NOTE: This list has not been regularly updated since late 2018. Please visit Google Scholar for an updated publications list.

2020

1. Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice and Maani Ghaffari, Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping. IEEE Robotics and Automation Letters, 5(2):790-797, 2020. [PDF] [BibTeX]
2. Ross Hartley, Maani Ghaffari, Ryan M. Eustice and Jessy W. Grizzle, Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation. International Journal of Robotics Research, 39(4):402-430, 2020. [PDF] [BibTeX]

2019

1. Steven A. Parkison, Maani Ghaffari, Lu Gan, Ray Zhang, Arash K. Ushani and Ryan M. Eustice, Boosting Shape Registration Algorithms via Reproducing Kernel Hilbert Space Regularizers. IEEE Robotics and Automation Letters, 4(4):4563-4570, 2019. [PDF] [BibTeX]
2. Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice and Ram Vasudevan, Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 9306-9312, Montreal, Canada, May 2019. [PDF] [BibTeX]

2018

1. Jie Li, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson, Pose-Graph SLAM Using Forward-Looking Sonar. IEEE Robotics and Automation Letters, 3(3):2330-2337, 2018. [PDF] [BibTeX]
2. Jie Li, Katherine A. Skinner, Ryan M. Eustice and Matthew Johnson-Roberson, WaterGAN: Unsupervised Generative Network to Enable Real-Time Color Correction of Monocular Underwater Images. IEEE Robotics and Automation Letters, 3(1):387-394, 2018. [PDF] [BibTeX]
3. Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle and Ryan M. Eustice, Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3783-3790, Madrid, Spain, October 2018. [PDF] [BibTeX]
4. Arash K. Ushani and Ryan M. Eustice, Feature Learning for Scene Flow Estimation from LIDAR. In Proceedings of the Conference on Robot Learning, pages 283-292, October 2018. [PDF] [BibTeX]
5. Joshua G. Mangelson, Ram Vasudevan and Ryan M. Eustice, Communication Constrained Trajectory Alignment For Multi-Agent Inspection via Linear Programming. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-8, Charleston, SC, USA, October 2018. [PDF] [BibTeX]
6. Steven A. Parkison, Lu Gan, Maani Ghaffari Jadidi and Ryan M. Eustice, Semantic Iterative Closest Point through Expectation-Maximization. In Proceedings of the British Machine Vision Conference, pages 1-17, Newcastle, UK, September 2018. [PDF] [BibTeX]
7. Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle and Ryan M. Eustice, Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. In Proceedings of the Robotics: Science and Systems Conference, pages 1-9, Pittsburgh, PA, USA, June 2018. [PDF] [BibTeX]
8. Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffery M. Walls, Ryan M. Eustice and Jessy W. Grizzle, Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 4422-4429, Brisbane, Australia, May 2018. [PDF] [BibTeX]
9. Joshua G. Mangelson, Derrick Dominic, Ryan M. Eustice and Ram Vasudevan, Pairwise Consistent Measurement Set Maximization for Robust Multi-robot Map Merging. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2916-2923, Brisbane, Australia, May 2018. [PDF] [BibTeX]

2017

1. Paul Ozog, Matthew Johnson-Roberson and Ryan M. Eustice, Mapping underwater ship hulls using a model-assisted bundle adjustment framework. Robotics and Autonomous Systems, Special Issue on Localization and Mapping in Challenging Environments, 87:329-347, 2017. [PDF] [BibTeX]
2. Pose-graph SLAM for underwater navigation. Stephen M. Chaves, Enric Galceran, Paul Ozog, Jeffrey M. Walls and Ryan M. Eustice, in Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer, 2017. [PDF] [BibTeX]
3. Enric Galceran, Alexander G. Cunningham, Ryan M. Eustice and Edwin Olson, Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction: Theory and experiment. Autonomous Robots, 41(6):1367-1382, 2017. [PDF] [BibTeX]
4. Maani Ghaffari Jadidi, Lu Gan, Steven A. Parkison, Jie Li and Ryan M. Eustice, Gaussian processes semantic map representation. In RSS Workshop on Spatial-Semantic Representations in Robotics, Cambridge, MA, USA, July 2017. [PDF] [BibTeX]
5. Arash K. Ushani, and Ryan W. Wolcott, Jeffrey M. Walls and Ryan M. Eustice, A learning approach for real-time temporal scene flow estimation from LIDAR data. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 5666-5673, Singapore, May 2017. [PDF] [BibTeX]
6. Ryan W. Wolcott and Ryan M. Eustice, Robust LIDAR localization using multiresolution Gaussian mixture maps for autonomous driving. International Journal of Robotics Research, 36:292-319, 3 2017. [PDF] [BibTeX]

2016

1. Paul Ozog, Nicholas Carlevaris-Bianco, Ayoung Kim and Ryan M. Eustice, Long-term mapping techniques for ship hull inspection and surveillance using an autonomous underwater vehicle. Journal of Field Robotics, Special Issue on Safety, Security and Rescue Robotics, 33(3):265-289, 2016. [PDF] [BibTeX]
2. Stephen M. Chaves, Ayoung Kim, Enric Galceran and Ryan M. Eustice, Opportunistic sampling-based active SLAM for underwater visual inspection. Autonomous Robots, 40(7):1245-1265, 2016. [PDF] [BibTeX]
3. Derrick Dominic, Sumeet Chhawri, Ryan M. Eustice, Di Ma and Andre Weimerskirch, Risk assessment for cooperative automated driving. In Proceedings of the 2nd ACM Workshop on Cyber-Physical Systems Security and Privacy, pages 47-58, Vienna, Austria, October 2016. [PDF] [BibTeX]
4. Joshua G. Mangelson, Ryan W. Wolcott, Paul Ozog and Ryan M. Eustice, Robust visual fiducials for skin-to-skin relative ship pose estimation. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-8, Monterey, CA, USA, September 2016. [PDF] [BibTeX]
5. Ryan W. Wolcott and Ryan M. Eustice, Probabilistic obstacle partitioning of monocular video for autonomous vehicles. In Proceedings of the British Machine Vision Conference, pages 1-12, York, UK, September 2016. [PDF] [BibTeX]
6. Paul Ozog and Ryan M. Eustice, Large-scale model-assisted bundle adjustment using Gaussian max-mixtures. In Proceedings of the IEEE International Conference on Robotics and Automation, 5576-5581, Stockholm, Sweden, May 2016. [PDF] [BibTeX]

2015

1. Gaurav Pandey, James R. McBride, Silvio Savarese and Ryan M. Eustice, Automatic extrinsic calibration of vision and lidar by maximizing mutual information. Journal of Field Robotics, Special Issue on Calibration for Field Robotics, 32(5):696-722, 2015. [PDF] [BibTeX]
2. Stephen M. Chaves, Ryan W. Wolcott and Ryan M. Eustice, NEEC research: Toward GPS-denied landing of unmanned aerial vehicles on ships at sea. Naval Engineers Journal, 127(1):23-35, 2015. [PDF] [BibTeX]
3. Ayoung Kim and Ryan M. Eustice, Active visual SLAM for robotic area coverage: Theory and experiment. International Journal of Robotics Research, 34(4-5):457-475, 2015. [PDF] [BibTeX]
4. Nicholas Carlevaris-Bianco, Arash K. Ushani and Ryan M. Eustice, University of Michigan North Campus long-term vision and lidar dataset. International Journal of Robotics Research, 35(9):1023-1035, 2015. [PDF] [BibTeX]
5. Jie Li, Ryan M. Eustice and Matthew Johnson-Roberson, Underwater robot visual place recognition in the presence of dramatic appearance change. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-6, Washington, D.C., USA, October 2015. [PDF] [BibTeX]
6. Vittorio Bichucher, Jeffrey M. Walls, Paul Ozog, Katherine A. Skinner and Ryan M. Eustice, Bathymetric factor graph SLAM with sparse point cloud alignment. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, Washington, D.C., USA, October 2015. [PDF] [BibTeX]
7. Paul Ozog and Ryan M. Eustice, Identifying structural anomalies in image reconstructions of underwater ship hulls. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, Washington, D.C., USA, October 2015. [PDF] [BibTeX]
8. Jeffrey M. Walls and Ryan M. Eustice, An Architecture for Cooperative Localization in Underwater Acoustic Networks. In Proceedings of the ACM International Conference on Underwater Networks and Systems (WUWNet), pages 1-5, Washington D.C., USA, October 2015. [PDF] [BibTeX]
9. Arash K. Ushani, Nicholas Carlevaris-Bianco, Alexander G. Cunningham, Enric Galceran and Ryan M. Eustice, Continuous-time estimation for dynamic obstacle tracking. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1137-1143, Hamburg, Germany, September 2015. [PDF] [BibTeX]
10. Enric Galceran, Edwin Olson and Ryan M. Eustice, Augmented vehicle tracking under occlusions for decision-making in autonomous driving. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3559-3565, Hamburg, Germany, September 2015. [PDF] [BibTeX]
11. Stephen M. Chaves, Jeffrey M. Walls, Enric Galceran and Ryan M. Eustice, Risk aversion in belief-space planning under measurement acquisition uncertainty. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2079-2086, Hamburg, Germany, September 2015. [PDF] [BibTeX]
12. Jeffrey M. Walls, Stephen M. Chaves, Enric Galceran and Ryan M. Eustice, Belief space planning for underwater cooperative localization. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2264-2271, Hamburg, Germany, September 2015. [PDF] [BibTeX]
13. Enric Galceran, Alexander G. Cunningham, Ryan M. Eustice and Edwin Olson, Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction. In Proceedings of the Robotics: Science and Systems Conference, Rome, Italy, July 2015. [PDF] [BibTeX]
14. Enric Galceran, Ryan M. Eustice and Edwin Olson, Toward integrated motion planning and control using potential fields and torque-based steering actuation for autonomous driving. In Proceedings of the IEEE Intelligent Vehicle Symposium, pages 304-309, Seoul, Korea, June 2015. [PDF] [BibTeX]
15. Jie Li, Ryan M. Eustice and Matthew Johnson-Roberson, High-level visual features for underwater place recognition. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3652-3659, Seattle, WA, USA, May 2015. [PDF] [BibTeX]
16. Alexander G. Cunningham, Enric Galceran, Ryan M. Eustice and Edwin Olson, MPDM: Multipolicy decision-making in dynamic, uncertain environments for autonomous driving. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1670-1677, Seattle, WA, USA, May 2015. [PDF] [BibTeX]
17. Ryan W. Wolcott and Ryan M. Eustice, Fast LIDAR localization using multiresolution Gaussian mixture maps. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2814-2821, Seattle, WA, USA, May 2015. [PDF] [BibTeX]
18. Jeffrey M. Walls, Alexander G. Cunningham and Ryan M. Eustice, Cooperative localization by factor composition over a faulty low-bandwidth communication channel. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 401-408, Seattle, WA, USA, May 2015. [PDF] [BibTeX]
19. Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson, Building 3d mosaics from an autonomous underwater vehicle, doppler velocity log, and 2d imaging sonar. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1137-1143, Seattle, WA, USA, May 2015. [PDF] [BibTeX]

2014

1. Nicholas Carlevaris-Bianco, Michael Kaess and Ryan M. Eustice, Generic node removal for factor-graph SLAM. IEEE Transactions on Robotics, 30(6):1371-1385, 2014. [PDF] [BibTeX]
2. Jeffrey M. Walls and Ryan M. Eustice, An origin state method for communication constrained cooperative localization with robustness to packet loss. International Journal of Robotics Research, 33(9):1191-1208, 2014. [PDF] [BibTeX]
3. Chris Murphy, Jeffrey M. Walls, Toby Schneider, Ryan M. Eustice, Milica Stojanovic and Hanumant Singh, CAPTURE: A communications architecture for progressive transmission via underwater relays with eavesdropping. IEEE Journal of Oceanic Engineering, 39(1):120-130, 2014. [PDF] [BibTeX]
4. Stephen M. Chaves, Ayoung Kim and Ryan M. Eustice, Opportunistic sampling-based planning for active visual SLAM. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3073-3080, Chicago, IL, USA, September 2014. [PDF] [BibTeX]
5. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Learning visual feature descriptors for dynamic lighting conditions. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2769-2776, Chicago, IL, USA, September 2014. [PDF] [BibTeX]
6. Giancarlo Troni and Ryan M. Eustice, Magnetometer bias calibration based on relative angular position: Theory and experimental comparative evaluation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 444-450, Chicago, IL, USA, September 2014. [PDF] [BibTeX]
7. Ryan W. Wolcott and Ryan M. Eustice, Visual localization within LIDAR maps for automated urban driving. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 176-183, Chicago, IL, USA, September 2014. [PDF] [BibTeX]
8. Jeffrey M. Walls and Ryan M. Eustice, Toward informative planning for cooperative underwater localization. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, St. John's, Newfoundland, September 2014. [PDF] [BibTeX]
9. Paul Ozog and Ryan M. Eustice, Toward long-term, automated ship hull inspection with visual SLAM, explicit surface optimization, and generic graph-sparsification. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3832-3839, Hong Kong, China, June 2014. [PDF] [BibTeX]
10. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Conservative edge sparsification for graph SLAM node removal. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 854-860, Hong Kong, China, June 2014. [PDF] [BibTeX]
11. Gaurav Pandey, James R. McBride, Silvio Savarese and Ryan M. Eustice, Toward mutual information based place recognition. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3185-3192, Hong Kong, China, June 2014. [PDF] [BibTeX]

2013

1. Ayoung Kim and Ryan M. Eustice, Real-time visual SLAM for autonomous underwater hull inspection using visual saliency. IEEE Transactions on Robotics, 29(3):719-733, 2013. [PDF] [BibTeX]
2. Sarah E. Webster, Jeffrey M. Walls, Louis L. Whitcomb and Ryan M. Eustice, Decentralized extended information filter for single-beacon cooperative acoustic navigation: Theory and experiments. IEEE Transactions on Robotics, 29(4):957-974, 2013. [PDF] [BibTeX]
3. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Long-term simultaneous localization and mapping with generic linear constraint node removal. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1034-1041, Tokyo, Japan, November 2013. [PDF] [BibTeX]
4. Paul Ozog and Ryan M. Eustice, Real-time SLAM with piecewise-planar surface models and sparse 3D point clouds. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1042-1049, Tokyo, Japan, November 2013. [PDF] [BibTeX]
5. Jeffrey M. Walls and Ryan M. Eustice, An exact decentralized cooperative navigation algorithm for acoustically networked underwater vehicles with robustness to faulty communication: Theory and experiment. In Proceedings of the Robotics: Science and Systems Conference, Berlin, Germany, June 2013. [PDF] [BibTeX]
6. Ayoung Kim and Ryan M. Eustice, Perception-driven navigation: Active visual SLAM for robotic area coverage. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3181-3188, Karlsruhe, Germany, May 2013. [PDF] [BibTeX]
7. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Generic factor-based node marginalization and edge sparsification for pose-graph SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 5728-5735, Karlsruhe, Germany, May 2013. [PDF] [BibTeX]
8. Paul Ozog and Ryan M. Eustice, On the importance of modeling camera calibration uncertainty in visual SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3762-3769, Karlsruhe, Germany, May 2013. [PDF] [BibTeX]

2012

1. Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan Englot, Hordur Johannsson, Michael Kaess and John J. Leonard, Advanced perception, navigation and planning for autonomous in-water ship hull inspection. International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, 31(12):1445-1464, 2012. [PDF] [BibTeX]
2. Indelman, Vadim, Gurfil, Pini, Rivlin, Ehud and Rotstein, Hector, Graph-based distributed cooperative navigation for a general multi-robot measurement model. International Journal of Robotics Research, 31(9):1057-1080, 2012. [PDF] [BibTeX]
3. Sarah E. Webster, Ryan M. Eustice, Hanumant Singh and Louis L. Whitcomb, Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. International Journal of Robotics Research, 31(8):935-950, 2012. [PDF] [BibTeX]
4. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Learning temporal co-observability relationships for lifelong robotic mapping. In IROS Workshop on Lifelong Learning for Mobile Robotics Applications, Vilamoura, Portugal, October 2012. [PDF] [BibTeX]
5. Ayoung Kim and Ryan M. Eustice, Next-best-view visual SLAM for bounded-error area coverage. In IROS Workshop on Active Semantic Perception, Vilamoura, Portugal, October 2012. [PDF] [BibTeX]
6. Gaurav Pandey, James R. McBride, Silvio Savarese and Ryan M. Eustice, Toward mutual information based automatic registration of 3d point clouds. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, October 2012. [PDF] [BibTeX]
7. Gaurav Pandey, James R. McBride, Silvio Savarese and Ryan M. Eustice, Automatic targetless extrinsic calibration of a 3d lidar and camera by maximizing mutual information. In Proceedings of the AAAI National Conference on Artificial Intelligence, pages 2053-2059, Toronto, Canada, July 2012. [PDF] [BibTeX]
8. Jeffrey M. Walls and Ryan M. Eustice, An origin state method for lossy synchronous-clock acoustic navigation. In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, pages 56-62, Porto, Portugal, April 2012. [PDF] [BibTeX]

2011

1. Gaurav Pandey, James R. McBride and Ryan M. Eustice, Ford campus vision and lidar data set. International Journal of Robotics Research, 30(13):1543-1552, 2011. [PDF] [BibTeX]
2. Brian S. Bingham, Jeffrey M. Walls and Ryan M. Eustice, Development of a flexible command and control software architecture for marine robotic applications. Marine Technology Society Journal, 45(3):25-36, 2011. [PDF] [BibTeX]
3. Ryan M. Eustice, Hanumant Singh and Louis L. Whitcomb, Synchronous-clock one-way-travel-time acoustic navigation for underwater vehicles. Journal of Field Robotics, Special Issue on State of the Art in Maritime Autonomous Surface and Underwater Vehicles, 28(1):121-136, 2011. [PDF] [BibTeX]
4. Jeffrey M. Walls and Ryan M. Eustice, Experimental comparison of synchronous-clock cooperative acoustic navigation algorithms. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, Kona, HI, September 2011. [PDF] [BibTeX]
5. Nicholas Carlevaris-Bianco, Anush Mohan, James R. McBride and Ryan M. Eustice, Visual localization in fused image and laser range data. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4378-4385, San Francisco, CA, USA, September 2011. [PDF] [BibTeX]
6. Ayoung Kim and Ryan M. Eustice, Combined visually and geometrically informative link hypothesis for pose-graph visual SLAM using bag-of-words. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1647-1654, San Francisco, CA, USA, September 2011. [PDF] [BibTeX]
7. Nicholas Carlevaris-Bianco and Ryan M. Eustice, Multi-view registration for feature-poor underwater imagery. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 423-430, Shanghai, China, May 2011. [PDF] [BibTeX]
8. Gaurav Pandey, James R. McBride, Silvio Savarese and Ryan M. Eustice, Visually bootstrapped generalized ICP. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2660-2667, Shanghai, China, May 2011. [PDF] [BibTeX]

2010

1. Brian Bingham, Brendan Foley, Hanumant Singh, Richard Camilli, Katerina Delaporta, Ryan Eustice, Angelos Mallios, David Mindell, Christopher Roman and Dimitris Sakellariou, Robotic tools for deep water archaeology: Surveying an ancient shipwreck with an autonomous underwater vehicle. Journal of Field Robotics, Special Issue on State of the Art in Maritime Autonomous Surface and Underwater Vehicles, 27(6):702-717, 2010. [PDF] [BibTeX]
2. Nicholas Carlevaris-Bianco, Anush Mohan and Ryan M. Eustice, Initial results in underwater single image dehazing. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-8, Seattle, WA, USA, September 2010. [PDF] [BibTeX]
3. Gaurav Pandey, James McBride, Silvio Savarese and Ryan Eustice, Extrinsic calibration of a 3d laser scanner and an omnidirectional camera. In 7th IFAC Symposium on Intelligent Autonomous Vehicles, Leece, Italy, September 2010. [PDF] [BibTeX]
4. Sarah E. Webster, Louis L. Whitcomb and Ryan M. Eustice, Decentralized navigation for multiple underwater vehicles using acoustic communication. In The Fifth ACM International Workshop on UnderWater Networks (WUWNet), Woods Hole, MA, USA, September 2010. (Abstract). [PDF] [BibTeX]
5. Sarah E. Webster, Louis L. Whitcomb and Ryan M. Eustice, Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and simulation. In Proceedings of the IEEE/OES Autonomous Underwater Vehicles Conference, pages 1-8, Monterey, CA, USA, September 2010. [PDF] [BibTeX]
6. Sarah E. Webster, Louis L. Whitcomb and Ryan M. Eustice, Preliminary results in decentralized estimation for single-beacon acoustic underwater navigation. In Proceedings of the Robotics: Science and Systems Conference, Zaragoza, Spain, June 2010. [PDF] [BibTeX]

2009

1. Hunter C. Brown, Ayoung Kim and Ryan M. Eustice, An overview of autonomous underwater vehicle research and testbed at PeRL. Marine Technology Society Journal, 43(2):33-47, 2009. [PDF] [BibTeX]
2. Brendan P. Foley, Katerina DellaPorta, Dimitris Sakellariou, Brian S. Bingham, Richard Camilli, Ryan M. Eustice, Dionysis Evagelistis, Vicki L. Ferrini, Kostas Katsaros, Dimitris Kourkoumelis, Aggelos Mallios, Paraskevi Micha, David A. Mindell, Christopher Roman, Hanumant Singh, David S. Switzer and Theotokis Theodoulou, The 2005 Chios ancient shipwreck survey: New methods for underwater archaeology. Hesperia: The Journal of the American School of Classical Studies at Athens, 78(2):269-305, 2009. [PDF] [BibTeX]
3. Clayton Kunz, Chris Murphy, Hanumant Singh, Claire Pontbriand, Robert A. Sohn, Sandipa Singh, Taichi Sato, Chris Roman, Koichi Nakamura, Michael Jakuba, Ryan Eustice, Richard Camilli and John Bailey, Toward extraplanetary under-ice exploration: Robotic steps in the Arctic. Journal of Field Robotics, 26(4):411-429, 2009. [PDF] [BibTeX]
4. Oscar Pizarro, Ryan M. Eustice and Hanumant Singh, Large area 3-D reconstructions from underwater optical surveys. IEEE Journal of Oceanic Engineering, 34(2):150-169, 2009. [PDF] [BibTeX]
5. James R. McBride, Jerome C. Ivan, Doug S. Rhode, Jeffrey D. Rupp, Matthew Y. Rupp, Jeff D. Higgins, Doug D. Turner and Ryan M. Eustice, A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA grand challenges. In The DARPA Urban Challenge - Autonomous Vehicles in City Traffic, page 626.Springer, , November 2009. [PDF] [BibTeX]
6. Sarah E. Webster, Ryan M. Eustice, Hanumant Singh and Louis L. Whitcomb, Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2053-2060, St. Louis, MO, USA, October 2009. [PDF] [BibTeX]
7. Ayoung Kim and Ryan Eustice, Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1559-1565, St. Louis, MO, USA, October 2009. [PDF] [BibTeX]
8. Ayoung Kim and Ryan M. Eustice, Toward AUV survey design for optimal coverage and localization using the cramer rao lower bound. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, Biloxi, MS, USA, October 2009. [PDF] [BibTeX]
9. John O'Shea, Guy A. Meadows, Robert G. Reynolds and Ryan M. Eustice, Mapping ancient landscapes and hunting sites beneath Lake Huron. In Geological Society of America: Abstracts with Programs, page 77, Portland, OR, USA, October 2009. (Abstract). [BibTeX]
10. Sarah E. Webster, Ryan M. Eustice, Christopher Murphy, Hanumant Singh and Louis L. Whitcomb, Toward a platform-independent acoustic communications and navigation system for underwater vehicles. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, Biloxi, MS, USA, October 2009. [PDF] [BibTeX]
11. Richard Camilli, Angelos Mallios, Dimitris Sakellariou, Brian Bingham, Ryan Eustice and Joanne Goudreau, Real-time in-situ chemical and localization sensors integration in human occupied submersible for studying hydrothermal vents. In Proceedings of the 9th Hellenic Symposium of Oceanography and Fishery, pages 123-127, Patra, Greece, May 2009. [PDF] [BibTeX]

2008

1. James R. McBride, Jerome C. Ivan, Doug S. Rhode, Jeffrey D. Rupp, Matthew Y. Rupp, Jeff D. Higgins, Doug D. Turner and Ryan M. Eustice, A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA grand challenges. Journal of Field Robotics, 25(10):808-840, 2008. [PDF] [BibTeX]
2. Ryan M. Eustice, Oscar Pizarro and Hanumant Singh, Visually augmented navigation for autonomous underwater vehicles. IEEE Journal of Oceanic Engineering, 33(2):103-122, 2008. [PDF] [BibTeX]
3. Kori R. Newman, Marie-Helene Cormier, Jeffry K. Weissel, Neal W. Driscoll, Miriam Kastner, Evan A. Solomon, Gretchen Robertson, Jenna C. Hill, Hanumant Singh, Richard Camilli and Ryan Eustice, Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break. Earth and Planetary Science Letters, 267(1--2):341-352, 2008. [PDF] [BibTeX]
4. Ryan M. Eustice, Hunter C. Brown and Ayoung Kim, An overview of AUV algorithms research and testbed at the University of Michigan. In Proceedings of the IEEE/OES Autonomous Underwater Vehicles Conference, pages 1-9, Woods Hole, MA, USA, October 2008. [PDF] [BibTeX]
5. Clayton Kunz, Chris Murphy, Richard Camilli, Hanumant Singh, Ryan Eustice, Chris Roman, Michael Jakuba, Claire Willis, Taichi Sato, Koichi Nakamura and Robert Sohn, Deep sea underwater robotic exploration in the ice-covered Arctic ocean with AUVs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3654-3660, Nice, France, September 2008. [PDF] [BibTeX]
6. Hunter Brown, Ayoung Kim and Ryan Eustice, Development of a multi-AUV SLAM testbed at the University of Michigan. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-6, Quebec City, Quebec, Canada, September 2008. [PDF] [BibTeX]
7. High resolution optical imaging for deep water archaeology. Hanumant Singh, Christopher Roman, Oscar Pizarro, Brendan Foley, Ryan Eustice and Ali Can, in Archaeological Oceanography. Princeton University Press, July 2008. [PDF] [BibTeX]
8. Ryan M. Eustice, Toward real-time visually augmented navigation for autonomous search and inspection of ship hulls and port facilities. In Intl. Symposium on Technology and the Mine Problem, Monterey, CA, USA, May 2008. [PDF] [BibTeX]

2007

1. Hanumant Singh, Christopher Roman, Oscar Pizarro, Ryan Eustice and Ali Can, Towards high-resolution imaging from underwater vehicles. International Journal of Robotics Research, 26(1):55-74, 2007. [PDF] [BibTeX]
2. Hanumant Singh, Ryan Eustice, Susan Humphris, Michael Jakuba, Clayton Kunz, Christopher Murphy, Koichi Nakamura, Robert Reves-Sohn, Christopher Roman, Taich Sato, Timothy Shank and Claire Willis, Towed and AUV technologies for Arctic operations. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 2007. (Abstract). [BibTeX]
3. Matthew R. Walter, Ryan M. Eustice and John J. Leonard, Exactly sparse extended information filters for feature-based SLAM. International Journal of Robotics Research, 26(4):335-359, 2007. [PDF] [BibTeX]
4. Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh and Matthew Grund, Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 4257-4264, Rome, Italy, April 2007. [PDF] [BibTeX]

2006

1. Roy A. Armstrong, Hanumant Singh, Juan Torres, Richard S. Nemeth, Alli Can, Chris Roman, Ryan Eustice, Lauren Riggs and Graciela Garcia-Moliner, Characterizing the deep insular shelf coral reef habitat of the Hind Bank marine conservation district (US Virgin Islands) using the SeaBED autonomous underwater vehicle. Continental Shelf Research, 26(2):194-205, 2006. [PDF] [BibTeX]
2. Ryan M. Eustice, Hanumant Singh and John J. Leonard, Exactly sparse delayed-state filters for view-based SLAM. IEEE Transactions on Robotics, 22(6):1100-1114, 2006. [PDF] [BibTeX]
3. Richard Camilli, Dimitris Sakellariou, Brendan Foley, Christos Anagnostou, Joanne Goudreau, Brian Bingham, Ryan Eustice, Aggelos Mallios and Konstantinos Katsaros, Real-time characterization of submarine hydrothermal vents with an in-situ mass spectrometer operating aboard a human occupied submersible. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 2006. (Abstract). [BibTeX]
4. Ryan M. Eustice, Hanumant Singh, John J. Leonard and Matthew R. Walter, Visually mapping the RMS Titanic: Conservative covariance estimates for SLAM information filters. International Journal of Robotics Research, 25(12):1223-1242, 2006. [PDF] [BibTeX]
5. Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh and Matthew Grund, Recent advances in synchronous-clock one-way-travel-time acoustic navigation. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-6, Boston, MA, USA, September 2006. [PDF] [BibTeX]
6. Sandipa Singh, Matthew Grund, Brian Bingham, Ryan Eustice, Hanumant Singh and Lee Freitag, Underwater acoustic navigation with the WHOI micro-modem. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-4, Boston, MA, USA, September 2006. [PDF] [BibTeX]
7. Martin Ludvigsen, Ryan Eustice and Hanumant Singh, Photogrammetric models for marine archaeology. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-6, Boston, MA, USA, September 2006. [PDF] [BibTeX]
8. James C. Kinsey, Ryan M. Eustice and Louis L. Whitcomb, Underwater vehicle navigation: Recent advances and new challenges. In IFAC Conf. on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006. [PDF] [BibTeX]

2005

1. Hanumant Singh, Chris Roman, Oscar Pizarro and Ryan Eustice, Advances in high-resolution imaging from underwater vehicles. In Proceedings of the International Symposium on Robotics Research, pages 430-448, October 2005. [PDF] [BibTeX]
2. Matthew Walter, Ryan Eustice and John Leonard, A provably consistent method for imposing sparsity in feature-based SLAM information filters. In Proceedings of the International Symposium on Robotics Research, pages 214-234, San Francisco, CA, USA, October 2005. [PDF] [BibTeX]
3. Ryan Eustice, Richard Camilli and Hanumant Singh, Towards bathymetry-optimized Doppler re-navigation for AUVs. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1430-1436, Washington, DC, USA, September 2005. [PDF] [BibTeX]
4. Ryan Eustice, Matthew Walter and John Leonard, Sparse extended information filters: Insights into sparsification. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3281-3288, August 2005. [PDF] [BibTeX]
5. Ryan Eustice, Hanumant Singh, John Leonard, Matthew Walter and Robert Ballard, Visually navigating the RMS Titanic with SLAM information filters. In Proceedings of the Robotics: Science and Systems Conference, pages 57-64, Cambridge, MA, USA, June 2005. [PDF] [BibTeX]
6. Ryan M. Eustice, Hanumant Singh and John J. Leonard, Exactly sparse delayed-state filters. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2417-2424, Barcelona, Spain, April 2005. [PDF] [BibTeX]

2004

1. Jenna C. Hill, Neil W. Driscoll, Jeffrey K. Weissel, Miriam Kastner, Hanuman Singh, Marie-Helene Cormier, Richard Camilli, Ryan Eustice, R. Lipscomb, Neil McPhee, Kori Newman, G. Robertson, E. Solomon and K. Tomanka, A potential link between fluid expulsion and slope stability: Geochemical anomalies measured in the gas blowouts along the U.S. Atlantic margin provide new constraints on their formation. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 2004. (Abstract). [BibTeX]
2. Kori R. Newman, Marie-Helene Cormier, Jeffrey K. Weissel, Neil W. Driscoll, Miriam Kastner, Hanumant Singh, Richard Camilli, Ryan Eustice, Neil McPhee, Jenna C. Ahern, G. Robertson, E. Solomon and K. Tomanka, A detailed near-bottom survey of large gas blowout structures along the US Atlantic shelf break using the autonomous underwater vehicle (AUV) SeaBED. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 2004. (Abstract). [BibTeX]
3. Hanumant Singh, Roy Armstrong, Fernando Gilbes, Ryan Eustice, Chris Roman, Oscar Pizarro and Juan Torres, Imaging coral I: Imaging coral habitats with the SeaBED AUV. Subsurface Sensing Technologies and Applications, 5(1):25-42, 2004. [PDF] [BibTeX]
4. Hanumant Singh, Ali Can, Ryan Eustice, Steve Lerner, Neil McPhee, Oscar Pizarro and Chris Roman, SeaBED AUV offers new platform for high-resolution imaging. EOS, Transactions of the American Geophysical Union, 85(31):289,294-295, 2004. [PDF] [BibTeX]
5. Oscar Pizarro, Ryan Eustice and Hanumant Singh, Large area 3D reconstructions from underwater surveys. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 678-687, Kobe, Japan, November 2004. [PDF] [BibTeX]
6. Ryan Eustice, Oscar Pizarro and Hanumant Singh, Visually augmented navigation in an unstructured environment using a delayed state history. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 25-32, New Orleans, LA, USA, April 2004. [PDF] [BibTeX]

2003

1. Oscar Pizarro, Ryan Eustice and Hanumant Singh, Relative pose estimation for instrumented, calibrated imaging platforms. In Proceedings of Digital Image Computing: Techniques and Applications, pages 601-612, Sydney, Australia, December 2003. [PDF] [BibTeX]
2. Hanumant Singh, Ryan Eustice, Oscar Pizarro and Chris Roman, Optical and acoustic habitat characterization with the SeaBED AUV. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, 332, San Diego, CA, USA, September 2003. [PDF] [BibTeX]

2002

1. Hanumant Singh, Ryan Eustice, Chris Roman and Oscar Pizarro, The SeaBED AUV --- A platform for high resolution imaging. In Unmanned Underwater Vehicle Showcase, Southampton, UK, September 2002. [PDF] [BibTeX]
2. Hanumant Singh, Garbis Salgian, Ryan Eustice and Robert Mandelbaum, Sensor fusion of structure-from-motion, bathymetric 3D, and beacon-based navigation modalities. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 4024-4031, Washington, DC, USA, May 2002. [PDF] [BibTeX]
3. Ryan Eustice, Oscar Pizarro, Hanumant Singh and Jonathan Howland, UWIT: Underwater image toolbox for optical image processing and mosaicking in Matlab. In Proceedings of the International Symposium on Underwater Technology, pages 141-145, Tokyo, Japan, April 2002. [PDF] [BibTeX]

2000

1. Ryan Eustice, Hanumant Singh and Jonathan Howland, Image registration underwater for fluid flow measurements and mosaicking. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1529-1534, September 2000. [PDF] [BibTeX]
2. Chris Roman, Oscar Pizarro, Ryan Eustice and Hanumant Singh, A new autonomous underwater vehicle for imaging research. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 153-156, September 2000. [PDF] [BibTeX]

Theses

1. Steven A. Parkison, Robust and efficient semantic sensor registration for mobile robotics in unorganized, natural, scenes. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, January 2020. [PDF] [BibTeX]
2. Joshua G. Mangelson, Toward robust multi-agent autonomous underwater inspection with consistency and global optimality guarantees. PhD thesis, Robotics Institute, University of Michigan, April 2019. [PDF] [BibTeX]
3. Arash K. Ushani, Understanding a dynamic world: Object tracking and dynamic Motion estimation from LIDAR for autonomous driving. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, August 2018. [PDF] [BibTeX]
4. Jie Li, Place recognition and localization for multi-modal underwater navigation with vision and acoustic sensors. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, August 2017. [PDF] [BibTeX]
5. Stephen M. Chaves, Belief-space planning for active visual SLAM in underwater environments. PhD thesis, Department of Mechanical Engineering, University of Michigan, July 2016. [PDF] [BibTeX]
6. Paul Ozog, Advances in simultaneous localization and mapping in confined underwater environments using sonar and optical imaging. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, January 2016. [PDF] [BibTeX]
7. Ryan W. Wolcott, Robust localization in 3D prior maps for autonomous driving. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, July 2016. [PDF] [BibTeX]
8. Nicholas Carlevaris-Bianco, Long-term simultaneous localization and mapping in dynamic environments. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, January 2015. [PDF] [BibTeX]
9. Jeffrey M. Walls, Cooperative navigation for low-bandwidth mobile acoustic networks. PhD thesis, Department of Mechanical Engineering, University of Michigan, May 2015. [PDF] [BibTeX]
10. Gaurav Pandey, An information theoretic framework for camera and lidar sensor data fusion and its applications in autonomous navigation of vehicles. PhD thesis, Department of Electrical Engineering and Computer Science, University of Michigan, January 2014. [PDF] [BibTeX]
11. Ayoung Kim, Active visual SLAM with exploration for autonomous underwater navigation. PhD thesis, Department of Mechanical Engineering, University of Michigan, August 2012. [PDF] [BibTeX]
12. Sarah E. Webster, Decentralized single-beacon acoustic navigation: Combined communication and navigation for underwater vehicles. PhD thesis, Department of Mechanical Engineering, Johns Hopkins University, June 2010. [PDF] [BibTeX]
13. Ryan M. Eustice, Large-area visually augmented navigation for autonomous underwater vehicles. PhD thesis, Department of Ocean Engineering, Massachusetts Institute of Technology / Woods Hole Oceanographic Institution Joint Program, June 2005. [PDF] [BibTeX]