Publications

Papers Under Review

[J13]  Wilko Schwarting, Javier Alonso-Mora, Liam Paull, Sertac Karaman, Daniela Rus. "Parallel Autonomy: Safe Motion Generation with Minimal Intervention for Intelligent Vehicles." IEEE Transactions on Intelligent Transportation Systems. Under Review.

[C30]    Alexander Amini, Liam Paull, Sertac Karaman, Daniela Rus. “Learning Steering Bounds for Parallel Autonomous Systems” 1st Annual Conference on Robot Learning (CoRL 2017). Under Review.

Journal Articles

[J12]   Liam Paull, Mae Seto, John J. Leonard, Howard Li. "Probabilistic Cooperative Mobile Robot Area Coverage and its Application to Autonomous Seabed Mapping." International Journal of Robotics Research. Conditionally Accepted .

[J11]   Beipeng Mu, Liam Paull, Aliakbar Agha-Mohammadi, John J. Leonard, Jonathan P. How. "Two-Stage Focused Inference for Resource-Constrained Collision-Averse Navigation." IEEE Transactions on Robotics. 33(1), pp 124-140. 2017 [pdf] [bibtex]

[J10]   B. Bayat, J. Bermejo-Alonso, J. Carbonera, T. Facchinetti, S. Fiorini, P. Goncalves, V. A.M. Jorge, M. Habib, A. Khamis, K. Melo, B Nguyen, J. Isabelle Olszewska, L. Paull, E. Prestes, V. Ragavan, S. Saeedi, R. Sanz, M. Seto, B. Spencer, A. Vosughi, H. Li, "Requirements for building an ontology for autonomous robots", Industrial Robot: An International Journal, 43(5), pp. 469-480, 2016. [pdf] [bibtex]

[J9]     Liam Paull, Carl Thibault, Amr Nagaty, Mae Seto, Howard Li. "Sensor-Driven Area Coverage for an Autonomous Fixed-Wing Unmanned Aerial Vehicle." IEEE Transactions on Cybernetics. 44(9), pp. 1605-1618. 2014. [pdf] [bibtex]

[J8]     Sajad Saeedi, Liam Paull, Michael Trentini, Howard Li. "Map Merging for Simultaneous Localization and Mapping." International Journal of Robotics and Automation. 30(2), pp. 149-157. 2015. [bibtex]

[J7]     Liam Paull, Sajad Saeedi, Mae Seto, Howard Li. "AUV Navigation and Localization - A Tutorial and Review." IEEE Journal of Oceanic Engineering. 39(1), pp. 131-149. 2014. [pdf] [bibtex]

[J6]     Sajad Saeedi, Liam Paull, Michael Trentini, Mae Seto, and Howard Li. Map Merging for Multiple Robots using Hough Peak Matching." Robotics and Autonomous Systems. 62(10). p. 1408-1424. 2014. [bibtex]

[J5]     Sajad Saeedi, Liam Paull, Michael Trentini, Howard Li. "Group Exploration: A New Efficient Topological Approach to Map Merging Based on a Probabilistic Generalized Voronoi Diagram." IEEE Robotics and Automation Magazine. 21(2), pp. 60-72. 2014. [pdf] [bibtex]

[J4]     Liam Paull, Sajad Saeedi, Mae Seto, Howard Li. "Sensor-Driven Online Coverage Planning for Autonomous Underwater Vehicles." IEEE/ASME Transactions on Mechatronics. 18(6), p1827-1838. 2013. [pdf] [bibtex]

[J3]     Sajad Saeedi, Liam Paull, Mike Trentini, Howard Li. "Neural Network-based Multiple Robot Simultaneous Localization and Mapping." IEEE Transactions on Neural Networks. 22(12), p2376 - 2387. 2012. [bibtex]

[J2]     Liam Paull, Howard Li, Liuchen Chang. "A Novel Domestic Electric Water Heater Model for a Multi-Objective Demand Side Management Program." Electric Power Systems Research. 80(12), p1446-1451. 2010. [bibtex]

[J1]     Howard Li, Liam Paull, Yevgen Biletskiy, Simon Yang. “Document Classification Using Information Theory and a Fast Back-Propagation Neural Network.” Intelligent Automation and Soft Computing. 16(1), p25-38. 2010.

Book Chapters

[B2]    Liam Paull, Sajad Saeedi, Howard Li. "Path Planning for Autonomous Underwater Vehicles." in Marine Robot Autonomy. Springer 2012. Editor: Dr. Mae Seto. p177-224. [available here]

[B1]    M.L. Seto, L. Paull, S. Saeedi. "Introduction to Autonomy for Marine Robots." in Marine Robot Autonomy. Springer 2012. Editor: Dr. Mae Seto. p1-46. [available here]

Refereed Conference Publications

[C29]    Guy Rosman, Liam Paull, Daniela Rus. “Hybrid Control and Learning with Coresets for Autonomous Vehicles” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Accepted.

[C28]    Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cap, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan How, John Leonard, Andrea Censi. “Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research” IEEE International Conference on Robotics and Automation (ICRA). 2017. Accepted. [pdf] [bibtex] [website] [code]

[C27]    Wilko Schwarting, Javier Alonso-Mora, Liam Paull, Sertac Karaman, Daniela Rus. “Parallel Autonomy in Automated Vehicles: Trajectory Generation with Real-time Obstacle Avoidance and Human Input Optimization” IEEE International Conference on Robotics and Automation (ICRA). 2017. [pdf] [bibtex]

[C26]    Felix Naser, David Dorhout, Stephen Proulx, Scott Drew Pendleton, Hans Andersen, Wilko Schwarting, Liam Paull, Javier Alonso-Mora, Marcelo H. Ang Jr., Sertac Karaman, Russ Tedrake, John Leonard, Daniela Rus. “A Parallel Autonomy Research Platform” IEEE Intelligent Vehicles Symposium. 2017. [pdf][bibtex]

[C25]    Jacopo Tani, Liam Paull, Andrea Censi, Maria Zuber, Daniela Rus, Jonathan How and John Leonard. “Duckietown: an Innovative Way to Teach Autonomy.” EduRobotics Conference. 2016. [pdf] [bibtex]

[C24]    Beipeng Mu, Matthew Giamou, Liam Paull, Ali-akbar Agha-mohammadi, John J. Leonard, Jonathan P. How. “Information-based Active SLAM via Topological Feature Graphs.” IEEE Conference on Decision and Control. 2016. [pdf] [bibtex]

[C23]    Beipeng Mu, Shih-Yuan Liu, Liam Paull, John Leonard, Jonathan How. “SLAM with Objects using a Nonparametric Pose Graph.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2016. [pdf] [bibtex]

[C22]    Kevin Eckenhoff, Liam Paull, Guoquan Huang. “Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based SLAM ” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2016. [pdf] [bibtex]

[C21]    Liam Paull, Guoquan Huang, John Leonard. "A Unified Resource-Constrained Framework for Graph SLAM." IEEE International Conference on Robotics and Automation (ICRA). 2016. [pdf] [bibtex] [slides] [poster]

[C20]    Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth Teller, and John Leonard. "Bridging Text Spotting and SLAM with Junction Features." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015. [pdf] [video] [slides] [bibtex]

[C19]    Beipeng Mu, Ali Agha, Liam Paull, Matt Graham, Jonathan How, John J Leonard. "Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation." Robotics: Science and Systems (RSS). 2015. [pdf] [supplemental material] [slides] [bibtex]

[C18]    Liam Paull, Mae Seto, John J Leonard. "Cooperative Area Coverage." Robotics: Science and Systems (RSS) Workshop on the Principles of Multi-Robot Systems. 2015 [pdf] [poster]

[C17]    Arthur Anderson, Erin Fischell, Thom Howe, Tom Miller, Arturo Parrales-Salinas, Nick Rypkema, David Barrett, Michael Benjamin, Alex Brennen, Michael Defillipo, John Leonard, Liam Paull, Henrik Schmidt, Nick Wang, and Alon Yaari. "An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition." Field and Service Robotics (FSR). 2015. [pdf] [video] [slides] [bibtex]

[C16]    Liam Paull, Guoquan Huang, Mae Seto, John Leonard. "Communication-constrained Multi-AUV Cooperative SLAM." IEEE International Conference on Robotics and Automation (ICRA). 2015. [pdf] [video] [slides] [bibtex]

[C15]    Ross Finman, Liam Paull, John Leonard. "Toward Object-based Place Recognition in Dense RGB-D Maps. International Conference on Robotics and Automation Workshop on Place Recognition in Changing Environments. 2015. [pdf] [video] [slides] [bibtex]

[C14]    Liam Paull, Mae Seto, John Leonard. "Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2014. [pdf] [video] [slides] [bibtex]

[C13]    Ross Finman, Thomas Whelan, Liam Paull, John Leonard. "Physical Words for Place Recognition in RGB-D Maps." International Conference on Robotics and Automation Workshop on Place Recognition in Changing Environments. 2014. [pdf] [bibtex]

[C12]    Liam Paull, Mae Seto, Howard Li. "Area coverage that accounts for pose uncertainty with an AUV surveying application." International Conference on Robotics and Automation (ICRA). 2014. [pdf] [video] [slides] [bibtex]

[C11]    Liam Paull, Sajad Saeedi, Mae Seto, Howard Li. "Sensor Driven Online Coverage Planning for Autonomous Underwater Vehicles." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2012. [pdf] [bibtex]

[C10]    Liam Paull, Gaetan Severac, Guilherme V. Raffo, Julian M. Angel, Harold Boley, Maki K. Habib, Bao Nguyen, Veera R. S. Kumar, Sajad Saeedi G., Ricardo Sanz, Mae Seto, Aleksandar Stefanovski, Michael Trentini, Howard Li. “Towards An Ontology for Autonomous Robots.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2012. [pdf] [bibtex]

[C9]    Sajad Saeedi Gharahbolagh, Liam Paull, Michael Trentini, Mae Seto, Howard Li. "Map Merging Using Hough Peak Matching." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2012. [bibtex]

[C8]    Sajad Saeedi Gharahbolagh, Liam Paull, Michael Trentini, Mae Seto, Howard Li. "Efficient Map Merging Using a Probabilistic Generalized Voronoi Diagram." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2012. [bibtex]

[C7]    Sajad Saeedi Gharahbolagh, Liam Paull, Michael Trentini, Howard Li. "Neural Network-based Multiple Robot Simultaneous Localization and Mapping." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2011. [bibtex]

[C6]    Sajad Saeedi Gharahbolagh, Liam Paull, Michael Trentini, Howard Li. "Multiple Robot Simultaneous Localization and Mapping." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2011. [bibtex]

[C5]    Liam Paull, Sajad Saeedi G., Mae Seto, Howard Li. "A Multi-Agent Framework with MOOS-IvP for Autonomous Underwater Vehicles with Sidescan Sonar Sensors." International Conference on Autonomous and Intelligent Systems. 2011. [pdf] [bibtex]

[C4]    Liam Paull, Sajad Saeedi, Howard Li, Vincent Myers. "An Information Gain Based Adaptive Path Planning Method for an Autonomous Underwater Vehicle Using Sidescan Sonar." IEEE Conference on Automation Science and Engineering (CASE).  2010. [pdf] [bibtex]

[C3]    Arnaldo Sepulveda, Liam Paull, Walid G. Morsi, Howard Li, Chris P. Diduch, Liuchen Chang. "A Novel Demand Side Management Program Using Water Heaters and Particle Swarm Optimization." Electric Power and Energy Conference (EPEC). 2010. [bibtex]

[C2]    Liam Paull, Derek MacKay, Howard Li, Liuchen Chang. "A Water Heater Model for Increased Power System Efficiency." Canadian Conference on Electrical and Computer Engineering (CCECE). 2009. [pdf] [bibtex]

[C1]    Liam Paull, Howard Li, Liuchen Chang. "The development of a fuzzy neural system for load forecasting." Canadian Conference on Electrical and Computer Engineering (CCECE). 2008. [pdf] [bibtex]