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Josh Mangelson

Joshua G. Mangelson

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Journal Articles

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2023
[j3]
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  - journals/ral/JohnsonMB23
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Jacob Johnson, Joshua G. Mangelson, Randal W. Beard:
Continuous-Time Trajectory Estimation for Differentially Flat Systems. IEEE Robotics Autom. Lett. 8(1): 145-151 (2023)
2021
[j2]
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Easton R. Potokar, Kalin Norman, Joshua G. Mangelson:
Invariant Extended Kalman Filtering for Underwater Navigation. IEEE Robotics Autom. Lett. 6(3): 5792-5799 (2021)
2020
[j1]
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Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice:
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. IEEE Trans. Robotics 36(5): 1371-1388 (2020)

Conference and Workshop Papers

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2024
[c19]
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  - conf/icra/SamuelsonM24
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Chad R. Samuelson, Joshua G. Mangelson:
A Guided Gaussian-Dirichlet Random Field for Scientist-in-the-Loop Inference in Underwater Robotics. ICRA 2024: 9448-9454
2023
[c18]
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Kalin Norman, Daniel Butterfield, Joshua G. Mangelson:
AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping. IROS 2023: 9955-9962
2022
[c17]
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Easton R. Potokar, Spencer Ashford, Michael Kaess, Joshua G. Mangelson:
HoloOcean: An Underwater Robotics Simulator. ICRA 2022: 3040-3046
[c16]
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Sudharshan Suresh, Zilin Si, Joshua G. Mangelson, Wenzhen Yuan, Michael Kaess:
ShapeMap 3-D: Efficient shape mapping through dense touch and vision. ICRA 2022: 7073-7080
[c15]
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  - conf/iros/ForsgrenVKMM22
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Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson:
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection. IROS 2022: 4849-4856
[c14]
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  - conf/iros/QadriSMDK22
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Mohamad Qadri, Paloma Sodhi, Joshua G. Mangelson, Frank Dellaert, Michael Kaess:
InCOpt: Incremental Constrained Optimization using the Bayes Tree. IROS 2022: 6381-6388
[c13]
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Easton R. Potokar, Kalliyan Lay, Kalin Norman, Derek Benham, Tracianne B. Neilsen, Michael Kaess, Joshua G. Mangelson:
HoloOcean: Realistic Sonar Simulation. IROS 2022: 8450-8456
2021
[c12]
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  - conf/icra/AbelloMK21
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Montiel Abello, Joshua G. Mangelson, Michael Kaess:
A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences. ICRA 2021: 9565-9571
[c11]
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  - conf/icra/SureshBYMRK21
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Sudharshan Suresh, Maria Bauzá, Kuan-Ting Yu, Joshua G. Mangelson, Alberto Rodriguez, Michael Kaess:
Tactile SLAM: Real-time inference of shape and pose from planar pushing. ICRA 2021: 11322-11328
[c10]
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Ming-Fang Chang, Joshua G. Mangelson, Michael Kaess, Simon Lucey:
HyperMap: Compressed 3D Map for Monocular Camera Registration. ICRA 2021: 11739-11745
[c9]
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Ming-Fang Chang, Wei Dong, Joshua G. Mangelson, Michael Kaess, Simon Lucey:
Map Compressibility Assessment for LiDAR Registration. IROS 2021: 5560-5567
2020
[c8]
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  - conf/icra/SodhiCMK20
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Paloma Sodhi, Sanjiban Choudhury, Joshua G. Mangelson, Michael Kaess:
ICS: Incremental Constrained Smoothing for State Estimation. ICRA 2020: 279-285
[c7]
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Sudharshan Suresh, Paloma Sodhi, Joshua G. Mangelson, David Wettergreen, Michael Kaess:
Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration. ICRA 2020: 3132-3138
[c6]
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  - conf/iros/JaekelMSK20
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Joshua Jaekel, Joshua G. Mangelson, Sebastian A. Scherer, Michael Kaess:
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline. IROS 2020: 4623-4630
[c5]
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  - conf/iros/DexheimerMSK20
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Eric Dexheimer, Joshua G. Mangelson, Sebastian A. Scherer, Michael Kaess:
Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance. IROS 2020: 4758-4765
[c4]
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  - conf/iros/HsiaoMSDK20
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Ming Hsiao, Joshua G. Mangelson, Sudharshan Suresh, Christian Debrunner, Michael Kaess:
ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations. IROS 2020: 5037-5044
2019
[c3]
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  - conf/icra/MangelsonLEV19
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Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan:
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. ICRA 2019: 9306-9312
2018
[c2]
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Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle:
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. ICRA 2018: 1-8
[c1]
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Joshua G. Mangelson, Derrick Dominic, Ryan M. Eustice, Ram Vasudevan:
Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging. ICRA 2018: 2916-2923

Informal and Other Publications

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2024
[i8]
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  - journals/corr/abs-2402-00399
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Jacob Johnson, Joshua G. Mangelson, Timothy Barfoot, Randal W. Beard:
Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches. CoRR abs/2402.00399 (2024)
2023
[i7]
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  - journals/corr/abs-2308-02674
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Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson:
Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging. CoRR abs/2308.02674 (2023)
2022
[i6]
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  - journals/corr/abs-2209-02658
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Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson:
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection. CoRR abs/2209.02658 (2022)
2021
[i5]
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  - journals/corr/abs-2109-09884
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Sudharshan Suresh, Zilin Si, Joshua G. Mangelson, Wenzhen Yuan, Michael Kaess:
Efficient shape mapping through dense touch and vision. CoRR abs/2109.09884 (2021)
2020
[i4]
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  - journals/corr/abs-2011-07044
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Sudharshan Suresh, Maria Bauzá, Kuan-Ting Yu, Joshua G. Mangelson, Alberto Rodriguez, Michael Kaess:
Tactile SLAM: Real-time inference of shape and pose from planar pushing. CoRR abs/2011.07044 (2020)
2019
[i3]
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  - journals/corr/abs-1906-07795
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Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice:
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. CoRR abs/1906.07795 (2019)
2018
[i2]
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  - journals/corr/abs-1809-07744
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Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan:
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. CoRR abs/1809.07744 (2018)
2017
[i1]
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  - journals/corr/abs-1712-05873
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Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle:
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. CoRR abs/1712.05873 (2017)

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