This contains PDF pre-prints (which may differ slightly from the final versions). You can easily cite a paper using this bibtex file.

Click here for Maurice Fallon’s Google Scholar Profile

Journal Papers:

  • Marco Camurri, Maurice Fallon, Stephane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, and Claudio Semini, ‘Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots’, IEEE Robotics and Automation Letters. Accepted to appear 2017 (also appears at ICRA 2017).
  • Pat Marion, Robin Deits, Andres Valenzuela, Claudia Perez D’Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Maurice Fallon, Scott Kuindersma and Russ Tedrake. Director: A User Interface Designed for Robot Operation With Shared Autonomy. Journal of Field Robotics, Accepted to appear, 2016. pdf
  • S. Kuindersma and R. Deits and M. Fallon and A. Valenzuela and H. Dai and F. Permenter and T. Koolen and P. Marion and R. Tedrake, Optimization-based locomotion planning, estimation, and control design for Atlas. Journal of Autonomous Robots, 1-27, July, 2015. pdf
  • Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice F. Fallon, John J. Leonard, John B. McDonald, Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion. Intl. J. of Robotics Research, 34(4-5):598-626, April 2015. pdf
  • Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Perez D’Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, and Seth Teller. An architecture for online affordance-based perception and whole-body planning. Journal of Field Robotics, 32(2):229-254, March 2015. pdf
  • Maurice Fallon, Hordur Johannsson, Michael Kaess, and John J. Leonard. The MIT Stata Center dataset. Intl. J. of Robotics Research, IJRR, 32(14):1695–1699, Dec 2013. pdf
  • Maurice F. Fallon, John Folkesson, Hunter McClelland, and John J. Leonard. Relocating underwater features autonomously using sonar-based SLAM. Journal of Oceanic Engineering, 38:500–513, July 2013. pdf
  • Maurice F. Fallon and Simon J. Godsill. Acoustic source localisation and tracking of a time-varying number of speakers. IEEE Transactions on Audio, Speech, and Language Processing, 20:1409–1415, May 2012. pdf
  • Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, and Nicholas M. Patrikalakis. Cooperative AUV navigation using a single maneuvering surface craft. Intl. J. of Robotics Research, 29(12):1461–1474, October 2010. pdf
  • Maurice F. Fallon and Simon Godsill. Acoustic source localisation and tracking using Track Before Detect. IEEE Transactions on Audio, Speech, and Language Processing, 18(6):1228–1242, 2010. pdf
  • Alexander Bahr, John J. Leonard, and Maurice F. Fallon. Cooperative localization for autonomous underwater vehicles. Intl. J. of Robotics Research, 28(6):714–728, 2009. pdf

Conference Papers:

  • Simona Nobili, Raluca Scona, Marco Caravagna and Maurice Fallon, Automatic ICP-Tuning for Robust Localization of a Humanoid Robot. ICRA, 2017. Accepted, to appear.
  • Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon and Sethu Vijayakumar, iDRM: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments. Humanoids, 2015. November 2016. Submitted.
  • Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake, Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion. Humanoids, 2015. November 2015. pdf. BEST ORAL PAPER AWARD WINNER
  • Maurice F. Fallon, Matthew Antone, Nicholas Roy, and Seth Teller. Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. Humanoids, 2014. pdf
  • R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, and S. Teller. A summary of Team MIT’s approach to the Virtual Robotics Challenge. ICRA. Hong Kong, China, June 2014. pdf
  • Hsueh-Cheng Wang, Yafim Landa, Maurice Fallon, and Seth Teller. Spatially prioritized and persistent text detection and decoding. In International Workshop on Camera-Based Document Analysis and Recognition (CBDAR), 2013. pdf
  • Hordur Johannsson, Michael Kaess, Maurice F. Fallon and John Leonard, ‘Temporally Scalable Visual SLAM using a Reduced Pose Graph’, ICRA, Karlsruhe, Germany. May 2013. pdf. BEST STUDENT PAPER NOMINEE
  • Maurice F. Fallon, Hordur Johannsson, Jonathan Brookshire, Seth Teller, John Leonard, ‘Sensor Fusion for Flexible Human-Portable Building-Scale Mapping’, IROS, Algarve, Portugal. October 2012. pdf
  • Maurice F. Fallon, Hordur Johannsson and John Leonard, ‘Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera’, ICRA, St Paul, Minnesota, USA. May 2012. pdf BEST CONFERENCE PAPER NOMINEE
  • Maurice F. Fallon, Michael Kaess, Hordur Johannsson and John Leonard, ‘Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar’, ICRA, Shanghai, China. May 2011. pdf BEST AUTOMATION PAPER NOMINEE
  • Jacques Leedekerken, Maurice Fallon, John Leonard, ‘Mapping Complex Marine Environments with Autonomous Surface Craft’, ISRR, Delhi, India. December 2010. pdf
  • Georgios Papadopoulos, Maurice Fallon, John Leonard and Nicholas Patrikalakis, ‘Cooperative Localization of Marine Vehicles using Nonlinear State Estimation’, IROS. Taipei, Taiwan. October, 2010. pdf
  • Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, ‘A Measurement Distribution Framework for Cooperative Navigation using Multiple AUVs’, ICRA, Anchorage, Alaska. May 2010. pdf
  • Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, ‘Cooperative AUV Navigation using a single surface craft’, FSR, Cambridge MA, July 2009. pdf
  • Maurice F. Fallon and Simon J. Godsill, ‘Multi-target Acoustic Source Tracking wsith an Unknown and Time Varying Number of Targets’, Hands-free Speech Communication and Microphone Arrays (HSCMA-2008), Trento, Italy, May 2008. pdf
  • Maurice F. Fallon, Simon J. Godsill, ‘Multi Target Acoustic Source Tracking using Track Before Detect’, WASPAA, Mohonk, NY, October 2007. pdf
  • Maurice Fallon, Simon J. Godsill and Andrew Blake, ‘Joint Acoustic Source Location and Orientation Estimation Using Sequential Monte Carlo’, Digital Audio Effects (DAFx-06), Montreal, Canada, Sept 2006. pdf
  • Scott Rickard and Maurice F. Fallon, ‘The Gini Index of Speech’, Conference on Information Sciences and Systems, Princeton, NJ, March 2004. pdf

Thesis:

  • Maurice F. Fallon, PhD. Thesis, University of Cambridge, ‘Acoustic Source Tracking using Sequential Monte Carlo’, June 2008. pdf

Book Chapters:

  • Francesco Nori, Silvio Traversaro, Maurice Fallon, ‘Sensor fusion and State estimation of the robot’, in ‘Humanoid Robotics: a Reference’, Springer, Submitted. 2016.
  • Jacques C. Leedekerken, Maurice F. Fallon, John J. Leonard. Mapping Complex Marine Environments with Autonomous Surface Craft. pages 525-539, 2014. Springer Tracts in Advanced Robotics. pdf
  • Hsueh-Cheng Wang, Yafim Landa, Maurice Fallon, and Seth Teller. Spatially prioritized and persistent text detection and decoding. pages 3–17, 2014. Lecture Notes in Computer Science. pdf
  • Maurice F. Fallon, Michael Kaess, Hordur Johannsson and John Leonard, ‘Simultaneous Localization and Mapping in Marine Environments’, Chapter in ‘Marine Robot Autonomy’, Editor: Mae Seto. Springer. 2012. webpage
  • Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, ‘Cooperative AUV Navigation using a single surface craft’, Chapter in ‘Springer Tracts in Advanced Robotics Volume 62: Field and Service Robotics, Results of the 7th International Conference’, pages 331-340, Editors: Andrew Howard, Karl Iagnemma and Alonzo Kelly. 2010. Revised version of conference paper below. doi link

Workshop Papers and Technical Reports:

  • Pat Marion, Maurice F. Fallon, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald and Russ Tedrake, Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion. Dynamics Walking Conference. Columbus, Ohio. July 2015. pdf
  • Maurice F. Fallon. Bridging the gap between operator intent and robot execution with automated whole-body planning and perception. In Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation at Humanoids 2014, Madrid, Spain, 2014. pdf
  • Thomas Whelan, Michael Kaess, Ross Finman, Maurice F. Fallon, Hordur Johannsson, John J. Leonard, and John McDonald. 3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world. In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July 2014. pdf
  • Thomas Whelan, Michael Kaess, Maurice F. Fallon, Hordur Johannsson, John Leonard, and John McDonald. Kintinuous: Spatially extended KinectFusion. In AAAI Conference on Artificial Intelligence, May 2013. Video Submission. BEST STUDENT VIDEO NOMINEEE Hordur Johannsson, Michael Kaess, Maurice F. Fallon and John J. Leonard, ‘Temporally Scalable Visual SLAM using a Reduced Pose Graph’, RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, Sydney, Australia, July 2012. pdf
  • Maurice F. Fallon, Hordur Johannsson, Michael Kaess, David M. Rosen, Elias Muggler and John J. Leonard, ‘Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM’, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia, July 2012. pdf
  • Thomas Whelan, John McDonald, Michael Kaess, Maurice F. Fallon, Hordur Johannsson and John J. Leonard, ‘Kintinuous: Spatially Extended KinectFusion’, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia, July 2012. pdf
  • Hordur Johannsson, Michael Kaess, Maurice F. Fallon and John J. Leonard, Temporally Scalable Visual SLAM using a Reduced Pose Graph, MIT-CSAIL-TR-2012-013, May 2012. pdf
  • Thomas Whelan, John McDonald, Michael Kaess, Maurice F. Fallon, Hordur Johannsson and John J. Leonard, Kintinuous: Spatially Extended KinectFusion, MIT-CSAIL-TR-2012-020, July 2012. pdf