems 12},
    volume =       {12},
    year =         {1999},
    pages =        {1043-1049},
    note = {http://groups.csail.mit.edu/rrg/papers/nips99.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/nips99.pdf}
  }
  
  

• Sebastian Thrun, Maren Bennewitz, Wolfram Burgard and A. B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hahnel, Gerhard Lakemeyer, Chuck Rosenberg and Nicholas Roy, Jamieson Schulte, Dirk Schulz.Experiences with two deployed interactive tour-guide robots. Proceedings of the International Conference on Field and Service Robotics (FSR'99). 1999.
  [ BibTex ]

  @InProceedings{Thrun99FSR,
    author =   {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard and
        A. B. Cremers and Frank Dellaert and Dieter Fox and Dirk
        Hahnel and Gerhard Lakemeyer and Chuck Rosenberg and
        Nicholas Roy and Jamieson Schulte and Dirk Schulz},
    title =    {Experiences with two deployed interactive tour-guide robots},
    booktitle =  {Proceedings of the International Conference on Field and
        Service Robotics (FSR'99)},
    year =   {1999},
    address =  {Pittsburgh, PA},
    month =  {August},
  }
  
  

• Sebastian Thrun, Maren Bennewitz, Wolfram Burgard and Frank Dellaert, Dieter Fox, Dirk Hahnel, Chuck Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz.MINERVA: A Second-Generation Museum Tour-Guide Robot. Proc. of the IEEE International Conference on Robotics and Automation (ICRA). 1999.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Thrun99ICRA,
    author =   {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard and
        Frank Dellaert and Dieter Fox and Dirk Hahnel and Chuck
        Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz},
    title =    {{MINERVA}: A Second-Generation Museum Tour-Guide Robot},
    booktitle =  {Proc. of the IEEE International Conference on Robotics
        and Automation (ICRA)},
    year =   {1999},
    address =  {Detroit, MI},
    month =  {May},
    note = {http://www.cs.cmu.edu/~thrun/papers/thrun.icra_minerva.ps.gz},
    pdf = {http://www.cs.cmu.edu/~thrun/papers/thrun.icra_minerva.pdf}
  }
  
  

• Sebastian Thrun, Maren Bennewitz, Wolfram Burgard and A. Cremers, Frank Dellaert, Dieter Fox and Dirk Hahnel, Chuck Rosenberg, Nicholas Roy and Jamie Schulte, Dirk Schulz.MINERVA: A tour-guide robot that learns. Proc. of the 23nd German Conference on Artificial Intelligence (KI '99). 1999.
  [ BibTex ]

  @InProceedings{Thrun99KIW,
    author =   {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard
                    and A. Cremers and Frank Dellaert and Dieter Fox and
                    Dirk Hahnel and Chuck Rosenberg and Nicholas Roy and
                    Jamie Schulte and Dirk Schulz},
    title =    {MINERVA: A tour-guide robot that learns},
    booktitle =    {Proc. of the 23nd German Conference on
                    Artificial Intelligence (KI '99)},
    year =   {1999},
    address =  {Germany},
    publisher =  {Springer Verlag},
  }
  
  

1998

• Nicholas Roy, Wolfram Burgard, Dieter Fox and Sebastian Thrun.Coastal Navigation -- Robot Motion with Uncertainty. Proceedings of the AAAI Fall Symposium: Planning with POMDPs. 1998.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy98AAAIf,
    author =   {Nicholas Roy and Wolfram Burgard and Dieter Fox and
        Sebastian Thrun},
    title =    {Coastal Navigation -- Robot Motion with Uncertainty},
    booktitle =  {Proceedings of the AAAI Fall Symposium: Planning with POMDPs},
    year =   {1998},
    address =  {Orlando, Florida},
    month =  {October},
    note = {http://groups.csail.mit.edu/rrg/papers/aaaif98.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/aaaif98.pdf}
  }
  
  

• Sebastian Thrun, Nicholas Roy.Integrating Learning for Robust Development. Proceedings of the AAAI Spring Symposium: Integrating Robotic Research. 1998.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Thrun98AAAIs,
    author =   {Sebastian Thrun and Nicholas Roy},
    title =    {Integrating Learning for Robust Development},
    booktitle =  {Proceedings of the AAAI Spring Symposium: Integrating
        Robotic Research},
    year =   {1998},
    address =  {Palo Alto, California},
    month =  {March},
    note = {http://groups.csail.mit.edu/rrg/papers/position98.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/position98.pdf}
  }
  
  

1997

• Marc Bolduc, Eric Bourque, Gregory Dudek, Nicholas Roy, Robert Sim.Autonomous Exploration: An Integrated Systems Approach. Proceedings of the AAAI National Conference on Artificial Intelligence. 1997.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Bolduc97AAAI,
    author =   {Marc Bolduc and Eric Bourque and Gregory Dudek and Nicholas
        Roy and Robert Sim},
    title =    {Autonomous Exploration: An Integrated Systems Approach},
    booktitle =  {Proceedings of the AAAI National Conference on Artificial Intelligence},
    year =   {1997},
    address =  {Providence, Rhode Island},
    month =  {July},
    note = {http://groups.csail.mit.edu/rrg/papers/AAAI97a.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/AAAI97a.pdf}
  }
  
  

• Gregory Dudek, Nicholas Roy.Multi-Robot Rendezvous in Unknown Environments, or, What todo When You're Lost at the Zoo. Proceedings of the AAAI National Conference Workshop on Online Search. 1997.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Dudek97AAAIw,
    author =   {Gregory Dudek and Nicholas Roy},
    title =    {Multi-Robot Rendezvous in Unknown Environments, or, What to
        do When You're Lost at the Zoo},
    booktitle =  {Proceedings of the AAAI National Conference Workshop on
        Online Search},
    year =   {1997},
    address =  {Providence, Rhode Island},
    month =  {July},
    note = {http://groups.csail.mit.edu/rrg/papers/AAAI97.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/AAAI97.pdf}
  }
  
  

• Nicholas Roy, Gregory Dudek.Learning to Rendezvous during Multi-agent Exploration. Proceedings of the European Workshop on Learning Robots (EWLR 6). 1997.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy97EWLR,
    author =   {Nicholas Roy and Gregory Dudek},
    title =    {Learning to Rendezvous during Multi-agent Exploration},
    booktitle =  {Proceedings of the European Workshop on Learning Robots (EWLR 6)},
    year =   {1997},
    address =  {Brighton, UK},
    month =  {August},
    note = {http://groups.csail.mit.edu/rrg/papers/EWLR-6.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/EWLR-6.pdf}
  }
  
  

• Nicholas Roy.Multi-Agent Exploration and Rendezvous. McGill University. 1997.
  [ BibTex ]

  @article{Roy97MSC,
    author =    {Nicholas Roy},
    title =    {Multi-Agent Exploration and Rendezvous},
    journal =   {McGill University},
    year =   {1997},
    address =  {Montreal, PQ},
    month =  {July},
  }
  
  

1996

• Nicholas Roy, Gregory Dudek, Michael Daum.Mobile Robot Navigation and Control: A Case Study. Proceedings of the AAAI National Conference on Artificial Intelligence. 1996.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy96AAAI,
    author =   {Nicholas Roy and Gregory Dudek and Michael Daum},
    title =    {Mobile Robot Navigation and Control: A Case Study},
    booktitle =  {Proceedings of the AAAI National Conference on Artificial Intelligence},
    year =   {1996},
    address =  {Portland, Oregon},
    month =  {July},
    note = {http://groups.csail.mit.edu/rrg/papers/AAAI96.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/AAAI96.pdf}
  }
  
  

• Nicholas Roy, Gregory Dudek, Paul Freedman.Surface Sensing and Classification for Efficient Mobile Robot Navigation. Proc. of the IEEE International Conference on Robotics and Automation (ICRA). 1996.
  [ PDF, Compressed Postscript, BibTex ]

  @InProceedings{Roy96ICRA,
    author =   {Nicholas Roy and Gregory Dudek and Paul Freedman},
    title =    {Surface Sensing and Classification for Efficient Mobile Robot Navigation},
    booktitle =  {Proc. of the IEEE International Conference on Robotics
        and Automation (ICRA)},
    year =   {1996},
    address =  {Minneapolis, MN},
    month =  {May},
    note = {http://groups.csail.mit.edu/rrg/papers/ICRA96.ps.gz},
    url = {http://groups.csail.mit.edu/rrg/papers/ICRA96.pdf}
  }
  
  

• Nicholas Roy, Gregory Dudek.Multi-agent Rendez-vous. IRIS/PRECARN Conference, Montreal. 1996.
  [ BibTex ]

  @Misc{Roy96IRIS,
    author =   {Nicholas Roy and Gregory Dudek},
    title =  {Multi-agent Rendez-vous},
    year =   {1996},
    month =  {June},
    booktitle =   {IRIS/PRECARN Conference, Montreal},
  }