[1]   Barfoot T D. State Estimation for Robotics. Cambridge University Press, 2nd edition, 2024. ISBN 9781009299893. doi: 10.1017/9781009299909, ( google). ( pdf)

[2]   Barfoot T D. State Estimation for Robotics. Cambridge University Press, 2017. ISBN 9781107159396. doi: 10.1017/9781316671528, ( google). ( pdf)

[3]   Barfoot T D. “Integral Forms in Matrix Lie Groups”, 2025. ( arXiv:2503.02820 [cs.RO])

[4]   Caroleo G, Albini A, De Martini D, Barfoot T D, and Maiolino P. “Tiny Lidars for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments”, 2025. Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) on March 1, 2025. Manuscript # 2714. ( arXiv:2503.03449 [cs.RO])

[5]   Fisker D, Krawciw A, Lilge S, Greeff M, and Barfoot T D. “UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat”, 2025. Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) on March 1, 2025. Manuscript # 3272. ( arXiv:2505.16912 [cs.RO])

[6]   Papais K, Lisus D, Yoon D, Lambert A, Leung K, and Barfoot T D. “Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization”, 2025. Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) on February 28, 2025. Manuscript # 1730. ( arXiv:2503.02107 [cs.RO])

[7]   Johnson J, Mangelson J, Barfoot T D, and Beard R. “Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches”, 2024. ( arXiv:2402.00399 [cs.RO])

[8]   Talbot W, Nubert J, Tuna T, Cadena Lerma C, Duembgen F, Tordesillas Torres J, Barfoot T D, and Hutter M. “Continuous-Time State Estimation Methods in Robotics: A Survey”, 2024. Submitted to the IEEE Transactions on Robotics (T-RO) on November 5, 2024. Manuscript # 24-1346. ( arXiv:2411.03951 [cs.RO])

[9]   Barfoot T D, Holmes C, and Duembgen F. “Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map”. International Journal of Robotics Research (IJRR), 44(3):366–387, 2025. doi: 10.1177/02783649241269337, ( google). ( pdf), ( arXiv:2308.12418 [cs.RO])

[10]   Burnett K, Schoellig A P, and Barfoot T D. “Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior”. IEEE Transactions on Robotics (T-RO), 41:1059–1076, 2025. doi: 10.1109/TRO.2024.3521856, ( google). ( pdf), ( arXiv:2402.06174 [cs.RO]), presented at ICRA 2025.

[11]   Burnett K, Schoellig A P, and Barfoot T D. “IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation”. Robotica, 2025. doi: 10.1017/S0263574724002121, ( google). ( pdf), ( arXiv:2403.05968 [cs.RO])

[12]   Han J, Thomas H, Zhang J, Rhinehart N, and Barfoot T D. “DR-MPC: Deep Residual Model Predictive Control for Real-World Social Navigation”. IEEE Robotics and Automation Letters (RAL), 10(4):4029–4036, 2025. doi: 10.1109/LRA.2025.3546106, ( google). ( pdf), ( arXiv:2410.10646 [cs.RO])

[13]   Holmes C, Duembgen F, and Barfoot T D. “SDPRLayers: Certifiable Backpropagation Through Non-Convex Robotics Optimization Problems”. IEEE Transactions on Robotics (T-RO), 2025. doi: 10.1109/TRO.2025.3578228, ( google). ( pdf), ( arXiv:2405.19309 [cs.RO])

[14]   Lilge S and Barfoot T D. “Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics”. Robotica, to appear, 2025. ( arXiv:2408.01333 [cs.RO])

[15]   Lilge S, Barfoot T D, and Burgner-Kahrs J. “State Estimation for Continuum Multi-Robot Systems on SE(3)”. IEEE Transactions on Robotics (T-RO), 41(905-925), 2025. doi: 10.1109/TRO.2024.3521859, ( google). ( pdf), ( arXiv:2401.13540 [cs.RO]), presented at ICRA 2025.

[16]   Lisus D, Burnett K, Yoon D J, Poulton R, Marshall J, and Barfoot T D. “Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?” IEEE Robotics and Automation Letters (RAL), 10(1):224–231, 2025. doi: 10.1109/LRA.2024.3505821, ( google). ( pdf), ( arXiv:2404.01537 [cs.RO]), presented at ICRA 2025.

[17]   Duembgen F, Holmes C, Agro B, and Barfoot T D. “Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations”. IEEE Transactions on Robotics (T-RO), 40:4337–4357, 2024. doi: 10.1109/TRO.2024.3454570, ( google). ( pdf), ( arXiv:2308.05783 [cs.RO]), presented at ICRA 2025.

[18]   Goudar A, Duembgen F, Barfoot T D, and Schoellig A P. “Optimal Initialization Strategies for Range-Only Trajectory Estimation”. IEEE Robotics and Automation Letters (RAL), 9(3):2160–2167, 2024. doi: 10.1109/LRA.2024.3354623, ( google). ( pdf), ( arXiv:2309.09011 [cs.RO]), presented at ICRA40.

[19]   Guo Z C, Duembgen F, Forbes J R, and Barfoot T D. “Data-Driven Batch Localization and SLAM Based on Koopman Linearization”. IEEE Transactions on Robotics (T-RO), 40:3964–3983, 2024. doi: 10.1109/TRO.2024.3443674, ( google). ( pdf), ( arXiv:2309.04375 [cs.RO]), presented at ICRA 2025.

[20]   Harlow K, Jang H, Barfoot T D, Kim A, and Heckman C. “A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics”. IEEE Transactions on Robotics (T-RO), 40:4544–4560, 2024. doi: 10.1109/TRO.2024.3463504, ( google). ( pdf), ( arXiv:2305.01135 [cs.RO])

[21]   Holmes C, Duembgen F, and Barfoot T D. “On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics”. IEEE Transactions on Robotics (T-RO), 40:4805–4824, 2024. doi: 10.1109/TRO.2024.3475220, ( google). ( pdf), ( arXiv:2308.07275 [cs.RO]), presented at ICRA 2025.

[22]   Huang Y, Zhang T, Barfoot T D, and Shkurti F. “Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images”. IEEE Transactions on Field Robotics (T-FR), 1:131–160, 2024. doi: 10.1109/TFR.2024.3450408, ( google). ( pdf), ( arXiv:2309.14657 [cs.RO])

[23]   Laconte J, Lisus D, and Barfoot T D. “Toward Certifying Maps for Safe Localization Under Adversarial Corruption”. IEEE Robotics and Automation Letters (RAL), 9(2):1572–1579, 2024. doi: 10.1109/LRA.2023.3346751, ( google). ( pdf), ( arXiv:2309.04251 [cs.RO])

[24]   Sehn J, Collier J, and Barfoot T D. “Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance”. IEEE Transactions on Field Robotics (T-FR), 1:249–275, 2024. doi: 10.1109/TFR.2024.3492151, ( google). ( pdf), ( arXiv:2309.09334 [cs.RO])

[25]   Zhang H, Chen C, Vallery H, and Barfoot T D. “GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization”. IEEE Transactions on Robotics (T-RO), 40:4003–4023, 2024. doi: 10.1109/TRO.2024.3443699, ( google). ( pdf), ( arXiv:2309.11134 [cs.RO]), presented at ICRA 2025.

[26]   Barfoot T D and D’Eleuterio G M T. “Variational Inference as Iterative Projection in a Bayesian Hilbert Space with Application to Robotic State Estimation”. Robotica, 41(2):632–667, 2023. doi: 10.1017/S0263574722001497, ( google). ( pdf), ( arXiv:2005.07275 [cs.LG])

[27]   Burnett K, Yoon D J, Wu Y, Li A, Zhang H, Li S, Qian J, Tseng W, Lambert A, Leung K, Schoellig A P, and Barfoot T D. “Boreas: A Multi-Season Autonomous Driving Dataset”. International Journal of Robotics Research (IJRR), 42(1-2):33–42, 2023. doi: 10.1177/02783649231160195, ( google). ( pdf), ( arXiv:2203.10168 [cs.RO])

[28]   Chen Y and Barfoot T D. “Self-Supervised Feature Learning for Long-Term Metric Visual Localization”. IEEE Robotics and Automation Letters (RAL), 8(2):472–479, 2023. doi: 10.1109/LRA.2022.3227866, ( google). ( pdf), ( arXiv:2212.00122 [cs.RO]), presented at ICRA 2023.

[29]   Duembgen F, Holmes C, and Barfoot T D. “Safe and Smooth: Certified Continuous-Time Range-Only Localization”. IEEE Robotics and Automation Letters (RAL), 8(2):1117–1124, 2023. doi: 10.1109/LRA.2022.3233232, ( google). ( pdf), ( arXiv:2209.04266 [cs.RO]), presented at IROS 2023.

[30]   Holmes C and Barfoot T D. “An Efficient Global Optimality Certificate for Landmark-Based SLAM”. IEEE Robotics and Automation Letters (RAL), 8(3):1539–1546, 2023. doi: 10.1109/LRA.2023.3238173, ( google). ( pdf), ( arXiv:2206.12961 [cs.RO]), presented at IROS 2023.

[31]   Thomas H, Zhang J, and Barfoot T D. “The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation”. IEEE Transactions on Robotics (T-RO), 39(6):4581–4599, 2023. doi: 10.1109/TRO.2023.3304239, ( google). ( pdf), ( arXiv:2208.12602 [cs.RO]), to be presented at ICRA 2024.

[32]   Wu Y, Yoon D J, Burnett K, Kammel S, Chen Y, Vhavle H, and Barfoot T D. “Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements”. IEEE Robotics and Automation Letters (RAL), 8(1):264–271, 2023. doi: 10.1109/LRA.2022.3226068, ( google). ( pdf), ( arXiv:2209.03304 [cs.RO]), presented at ICRA 2023.

[33]   Barfoot T D, Forbes J R, and D’Eleuterio G M T. “Vectorial Parameterizations of Pose”. Robotica, 40(7):2409–2427, July 2022. doi: 10.1017/S0263574721001715, ( google). ( pdf), ( arXiv:2103.07309 [cs.RO])

[34]   Burnett K, Wu Y, Yoon D J, Schoellig A P, and Barfoot T D. “Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?” IEEE Robotics and Automation Letters (RAL), 7(4):10328–10335, 2022. doi: 10.1109/LRA.2022.3192885, ( google). ( arXiv:2203.10174 [cs.RO]), presented at IROS 2022.

[35]   Congram B and Barfoot T D. “Field Testing and Evaluation of Single-Receiver GPS Odometry Algorithm for Use in Robotic Navigation”. Field Robotics, 2:1849–1973, 2022. doi: 10.55417/fr.2022057, ( google). ( pdf)

[36]   D’Eleuterio G M T and Barfoot T D. “On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities”. Royal Society Proceedings A, 2022. doi: 10.1098/rspa.2022.0080, ( google). ( pdf), ( arXiv:2206.03880 [cs.RO])

[37]   Gridseth M and Barfoot T D. “Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization”. IEEE Robotics and Automation Letters (RAL), 7(2):1016–1023, 2022. doi: 10.1109/LRA.2021.3136867, ( google). ( pdf), ( arXiv:2109.04041 [cs.RO]), presented at ICRA 2022.

[38]   Guo Z C, Korotkine V, Forbes J R, and Barfoot T D. “Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems”. IEEE Robotics and Automation Letters (RAL), 7(2):866–873, 2022. doi: 10.1109/LRA.2021.3133587, ( google). ( pdf), ( arXiv:2109.07000 [cs.RO]), presented at ICRA 2022.

[39]   Lilge S, Barfoot T D, and Burgner-Kahrs J. “Continuum Robot State Estimation Using Gaussian Process Regression on SE(3)”. International Journal of Robotics Research (IJRR), 41(13-14):1099–1120, November-December 2022. doi: 10.1177/02783649221128843, ( google). ( pdf), ( arXiv:2210.14842 [cs.RO])

[40]   Bianchi M and Barfoot T D. “UAV Localization Using Autoencoded Satellite Images”. IEEE Robotics and Automation Letters (RAL), 6(2):1761–1768, 2021. doi: 10.1109/LRA.2021.3060397, ( google). ( pdf), ( arXiv:2102.05692 [cs.RO]), presented at ICRA 2021 ( video).

[41]   Burnett K, Schoellig A P, and Barfoot T D. “Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?” IEEE Robotics and Automation Letters (RAL), 6(2):771–778, 2021. doi: 10.1109/LRA.2021.3052439, ( google). ( pdf), ( arXiv:2011.03512 [cs.RO]), presented at ICRA 2021 ( video).

[42]   Nanayakkara T, Barfoot T D, and Howard T. “Editorial: Special Issue on Robotics Science and Systems (RSS) 2020”. International Journal of Robotics Research, 40(12-14):1329–1330, 2021. doi: 10.1177/02783649211052346, ( google). ( pdf)

[43]   Yoon D J, Zhang H, Gridseth M, Thomas H, and Barfoot T D. “Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator”. IEEE Robotics and Automation Letters (RAL), 6(2):2130–2138, 2021. doi: 10.1109/LRA.2021.3060407, ( google). ( pdf), ( arXiv:2102.11261 [cs.RO]), presented at ICRA 2021 ( video), Best Student Paper Award

[44]   Barfoot T D, Forbes J R, and Yoon D J. “Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation”. International Journal of Robotics Research (IJRR), 39(13):1473–1502, 2020. doi: 10.1177/0278364920937608, ( google). ( pdf), ( arXiv:1911.08333 [cs.RO])

[45]   Burnett K, Qian J, Du X, Samavi S, Liu L, Yoon D, Sun S, Shen T, Sorocky M, Bianchi M, Zhang K, Sykora Q, Arkhangorodsky A, Schoellig A P, and Barfoot T D. “Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition”. Journal of Field Robotics (JFR), 38(1):139–166, 2020. doi: 10.1002/rob.21958, ( google). ( pdf), ( arXiv:2004.08752 [cs.RO])

[46]   Gammell J D, Barfoot T D, and Srinivasa S S. “Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search”. International Journal of Robotics Research, 39(5):543–567, 2020. doi: 10.1177/0278364919890396, ( google). ( pdf), ( arXiv:1707.01888 [cs.RO])

[47]   Wong J N, Yoon D J, Schoellig A P, and Barfoot T D. “A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3)”. IEEE Robotics and Automation Letters (RAL), 5(2):1429–1436, April 2020. doi: 10.1109/LRA.2020.2969153, ( google). ( pdf), presented at ICRA 2020.

[48]   Wong J N, Yoon D J, Schoellig A P, and Barfoot T D. “Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation”. IEEE Robotics and Automation Letters (RAL), 5(4):5291–5298, July 2020. doi: 10.1109/LRA.2020.3007381, ( google). ( pdf), ( arXiv:2003.09736 [cs.RO]), presented at IROS 2020.

[49]   Tang T Y, Yoon D J, and Barfoot T D. “A White-Noise-On-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3)”. IEEE Robotics and Automation Letters (RAL), 4(2):594–601, 2019. doi: 10.1109/LRA.2019.2891492, ( google). ( pdf), ( arXiv:1809.06518 [cs.RO]), presented at ICRA 2019.

[50]   Warren M, Greeff M, Patel B, Collier J, Schoellig A P, and Barfoot T D. “There’s No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure”. IEEE Robotics and Automation Letters, 4(1):161–168, 2019. doi: 10.1109/LRA.2018.2883408, ( google). ( pdf), ( arXiv:1809.06518 [cs.RO]), presented at ICRA 2019.

[51]   Gammell J D, Srinivasa S S, and Barfoot T D. “Informed Sampling for Asymptotically Optimal Path Planning”. IEEE Transactions on Robotics (T-RO), 34(4):966–984, 2018. doi: 10.1109/TRO.2018.2830331, ( google). ( pdf), ( arXiv:1706.06454 [cs.RO])

[52]   MacTavish K A, Paton M, and Barfoot T D. “Selective Memory: Recalling Relevant Experience for Long-Term Visual Localization”. Journal of Field Robotics (JFR), 35(8):1265–1292, 2018. doi: 10.1002/rob.21838, ( google). ( pdf)

[53]   McGarey P, Yoon D, Tang T, Pomerleau F, and Barfoot T D. “Developing and Deploying a Tethered Robot to Map Extremely Steep Terrain”. Journal of Field Robotics (JFR), 35(8):1327–1341, 2018. doi: 10.1002/rob.21813, ( google). ( pdf)

[54]   Clement L, Kelly J, and Barfoot T D. “Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Colour-Constant Imagery”. Journal of Field Robotics (JFR), special issue on “Field and Service Robotics”, 34(1):74–97, 2017. doi: 10.1002/rob.21655, ( google). ( pdf)

[55]   McGarey P, MacTavish K A, Pomerleau F, and Barfoot T D. “TSLAM: Tethered Simultaneous Localization and Mapping for Mobile Robots”. International Journal of Robotics Research (IJRR), 36(12):1363–1386, 2017. doi: 10.1177/0278364917732639, ( google). ( pdf)

[56]   Paton M, MacTavish K, Ostafew C J, Pomerleau F, and Barfoot T D. “Expanding the Limits of Vision-Based Localization for Long-Term Route-Following Autonomy”. Journal of Field Robotics (JFR), special issue on “Field and Service Robotics”, 34(1):98–122, 2017. doi: 10.1002/rob.21669, ( google). ( pdf)

[57]   Barfoot T D and Wettergreen D. “Editorial: Special Issue on Space Robotics”. Journal of Field Robotics (JFR), 33(2):155–156, 2016. doi: 10.1002/rob.21649, ( google). ( pdf)

[58]   Ostafew C J, Schoellig A P, and Barfoot T D. “Robust Constrained Learning-based NMPC Enabling Reliable Mobile Robot Path Tracking”. International Journal of Robotics Research (IJRR), 35(16):1547–1563, 2016. doi: 10.1177/0278364916645661, ( google). ( pdf)

[59]   Anderson S, Barfoot T D, Tong C H, and Sarkka S. “Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression”. Autonomous Robots, special issue on “Robotics Science and Systems”, 39(3):221–238, 2015. doi: 10.1007/s10514-015-9455-y, ( google). ( pdf)

[60]   Anderson S, MacTavish K, and Barfoot T D. “Relative Continuous-Time SLAM”. International Journal of Robotics Research (IJRR), 34(12):1453–1479, 2015. doi: 10.1177/0278364915589642, ( google). ( pdf)

[61]   Barfoot T D and Brock O. “Editorial: Special Issue on the Sixteenth International Symposium on Robotics Research, 2013”. International Journal of Robotics Research (IJRR), 34(7):835–836, 2015. doi: 10.1177/0278364915586155, ( google). ( pdf)

[62]   Furgale P T, Pradalier C, and Barfoot T D. “Editorial: Special Issue on Calibration for Field Robotics”. Journal of Field Robotics (JFR), 32(5):629–631, 2015. doi: 10.1002/rob.21619, ( google). ( pdf)

[63]   Furgale P T, Tong C H, Barfoot T D, and Sibley G. “Continuous-Time Batch Trajectory Estimation Using Temporal Basis Functions”. International Journal of Robotics Research, 34(14):1688–1710, 2015. doi: 10.1177/0278364915585860, ( google). ( pdf)

[64]   Ostafew C J, Schoellig A P, Barfoot T D, and Collier J. “Learning-Based Nonlinear Model Predictive Control to Improve Vision-Based Mobile Robot Path Tracking”. Journal of Field Robotics (JFR), 33(1):133–152, 2015. doi: 10.1002/rob.21587, ( google). ( pdf)

[65]   Barfoot T D and Furgale P T. “Associating Uncertainty with Three-Dimensional Poses for use in Estimation Problems”. IEEE Transactions on Robotics (T-RO), 30(3):679–693, 2014. doi: 10.1109/TRO.2014.2298059, ( google). ( pdf), ( code)

[66]   Hogan F, Forbes J R, and Barfoot T D. “Rolling Stability of a Power-Generating Tumbleweed Rover”. Journal of Spacecraft and Rockets, 2014. doi: 10.2514/1.A32883, ( google). ( pdf)

[67]   Tong C, Anderson S, Dong H, and Barfoot T D. “Pose Interpolation for Laser-Based Visual Odometry”. Journal of Field Robotics (JFR), special issue on “Field and Service Robotics”, 31(5):787–813, Sept-Oct 2014. doi: 10.1002/rob.21537, ( google). ( pdf)

[68]   Barfoot T D, Kelly J, and Sibley G. “Editorial: Special Issue on Long-Term Autonomy”. International Journal of Robotics Research (IJRR), 32(14):1609–1610, 2013. doi: 10.1177/0278364913511182, ( google). ( pdf)

[69]   McManus C, Furgale P T, and Barfoot T D. “Towards Lighting-Invariant Visual Navigation: An Appearance-Based Approach Using Scanning Laser-Rangefinders”. Robotics and Autonomous Systems, 61:836–852, 2013. doi: 10.1016/j.robot.2013.04.008, ( google). ( pdf), ( video)

[70]   McManus C, Furgale P T, Stenning B E, and Barfoot T D. “Lighting-Invariant Visual Teach and Repeat Using Appearance-Based Lidar”. Journal of Field Robotics (JFR), 30(2):254–287, 2013. doi: 10.1002/rob.21444, ( google). ( pdf), ( video1), ( video2)

[71]   Stenning B E, McManus C, and Barfoot T D. “Planning using a Network of Reusable Paths: A Physical Embodiment of a Rapidly Exploring Random Tree”. Journal of Field Robotics (JFR), special issue on “Space Robotics”, 30(6):916–950, 2013. doi: 10.1002/rob.21474, ( google). ( pdf), ( video)

[72]   Tong C H and Barfoot T D. “Evaluation of Heterogeneous Measurement Outlier Rejection Schemes for Robotic Planetary Surface Mapping”. Acta Astronautica, 88:146–162, 2013. doi: 10.1016/j.actaastro.2012.08.011, ( google). ( pdf)

[73]   Tong C H, Furgale P T, and Barfoot T D. “Gaussian Process Gauss-Newton for Non-Parametric Simultaneous Localization and Mapping”. International Journal of Robotics Research (IJRR), 32(5):507–525, 2013. doi: 10.1177/0278364913478672, ( google). ( pdf)

[74]   Tong C H, Gingras D, Larose K, Barfoot T D, and Dupuis E. “The Canadian Planetary Emulation Terrain 3D Mapping Dataset”. International Journal of Robotics Research (IJRR), 32(4):389–395, 2013. doi: 10.1177/0278364913478897, ( google). ( pdf), ( dataset)

[75]   Furgale P T, Carle P, Enright J, and Barfoot T D. “The Devon Island Rover Navigation Dataset”. International Journal of Robotics Research (IJRR), 31(6):707–713, 2012. doi: 10.1177/0278364911433135, ( google). ( pdf), ( dataset)

[76]   Kelly J, Sibley G, Barfoot T D, and Newman P. “Taking the Long View: A Report on Two Recent Workshops on Long-Term Autonomy”. IEEE Robotics and Automation Magazine, 19(1):109–111, March 2012. doi: 10.1109/MRA.2011.2181792, ( google). ( pdf)

[77]   Lambert A, Furgale P T, Barfoot T D, and Enright J. “Field Testing of Visual Odometry Aided by a Sun Sensor and Inclinometer”. Journal of Field Robotics (JFR), special issue on “Space Robotics”, 29(3):426–444, May-June 2012. doi: 10.1002/rob.21412, ( google). ( pdf), ( video)

[78]   Leung K Y K, Barfoot T D, and Liu H H T. “Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach”. Journal of Intelligent and Robotic Systems, 66(3):321–342, 2012. doi: 10.1007/s10846-011-9620-2, ( google). ( pdf)

[79]   Moores J, Francis R, Mader M, Osinski G R, Barfoot T D, Barry N, Basic G, Battler M, Beauchamp M, Blain S, Bondy M, Capitan R D, Chanou A, Clayton J, Cloutis E, Daly M, Dickinson C, Dong H, Flemming R, Furgale P, Gammell J, Gharfoor N, Hussein M, Grieve R, Henrys H, Jaziobedski P, Lambert A, Leung K, Marion C, McCullough E, McManus C, Neish C D, Ng H H, Ozaruk A, Pickersgill A, Preston L J, Redman D, Sapers H, Shankar B, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, and Tornabene L. “A Mission Control Architecture for Lunar Sample Return as Field Tested in an Analogue Deployment to the Sudbury Impact Structure”. Advances in Space Research, special issue on “Lunar Exploration”, 50(12):1666–1686, 2012. doi: 10.1016/j.asr.2012.05.008, ( google). ( pdf)

[80]   Stenning B E and Barfoot T D. “Path Planning with Variable-Fidelity Terrain Assessment”. Robotics and Autonomous Systems, 60(9):1135–1148, 2012. doi: 10.1016/j.robot.2012.05.020, ( google). ( pdf)

[81]   Tong C, Barfoot T D, and Dupuis E. “Three-Dimensional SLAM for Mapping Planetary Worksite Environments”. Journal of Field Robotics (JFR), special issue on “Space Robotics”, 29(3):381–412, May-June 2012. doi: 10.1002/rob.21403, ( google). ( pdf), ( video)

[82]   Barfoot T, Furgale P, Stenning B, Carle P, Thomson L, Osinski G, Daly M, and Ghafoor N. “Field Testing of a Rover Guidance, Navigation, and Control Architecture to Support a Ground-Ice Prospecting Mission to Mars”. Robotics and Autonomous Systems, 59(6):472–488, 2011. doi: 10.1016/j.robot.2011.03.004, ( google). ( pdf)

[83]   Barfoot T D, Forbes J R, and Furgale P T. “Pose Estimation using Linearized Rotations and Quaternion Algebra”. Acta Astronautica, 68(1-2):101–112, 2011. doi: 10.1016/j.actaastro.2010.06.049, ( google). ( pdf), version with unpublished appendix available ( pdf)

[84]   Furgale P T, Enright J, and Barfoot T D. “Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing”. IEEE Transactions on Aerospace and Electronic Systems, 47(3):1631–1647, 2011. doi: 10.1109/TAES.2011.5937255, ( google). ( pdf)

[85]   Leung K Y K, Halpern Y, Barfoot T D, and Liu H H T. “The UTIAS Multi-Robot Cooperative Localization and Mapping Dataset”. International Journal of Robotics Research (IJRR), 30(8):969–974, July 2011. doi: 10.1177/0278364911398404, ( google). ( pdf), ( dataset)

[86]   Barfoot T D, Furgale P T, Osinski G R, Ghafoor N, and Williams K. “Field Testing of Robotic Technologies to Support Ground-Ice Prospecting in Martian Polygonal Terrain”. Planetary and Space Science, special issue on “Exploring other worlds by exploring our own: The role of terrestrial analogue studies in planetary exploration”, 58(4):671–681, March 2010. doi: 10.1016/j.pss.2009.09.021, ( google). ( pdf)

[87]   Carle P, Furgale P T, and Barfoot T D. “Long-Range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps”. Journal of Field Robotics (JFR), 27(3):344–370, 2010. doi: 10.1002/rob.20336, ( google). ( pdf), ( video)

[88]   Forbes J R, Barfoot T D, and Damaren C J. “Dynamic Modeling and Stability Analysis of a Power-Generating Tumbleweed Rover”. Multibody System Dynamics, 24(4):413–439, 2010. doi: 10.1007/s11044-010-9202-2, ( google). ( pdf)

[89]   Furgale P T and Barfoot T D. “Visual Teach and Repeat for Long-Range Rover Autonomy”. Journal of Field Robotics (JFR), special issue on “Visual mapping and navigation outdoors”, 27(5):534–560, 2010. doi: 10.1002/rob.20342, ( google). ( pdf), ( video1), ( video2), ( video3)

[90]   Furgale P T, Barfoot T D, Osinski G R, Williams K, and Ghafoor N. “Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration”. International Journal of Robotics Research (IJRR), special issue on “Field and Service Robotics”, 29(12):1529–1549, 2010. doi: 10.1177/0278364910378179, ( google). ( pdf), ( video)

[91]   Goi H K, Giesbrecht J L, Barfoot T D, and Francis B A. “Vision-based Autonomous Convoying with Constant Time Delay”. Journal of Field Robotics (JFR), 27(4):430–449, 2010. doi: 10.1002/rob.20344, ( google). ( pdf), ( video1), ( video2)

[92]   Leung K Y K, Barfoot T D, and Liu H H T. “Decentralized Localization of Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach”. IEEE Transactions on Robotics (T-RO), 26(1):62–77, February 2010. doi: 10.1109/TRO.2009.2035741, ( google). ( pdf), ( video)

[93]   Osinski G R, Barfoot T D, Ghafoor N, Izawa M, Bangerjee N, Jasiobedzki P, Tripp J, Richards R, Auclair S, Sapers H, Thomson L, and Flemming R. “Lidar and the mobile Scene Modeler (mSM) as Scientific Tools for Planetary Exploration”. Planetary and Space Science, special issue on “Exploring other worlds by exploring our own: The role of terrestrial analogue studies in planetary exploration”, 58(4):691–700, March 2010. doi: 10.1016/j.pss.2009.08.004, ( google). ( pdf)

[94]   Bauer R, Barfoot T D, Leung W, and Ravindran G. “Dynamic Simulation Tool Development for Planetary Rovers”. International Journal of Advanced Robotic Systems, 5(3):311–314, December 2008. ( pdf)

[95]   Marshall J, Barfoot T, and Larsson J. “Autonomous Underground Tramming for Center-Articulated Vehicles”. Journal of Field Robotics (JFR), 25(6-7):400–421, June-July 2008. doi: 10.1002/rob.20242, ( google). ( pdf), ( video)

[96]   D’Eleuterio G M T and Barfoot T D. “A Discrete Quasicoordinate Formulation for the Dynamics of Elastic Bodies”. ASME Journal of Applied Mechanics, 74(2):231–239, 2007. doi: 10.1115/1.2189873, ( google). ( pdf)

[97]   Barfoot T D, Earon E J P, and D’Eleuterio G M T. “Experiments in Learning Distributed Control for a Hexapod Robot”. Robotics and Autonomous Systems, 54(10):864–872, 2006. doi: 10.1016/j.robot.2006.04.009, ( google). ( pdf)

[98]   Barfoot T D and D’Eleuterio G M T. “Evolving Distributed Control for an Object-Clustering Task”. Complex Systems, 15(3):183–201, 2005. ( pdf)

[99]   Barfoot T D and D’Eleuterio G M T. “Stochastic Self-Organization”. Complex Systems, 16(2):95–121, 2005. ( pdf)

[100]   Barfoot T D and Clark C M. “Motion Planning for Formations of Mobile Robots”. Robotics and Autonomous Systems, 46:65–78, 2004. doi: 10.1016/j.robot.2003.11.004, ( google). ( pdf)

[101]   Fejtek I, Barfoot T D, and Lo G. “Turboprop Nacelle Optimization Using Automated Surface and Grid Generation and Coarse-Grain Parallelization”. AIAA Journal of Aircraft, 33(6):1166–1173, 1996. doi: 10.2514/3.47071, ( google). ( pdf)

[102]   Gao Y and Barfoot T D. “Tunable Virtual IMU Frame by Weighted Averaging of Multiple Non-Collocated IMUs”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Atlanta, GA, 19-23 May 2025. ( arXiv:2506.00371 [cs.RO])

[103]   Guo Z C, Forbes J R, and Barfoot T D. “Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Atlanta, GA, 19-23 May 2025. ( arXiv:2409.09871 [cs.RO]), Best Conference Paper Award

[104]   Le Gentil C, Brizi L, Lisus D, Qiao X, Grisetti G, and Barfoot T D. “DRO: Doppler-Aware Direct Radar Odometry with Gyroscope”. In Proceedings of Robotics: Science and Systems (RSS), to appear. Los Angeles, CA, 21-25 June 2025. ( arXiv:2504.20339 [cs.RO])

[105]   Lisus D, Laconte J, Burnett K, Zhang Z, and Barfoot T D. “Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights”. In Proceedings of the 22nd Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 May 2025. ( arXiv:2309.08731 [cs.RO])

[106]   Patel T P, Wilson C, Zhang E, Tran M, Paik C K, Waslander S L, and Barfoot T D. “aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search”. In Proceedings of the 22nd Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 May 2025. ( arXiv:2505.09475 [cs.RO])

[107]   Preston-Krebs E, Lisus D, and Barfoot T D. “The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry”. In Proceedings of the 22nd Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 May 2025. ( arXiv:2409.12256 [cs.RO]), Best Robotics Paper Award

[108]   Qiao X, Krawciw A, Lilge S, and Barfoot T D. “Radar Teach and Repeat: Architecture and Initial Field Testing”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Atlanta, GA, 19-23 May 2025. ( arXiv:2409.10491 [cs.RO])

[109]   Xu B, Tao A, Thomas H, Zhang J, and Barfoot T D. “MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR”. In Proceedings of the 22nd Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 May 2025. ( arXiv:2408.17034 [cs.RO])

[110]   Zhang Z, Laconte J, Lisus D, and Barfoot T D. “Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Atlanta, GA, 19-23 May 2025. ( arXiv:2403.05666 [cs.RO])

[111]   Duembgen F, Holmes C, and Barfoot T D. “Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization”. In Proceedings of the Workshop on Algorithmic of Foundations (WAFR). Chicago, Illinois, 7-9 October 2024. ( arXiv:2406.02365 [cs.RO])

[112]   Krawciw A, Lilge S, and Barfoot T D. “LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR”. In Proceedings of the 21st Conference on Computer and Robot Vision (CRV). Guelph, 27-31 May 2024. ( arXiv:2402.10321 [cs.RO])

[113]   Krawciw A, Sehn J, and Barfoot T D. “Change of Scenery: Unsupervised Lidar Change Detection for Mobile Robots”. In Proceedings of the 21st Conference on Computer and Robot Vision (CRV). Guelph, 27-31 May 2024. ( arXiv:2309.10924 [cs.RO])

[114]   Thomas H, Tsai Y H H, Barfoot T D, and Zhang J. “KPConvX: Modernizing Kernel Point Convolution with Kernel Attention”. In Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR). 17-21 June 2024. ( arXiv:2405.13194 [cs.RO])

[115]   Chen Y, Xu B, Duembgen F, and Barfoot T D. “What to Learn: Features, Image Transformations, or Both?” In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Detroit, MI, 1-5 October 2023. doi: 10.1109/IROS55552.2023.10342415, ( google). ( pdf), ( arXiv:2306.13040 [cs.RO])

[116]   Goudar A, Barfoot T D, and Schoellig A P. “Continuous-Time Range-Only Pose Estimation”. In Proceedings of the 20th Conference on Computer and Robot Vision (CRV). Montreal, Quebec, 6-8 June 2023. doi: 10.1109/CRV60082.2023.00012, ( google). ( pdf), ( arXiv:2304.09043 [cs.RO])

[117]   Huang Y, Dugmag H, Barfoot T D, and Shkurti F. “Stochastic Planning for ASV Navigation Using Satellite Images”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). London, England, 29 May - 2 June 2023. doi: 10.1109/ICRA48891.2023.10160894, ( google). ( pdf), ( arXiv:2209.11864 [cs.RO])

[118]   Sehn J, Wu Y, and Barfoot T D. “Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following”. In Proceedings of the 20th Conference on Computer and Robot Vision (CRV). Montreal, Quebec, 6-8 June 2023. doi: 10.1109/CRV60082.2023.00018, ( google). ( pdf), ( arXiv:2211.02047 [cs.RO]), Best Robotics Paper Award

[119]   Yoon D J and Barfoot T D. “Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). London, England, 29 May - 2 June 2023. doi: 10.1109/ICRA48891.2023.10160257, ( google). ( pdf), ( arXiv:2303.06507 [cs.RO]), Finalist (1 of 3) for Outstanding Paper Award in Sensors and Perception

[120]   Yoon D J, Burnett K, Laconte J, Chen Y, Vhavle H, Kammel S, Reuther J, and Barfoot T D. “Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (IROS). Detroit, MI, 1-5 October 2023. doi: 10.1109/IROS55552.2023.10341596, ( google). ( pdf), ( arXiv:2303.06511 [cs.RO])

[121]   Goudar A, Zhao W, Barfoot T D, and Schoellig A P. “Gaussian Variational Inference with Covariance Constraints Applied to Range-Only Localization”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (IROS). Kyoto, Japan, 23-27 October 2022. doi: 10.1109/IROS47612.2022.9981520, ( google). ( pdf)

[122]   Thomas H, Gallet de Saint Aurin M, Zhang J, and Barfoot T D. “Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Philadelphia, USA, 23-27 May 2022. doi: 10.1109/ICRA46639.2022.9812297, ( google). ( pdf), ( arXiv:2108.10585 [cs.RO])

[123]   Burnett K, Yoon D, Schoellig A P, and Barfoot T D. “Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning”. In Proceedings of Robotics: Science and Systems (RSS). 12-16 July 2021. ( pdf), ( arXiv:2102.11261 [cs.RO]), ( video)

[124]   Congram B and Barfoot T D. “Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS”. In Proceedings of the 18th Conference on Robots and Vision (CRV), pages 25–32. Burnaby, British Columbia, 26-28 May 2021. doi: 10.1109/CRV52889.2021.00015, ( google). ( pdf), ( arXiv:2101.05107 [cs.RO]), ( video)

[125]   Merali R S and Barfoot T D. “MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Xi’an, China, 30 May - 5 June 2021. doi: 10.1109/ICRA48506.2021.9560763, ( google). ( pdf), ( video)

[126]   Thomas H, Agro B, Gridseth M, Zhang J, and Barfoot T D. “Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Xi’an, China, 30 May - 5 June 2021. doi: 10.1109/ICRA48506.2021.9561701, ( google). ( pdf), ( arXiv:2012.05897 [cs.RO]), ( video)

[127]   Tseng W, Schoellig A P, and Barfoot T D. “Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization”. In Proceedings of the 18th Conference on Computer and Robot Vision (CRV), pages 173–180. Burnaby, British Columbia, 26-28 May 2021. doi: 10.1109/CRV52889.2021.00031, ( google). ( pdf)

[128]   Greeff M, Barfoot T D, and Schoellig A P. “A Perception-Aware Flatness-Based Model Predictive Controller for Fast Vision-Based Multirotor Flight”. In Proceedings of the International Federation of Automatic Control (IFAC) World Congress, volume 53, pages 9412–9419. Berlin, Germany, 12-17 July 2020. doi: 10.1016/j.ifacol.2020.12.2411, ( google). ( pdf)

[129]   Gridseth M and Barfoot T D. “DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Paris, France, 31 May - 4 June 2020. doi: 10.1109/ICRA40945.2020.9197362, ( google). ( pdf)

[130]   Mehta I, Tang M, and Barfoot T D. “Gradient-Based Auto-Exposure Control Applied to a Self-Driving Car”. In Proceedings of the 17th Conference on Computer and Robot Vision (CRV). Ottawa, Canada, 13-15 May 2020. doi: 10.1109/CRV50864.2020.00030, ( google). ( pdf)

[131]   Patel B, Barfoot T D, and Schoellig A P. “Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Paris, France, 31 May - 4 June 2020. doi: 10.1109/ICRA40945.2020.9196606, ( google). ( pdf)

[132]   Burnett K, Samavi S, Waslander S L, Barfoot T D, and Schoellig A P. “aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge”. In Proceedings of the 16th Conference on Computer and Robot Vision (CRV). Kingston, Canada, 29-31 May 2019. doi: 10.1109/CRV.2019.00036, ( google). ( pdf), Best Poster Presentation Award

[133]   Gridseth M and Barfoot T D. “Towards Direct Localization for Visual Teach and Repeat”. In Proceedings of the 16th Conference on Computer and Robot Vision (CRV). Kingston, Canada, 29-31 May 2019. doi: 10.1109/CRV.2019.00021, ( google). ( pdf)

[134]   Guo H and Barfoot T D. “The Robust Canadian Traveler Problem Applied to Robot Routing”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 5523–5529. Montreal, Quebec, 20-24 May 2019. doi: 10.1109/ICRA.2019.8794252, ( google). ( pdf)

[135]   Yoon D, Tang T, and Barfoot T D. “Mapless Online Detection of Dynamic Objects in 3D Lidar”. In Proceedings of the 16th Conference on Computer and Robot Vision (CRV). Kingston, Canada, 29-31 May 2019. doi: 10.1109/CRV.2019.00023, ( google). ( pdf), Best Oral Presentation Award

[136]   Tang T, Yoon D, Pomerleau F, and Barfoot T D. “Learning a Bias Correction for Lidar-only Motion Estimation”. In Proceedings of the 15th Conference on Computer and Robot Vision (CRV). Toronto, Canada, 9-11 May 2018. doi: 10.1109/CRV.2018.00032, ( google). ( pdf)

[137]   Warren M, Schoellig A P, and Barfoot T D. “Level-Headed: Evaluating Gimbal-Stabilised Visual Teach and Repeat for Improved Localisation Performance”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, 21-25 May 2018. doi: 10.1109/ICRA.2018.8460961, ( google). ( pdf)

[138]   Zhang N, Warren M, and Barfoot T D. “Eye On the Sky: An Upward-Looking Monocular Teach-and-Repeat System for Indoor Environments”. In Proceedings of the 15th Conference on Computer and Robot Vision (CRV). Toronto, Canada, 9-11 May 2018. doi: 10.1109/CRV.2018.00056, ( google). ( pdf)

[139]   Zhang N, Warren M, and Barfoot T D. “Learning Place-and-Time-Dependent Binary Descriptors for Long-Term Visual Localization”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, 21-25 May 2018. doi: 10.1109/ICRA.2018.8460674, ( google). ( pdf)

[140]   Berczi L P and Barfoot T D. “Looking High and Low: Learning Place-Dependent Gaussian Mixture Height Models for Terrain Assessment”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (IROS), pages 3918–3925. Vancouver, Canada, 24-28 September 2017. doi: 10.1109/IROS.2017.8206243, ( google). ( pdf)

[141]   MacTavish K A, Paton M, and Barfoot T D. “Night Rider: Visual Odometry Using Headlights”. In Proceedings of the 14th Conference on Computer and Robot Vision (CRV), pages 314–320. Edmonton, Alberta, 16-19 May 2017. doi: DOI 10.1109/CRV.2017.48, ( google). ( pdf)

[142]   MacTavish K A, Paton M, and Barfoot T D. “Visual Triage: A Bag-of-Words Experience Selector for Long-Term Visual Route Following”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2065–2072. Singapore, 29 May - 3 June 2017. doi: 10.1109/ICRA.2017.7989238, ( google). ( pdf)

[143]   McGarey P, Polzin M, and Barfoot T D. “Falling in Line: Visual Route Following on Extreme Terrain for a Tethered Mobile Robot”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2017–2034. Singapore, 29 May - 3 June 2017. doi: 10.1109/ICRA.2017.7989234, ( google). ( pdf)

[144]   McGarey P, Yoon D, Tang T, Pomerleau F, and Barfoot T D. “Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain”. In M Hutter and R Siegwart, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 5, pages 303–317. Zurich, Switzerland, 12-15 September 2017. doi: 10.1007/978-3-319-67361-5_20, ( google). ( pdf)

[145]   Paton M, MacTavish K A, Berczi L P, van Es S K, and Barfoot T D. “I Can See For Miles And Miles: An Extended Field Test of Visual Teach and Repeat 2.0”. In M Hutter and R Siegwart, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 5, pages 415–431. Zurich, Switzerland, 12-15 September 2017. doi: 10.1007/978-3-319-67361-5_27, ( google). ( pdf)

[146]   Warren M, Paton M, MacTavish K A, Schoellig A P, and Barfoot T D. “Towards Visual Teach and Repeat for GPS-Denied Flight of a Fixed-Wing UAV”. In M Hutter and R Siegwart, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 5, pages 481–498. Zurich, Switzerland, 12-15 September 2017. doi: 10.1007/978-3-319-67361-5_31, ( google). ( pdf)

[147]   Berczi L P and Barfoot T D. “It’s Like Deja Vu All Over Again: Learning Place-Dependent Terrain Assessment for Visual Teach and Repeat”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3973–3980. Daejeon, Korea, 9-14 October 2016. doi: 10.1109/IROS.2016.7759585, ( google). ( pdf)

[148]   Choudhury S, Gammell J D, Barfoot T D, Srinivasa S S, and Scherer S. “Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4207–4214. Stockholm, Sweden, 16-21 May 2016. doi: 10.1109/ICRA.2016.7487615, ( google). ( pdf), ( video)

[149]   Daoust T, Pomerleau F, and Barfoot T D. “Light at the End of the Tunnel: High-Speed Lidar-Based Train Localization in Challenging Underground Environments”. In Proceedings of the 13th Conference on Computer and Robot Vision (CRV), pages 93–100. Victoria, Canada, 1-3 June 2016. doi: 10.1109/CRV.2016.54, ( google). ( pdf), ( video), Best Robotics Paper Award

[150]   McGarey P, MacTavish K, Pomerleau F, and Barfoot T D. “The Line Leading the Blind: Towards Nonvisual Localization and Mapping for Tethered Mobile Robots”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4799–4806. Stockholm, Sweden, 16-21 May 2016. doi: 10.1109/ICRA.2016.7487684, ( google). ( pdf), ( video)

[151]   Paton M, MacTavish K A, Warren M, and Barfoot T D. “Bridging the Appearance Gap: Multi-Experience Localization for Long-Term Visual Teach and Repeat”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1918–1925. Daejeon, Korea, 9-14 October 2016. doi: 10.1109/IROS.2016.7759303, ( google). ( pdf)

[152]   Anderson S and Barfoot T D. “Full STEAM Ahead: Exactly Sparse Gaussian Process Regression for Batch Continuous-Time Trajectory Estimation on SE(3)”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 157–164. Hamburg, Germany, 28 September - 2 October 2015. doi: 10.1109/IROS.2015.7353368, ( google). ( pdf), ( video)

[153]   Berczi L P, Posner I, and Barfoot T D. “Learning to Assess Terrain From Human Demonstration Using an Introspective Gaussian-Process Classifier”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3178–3185. Seattle, Washington, 26-30 May 2015. doi: 10.1109/ICRA.2015.7139637, ( google). ( pdf)

[154]   Clement L, Kelly J, and Barfoot T D. “Monocular Visual Teach and Repeat Aided by Local Ground Planarity”. In D Wettergreen and T D Barfoot, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 113, pages 547–561. Toronto, Canada, 24-26 June 2015. doi: 10.1007/978-3-319-27702-8_36, ( google). ( pdf)

[155]   Gammell J D, Srinivasa S S, and Barfoot T D. “Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of an Implicit Random Geometric Graph”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3067–3074. Seattle, Washington, 26-30 May 2015. doi: 10.1109/ICRA.2015.7139620, ( google). ( pdf), ( arXiv:1405.5848 [cs.RO]), ( video), ( code)

[156]   MacTavish K, Paton M, and Barfoot T D. “Beyond a Shadow of a Doubt: Place Recognition with Colour-Constant Images”. In D Wettergreen and T D Barfoot, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 113, pages 187–199. Toronto, Canada, 24-26 June 2015. doi: 10.1007/978-3-319-27702-8_13, ( google). ( pdf)

[157]   MacTavish K A and Barfoot T D. “At All Costs: A Comparison of Robust Cost Functions for Camera Correspondence Outliers”. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV), pages 62–69. Halifax, Canada, 3-5 June 2015. doi: 10.1109/CRV.2015.52, ( google). ( pdf)

[158]   McGarey P, Pomerleau F, and Barfoot T D. “System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments”. In D Wettergreen and T D Barfoot, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 113, pages 267–281. Toronto, Canada, 24-26 June 2015. doi: 10.1007/978-3-319-27702-8_18, ( google). ( pdf), ( video1), ( video2), ( video3)

[159]   Ostafew C J, Schoellig A P, and Barfoot T D. “Conservative to Confident: Treating Uncertainty Robustly Within Learning-Based Control”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 421–427. Seattle, Washington, 26-30 May 2015. doi: 10.1109/ICRA.2015.7139033, ( google). ( pdf)

[160]   Paton M, MacTavish K, Ostafew C J, and Barfoot T D. “It’s Not Easy Seeing Green: Lighting-Resistant Stereo Visual Teach and Repeat Using Color-Constant Images”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1519–1526. Seattle, Washington, 26-30 May 2015. doi: 10.1109/ICRA.2015.7139391, ( google). ( pdf), ( video1), ( video2)

[161]   Paton M, Pomerleau F, and Barfoot T D. “Eyes in the Back of Your Head: Robust Visual Teach and Repeat Through Multiple Stereo Cameras”. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV), pages 46–53. Halifax, Canada, 3-5 June 2015. doi: 10.1109/CRV.2015.16, ( google). ( pdf), ( video)

[162]   Paton M, Pomerleau F, and Barfoot T D. “In the Dead of Winter: Challenging Vision-Based Path Following in Extreme Conditions”. In D Wettergreen and T D Barfoot, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 113, pages 563–576. Toronto, Canada, 24-26 June 2015. doi: 10.1007/978-3-319-27702-8_37, ( google). ( pdf), ( video)

[163]   van Es S K and Barfoot T D. “Being in Two Places at Once: Smooth Visual Path Following on Globally Inconsistent Pose Graphs”. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV), pages 54–61. Halifax, Canada, 3-5 June 2015. doi: 10.1109/CRV.2015.17, ( google). ( pdf), ( video1), ( video2), Finalist for Best Robotics Paper Award

[164]   Anderson S, Dellaert F, and Barfoot T D. “A Hierarchical Wavelet Decomposition for Continuous-Time SLAM”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 373–380. Hong Kong, China, 31 May - 7 June 2014. doi: 10.1109/ICRA.2014.6906884, ( google). ( pdf)

[165]   Barfoot T D, Tong C H, and Sarkka S. “Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression”. In Proceedings of Robotics: Science and Systems (RSS). Berkeley, USA, 12-16 July 2014. ( pdf), ( video), ( poster)

[166]   Farboud-Sheshdeh S, Barfoot T D, and Kwong R H. “Towards Estimating Bias in Stereo Visual Odometry”. In Proceedings of the 11th Conference on Computer and Robot Vision (CRV), pages 8–15. Montreal, Quebec, 7-9 May 2014. doi: 10.1109/CRV.2014.10, ( google). ( pdf)

[167]   Gammell J D, Srinivasa S S, and Barfoot T D. “Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2997–3004. Chicago, Illinois, 14-18 September 2014. ( pdf), ( arXiv:1404.2334 [cs.RO]), ( video)

[168]   MacTavish K and Barfoot T D. “Towards Hierarchical Place Recognition for Long-Term Autonomy”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) workshop on “Visual Place Recognition in Changing Environments”. Hong Kong, China, 31 May - 7 June 2014. ( pdf)

[169]   Merali R S and Barfoot T D. “Optimizing Online Occupancy Grid Mapping to Best Capture the Residual Uncertainty”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 6070–6076. Hong Kong, China, 31 May - 7 June 2014. doi: 10.1109/ICRA.2014.6907753, ( google). ( pdf)

[170]   Ostafew C J, Schoellig A P, and Barfoot T D. “Learning-Based Nonlinear Model Predictive Control to Improve Vision-Based Mobile Robot Path-Tracking in Challenging Outdoor Environments”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4029–4036. Hong Kong, China, 31 May - 7 June 2014. doi: 10.1109/ICRA.2014.6907444, ( google). ( pdf), ( video)

[171]   Ostafew C J, Schoellig A P, Barfoot T D, and Collier J. “Speed Daemon: Experience-based Mobile Robot Speed Scheduling”. In Proceedings of the 11th Conference on Computer and Robot Vision (CRV), pages 56–62. Montreal, Quebec, 7-9 May 2014. doi: 10.1109/CRV.2014.16, ( google). ( pdf), ( video), Best Robotics Paper Award

[172]   Peretroukhin V, Kelly J, and Barfoot T D. “Optimizing Camera Perspective for Stereo Visual Odometry”. In Proceedings of the 11th Conference on Computer and Robot Vision (CRV), pages 1–7. Montreal, Quebec, 7-9 May 2014. doi: 10.1109/CRV.2014.9, ( google). ( pdf)

[173]   Pfrunder A, Schoellig A P, and Barfoot T D. “A Proof-of-Concept Demonstration of Visual Teach and Repeat on a Quadrocopter Using an Altitude Sensor and a Monocular Camera”. In Proceedings of the 11th Conference on Computer and Robot Vision (CRV), pages 238–245. Montreal, Quebec, 7-9 May 2014. doi: 10.1109/CRV.2014.40, ( google). ( pdf), ( video)

[174]   Anderson S and Barfoot T D. “RANSAC for Motion-Distorted 3D Visual Sensors”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2093–2099. Tokyo, Japan, 3-7 November 2013. doi: 10.1109/IROS.2013.6696649, ( google). ( pdf)

[175]   Anderson S and Barfoot T D. “Towards Relative Continuous-Time SLAM”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1033–1040. Karlsruhe, Germany, 6-10 May 2013. doi: 10.1109/ICRA.2013.6630700, ( google). ( pdf)

[176]   Berczi L P, Gammell J D, Tong C H, Daly M, and Barfoot T D. “A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars”. In Proceedings of the 10th Conference on Computer and Robot Vision (CRV), pages 29–36. Regina, Canada, 28-31 May 2013. doi: 10.1109/CRV.2013.16, ( google). ( pdf)

[177]   Dong H, Anderson S, and Barfoot T D. “Two-axis Scanning Lidar Geometric Calibration using Intensity Imagery and Distortion Mapping”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3672–3678. Karlsruhe, Germany, 6-10 May 2013. doi: 10.1109/ICRA.2013.6631093, ( google). ( pdf)

[178]   Gammell J D, Tong C H, and Barfoot T D. “Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation”. In Proceedings of the 10th Conference on Computer and Robot Vision (CRV), pages 144–150. Regina, Canada, 28-31 May 2013. doi: 10.1109/CRV.2013.37, ( google). ( pdf)

[179]   Gammell J D, Tong C H, Berczi P, Anderson S, Barfoot T D, and Enright J. “Rover Odometry Aided by a Star Tracker”. In Proceedings of the IEEE Aerospace Conference, pages 1–10. Big Sky, MT, 2-9 March 2013. doi: 10.1109/AERO.2013.6496953, ( google). ( pdf)

[180]   Merali R S and Barfoot T D. “Occupancy Grid Mapping with Markov Chain Monte Carlo Gibbs Sampling”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3183–3189. Karlsruhe, Germany, 6-10 May 2013. doi: 10.1109/ICRA.2013.6631020, ( google). ( pdf)

[181]   Ostafew C J, Schoellig A P, and Barfoot T D. “Visual Teach and Repeat, Repeat, Repeat: Iterative Learning Control to Improve Mobile Robot Path Tracking in Challenging Outdoor Environments”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 176–181. Tokyo, Japan, 3-7 November 2013. doi: 10.1109/IROS.2013.6696350, ( google). ( pdf)

[182]   Stenning B E, Bajin L, Robson C, Peretroukhin V, Osinski G R, and Barfoot T D. “Towards Autonomous Mobile Robots for the Exploration of Steep Terrain”. In Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 105. Brisbane, Australia, 9-11 December 2013. doi: 10.1007/978-3-319-07488-7_3, ( google). ( pdf), ( video1), ( video2), ( video3)

[183]   Tong C H and Barfoot T D. “Gaussian Process Gauss-Newton for 3D Laser-Based Visual Odometry”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 5204–5211. Karlsruhe, Germany, 6-10 May 2013. doi: 10.1109/ICRA.2013.6631321, ( google). ( pdf)

[184]   Barfoot T, Stenning B, Furgale P, and McManus C. “Exploiting Reusable Paths in Mobile Robotics: Benefits and Challenges for Long-term Autonomy”. In Proceedings of the 9th Conference on Computer and Robot Vision (CRV), pages 388–395. Toronto, Canada, 28-30 May 2012. doi: 10.1109/CRV.2012.58, ( google). ( pdf)

[185]   Dong H J and Barfoot T D. “Lighting-Invariant Visual Odometry using Lidar Intensity Imagery and Pose Interpolation”. In Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 92, pages 327–342. Matsushima, Japan, 16-19 July 2012. doi: 10.1007/978-3-642-40686-7_22, ( google). ( pdf)

[186]   Enright J, Barfoot T D, and Soto M. “Star Tracking for Planetary Rovers”. In Proceedings of the IEEE Aerospace Conference, pages 1–13. Big Sky, MT, 3-10 March 2012. doi: 10.1109/AERO.2012.6187042, ( google). ( pdf)

[187]   Furgale P T, Barfoot T D, and Sibley G. “Continuous-Time Batch Estimation Using Temporal Basis Functions”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2088–2095. St. Paul, USA, 14-18 May 2012. doi: 10.1109/ICRA.2012.6225005, ( google). ( pdf)

[188]   McManus C, Furgale P T, Stenning B E, and Barfoot T D. “Visual Teach and Repeat Using Appearance-Based Lidar”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 389–396. St. Paul, USA, 14-18 May 2012. doi: 10.1109/ICRA.2012.6224654, ( google). ( pdf), ( video1), ( video2)

[189]   Merali R S and Barfoot T D. “Patch Map: A Benchmark for Occupancy Grid Algorithm Evaluation”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3481–3488. Algarve, Portugal, 7-12 October 2012. doi: 10.1109/IROS.2012.6385522, ( google). ( pdf)

[190]   Tong C H, Furgale P T, and Barfoot T D. “Gaussian Process Gauss-Newton: Non-Parametric State Estimation”. In Proceedings of the 9th Conference on Computer and Robot Vision (CRV), pages 206–213. Toronto, Canada, 28-30 May 2012. doi: 10.1109/CRV.2012.35, ( google). ( pdf)

[191]   Lambert A, Furgale P, Barfoot T D, and Enright J. “Visual Odometry Aided by a Sun Sensor and Inclinometer”. In Proceedings of the IEEE Aerospace Conference, #1279. Big Sky, MT, 5-12 March 2011. doi: 10.1109/AERO.2011.5747268, ( google). ( pdf), ( video)

[192]   Leung K Y K, Barfoot T D, and Liu H H T. “Distributed and Decentralized Cooperative Simultaneous Localization and Mapping for Dynamic and Sparse Robot Networks”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3841–3847. Shanghai, China, 9-13 May 2011. doi: 10.1109/ICRA.2011.5979783, ( google). ( pdf)

[193]   McManus C and Barfoot T D. “A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter”. In Proceedings of Robotics: Science and Systems (RSS), P29. Los Angeles, USA, 27 June - 1 July 2011. ( pdf)

[194]   McManus C, Furgale P T, and Barfoot T D. “Towards Appearance-based Methods for Lidar Sensors”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1930–1935. Shanghai, China, 9-13 May 2011. doi: 10.1109/ICRA.2011.5980098, ( google). ( pdf), ( video)

[195]   Stenning B and Barfoot T D. “Path Planning on a Network of Paths”. In Proceedings of the IEEE Aerospace Conference, #1213. Big Sky, MT, 5-12 March 2011. doi: 10.1109/AERO.2011.5747270, ( google). ( pdf), ( video)

[196]   Tong C and Barfoot T D. “Batch Heterogeneous Outlier Rejection for Feature-Poor SLAM”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2630–2637. Shanghai, China, 9-13 May 2011. doi: 10.1109/ICRA.2011.5979612, ( google). ( pdf)

[197]   Tong C and Barfoot T D. “A Self-Calibrating 3D Ground-Truth Localization System Using Retroreflective Landmarks”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3601–3606. Shanghai, China, 9-13 May 2011. doi: 10.1109/ICRA.2011.5979613, ( google). ( pdf)

[198]   Tong C, Barfoot T D, and Dupuis E. “3D SLAM for Planetary Worksite Mapping”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Invited Session “Symposium: Field Robotics II”., pages 631–638. San Francisco, USA, 25-30 September 2011. doi: 10.1109/IROS.2011.6048242, ( google). ( pdf), ( video)

[199]   Barfoot T D, Furgale P T, Stenning B E, Carle P J F, Enright J P, and Lee P. “Devon Island as a Proving Ground for Planetary Rovers”. In J Angeles, B Boulet, J Clark, J Kovecses, and K Siddiqi, editors, Proceedings of Brain, Body, and Machine: An International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines, Advances in Intelligent and Soft Computing 83, pages 269–281. Springer, Montreal, Quebec, 10-12 November 2010. doi: 10.1007/978-3-642-16259-6_21, ( google). ( pdf)

[200]   Carle P J F and Barfoot T D. “Global Rover Localization by Matching Lidar and Orbital 3D Maps”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 881–886. Anchorage, Alaska, USA, 3-8 May 2010. doi: 10.1109/ROBOT.2010.5509767, ( google). ( pdf), ( video)

[201]   Furgale P T and Barfoot T D. “Stereo Mapping and Localization for Long-Range Path Following on Rough Terrain”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4410–4416. Anchorage, Alaska, USA, 3-8 May 2010. doi: 10.1109/ROBOT.2010.5509133, ( google). ( pdf), ( video1), ( video2)

[202]   Furgale P T and Barfoot T D. “Visual Path Following on a Manifold in Unstructured Three-Dimensional Terrain”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 534–539. Anchorage, Alaska, USA, 3-8 May 2010. doi: 10.1109/ROBOT.2010.5509140, ( google). ( pdf), ( video), Kuka Service Robotics Best Paper Award

[203]   Furgale P T, Carle P, and Barfoot T D. “A Comparison of Global Localization Algorithms for Planetary Exploration”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4964–4969. Taipei, Taiwan, 18-22 October 2010. doi: 10.1109/IROS.2010.5649051, ( google). ( pdf)

[204]   Leung K Y K, Barfoot T D, and Liu H H T. “Decentralized Simultaneous Localization and Mapping for Dynamic and Sparse Robot Networks”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3554–3561. Taipei, Taiwan, 18-22 October 2010. doi: 10.1109/IROS.2010.5652823, ( google). ( pdf), ( video)

[205]   Stenning B and Barfoot T D. “Path Planning with Variable-Fidelity Terrain Assessment”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 300–306. Taipei, Taiwan, 18-22 October 2010. doi: 10.1109/IROS.2010.5652621, ( google). ( pdf)

[206]   Tong C H and Barfoot T D. “A Comparison of the EKF, SPKF, and the Bayes Filter for Landmark-Based Localization”. In Proceedings of the 7th Conference on Computer and Robot Vision (CRV), pages 199–206. Ottawa, Canada, 31 May - 2 June 2010. doi: 10.1109/CRV.2010.33, ( google). ( pdf), ( video)

[207]   Enright J, Furgale P, and Barfoot T D. “Sun Sensing for Planetary Rover Navigation”. In Proceedings of the IEEE Aerospace Conference. Big Sky, MT, 7-14 March 2009. doi: 10.1109/AERO.2009.4839311, ( google). ( pdf)

[208]   Furgale P, Barfoot T D, and Ghafoor N. “Rover-Based Surface and Subsurface Modeling for Planetary Exploration”. In A Howard, A Kelly, and K Iagnemma, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 62, pages 499–508. Cambridge, MA, 14-16 July 2009. doi: 10.1007/978-3-642-13408-1_45, ( google). ( pdf), ( video)

[209]   Goi H K, Barfoot T D, Francis B A, and Giesbrecht J L. “Vision-Based Vehicle Trajectory Following with Constant Time Delay”. In A Howard, A Kelly, and K Iagnemma, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 62, pages 137–147. Cambridge, MA, 14-16 July 2009. doi: 10.1007/978-3-642-13408-1_13, ( google). ( pdf), ( video1), ( video2)

[210]   Leung K Y K, Barfoot T D, and Liu H H T. “Decentralized Localization for General Robot Networks”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3135–3141. Kobe, Japan, 12-17 May 2009. doi: 10.1109/ROBOT.2009.5152214, ( google). ( pdf), ( video)

[211]   Larsson J, Appelgren J, Marshall J A, and Barfoot T D. “Atlas Copco Infrastructureless Guidance System for High-Speed Autonomous Underground Tramming”. In Proceedings of the 5th International Conference and Exhibition on Mass Mining, pages 585–594. Lulea, Sweden, June 2008. ISBN 978-91-633-2331-7. ( pdf)

[212]   Marshall J and Barfoot T. “Design and Field Testing of an Autonomous Underground Tramming System”. In C Laugier and R Siegwart, editors, Proceedings of the International Conference on Field and Service Robotics (FSR), Springer Tracts in Advanced Robotics 42, pages 521–530. Chamonix, France, 9-12 July 2007. doi: 10.1007/978-3-540-75404-6_50, ( google). ( pdf), ( video)

[213]   Barfoot T. “Online Visual Motion Estimation using FastSLAM with SIFT Features”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3076–3082. Edmonton, Alberta, 2-6 August 2005. doi: 10.1109/IROS.2005.1545444, ( google). ( pdf)

[214]   Bauer R, Leung W, and Barfoot T D. “Experimental and Simulation Results of Wheel-Soil Interaction for Planetary Rovers”. In Proceedings of the IEEE/RSJ International Conference on Robotics and Intelligent Systems (IROS). Edmonton, Alberta, 2-6 August 2005. doi: 10.1109/IROS.2005.1545179, ( google). ( pdf)

[215]   Trawny N and Barfoot T. “Optimized Motion Strategies for Cooperative Localization of Mobile Robots”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1027–1032. New Orleans, LA, 26 April - 1 May 2004. doi: 10.1109/ROBOT.2004.1307285, ( google). ( pdf)

[216]   Barfoot T D, D’Eleuterio G M T, and Annan A P. “Subsurface Surveying by a Rover Equipped with Ground Penetrating Radar”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Las Vegas, Nevada, 27-31 October 2003. doi: 10.1109/IROS.2003.1249252, ( google). ( pdf)

[217]   Thangavelautham J, Barfoot T D, and D’Eleuterio G M T. “Coevolving Communication and Cooperation for Lattice Formation Tasks”. In J Carbonell and J Siekmann, editors, Proceedings of the 7th European Conference on Artificial Life (ECAL), Lecture Notes in Computer Science 2801, pages 857–864. Springer, Dortmund, Germany, 14-17 September 2003. doi: 10.1007/978-3-540-39432-7_92, ( google). ( pdf)

[218]   Barfoot T D, Clark C M, Rock S M, and D’Eleuterio G M T. “Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Lausanne, Switzerland, 30 September - 4 October 2002. doi: 10.1109/IRDS.2002.1041697, ( google). ( pdf)

[219]   Barfoot T D and D’Eleuterio G M T. “Multiagent Coordination by Stochastic Cellular Automata”. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), volume 2, pages 1037–1042. Seattle, Washington, 4-10 August 2001. ( pdf)

[220]   Earon E J P, Barfoot T D, and D’Eleuterio G M T. “Development of a Multiagent Robotic System with Application to Space Exploration”. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). Como, Italy, 8-11 July 2001. doi: 10.1109/AIM.2001.936902, ( google). ( pdf)

[221]   Earon E J P, Barfoot T D, and D’Eleuterio G M T. “From the Sea to the Sidewalk: The Evolution of Hexapod Walking Gaits by a Genetic Algorithm”. In A Miller, A Thompson, P Thomson, and T Fogarty, editors, Proceedings of the International Conference on Evolvable Systems (ICES): From Biology to Hardware, Lecture Notes in Computer Science 1801, pages 51–60. Springer, Edinburgh, Scotland, 17-19 April 2000. doi: 10.1007/3-540-46406-9_6, ( google). ( pdf)

[222]   Barfoot T D and D’Eleuterio G M T. “An Evolutionary Approach to Multiagent Heap Formation”. In Proceedings of the Congress on Evolutionary Computation (CEC). Washington, DC, 6-9 July 1999. doi: 10.1109/CEC.1999.781955, ( google). ( pdf)

[223]   Abdullai B, Wang T, Qiao X, Shkurti F, and Barfoot T D. “RaSCL: Radar to Satellite Crossview Localization”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Field Robotics, to appear. Atlanta, GA, 19-23 May 2025. ( arXiv:2504.15899 [cs.RO])

[224]   Boxan M, Krawciw A, Barfoot T D, and Pomerleau F. “Toward Teach and Repeat Across Seasonal Deep Snow Accumulation”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Field Robotics, to appear. Atlanta, GA, 19-23 May 2025. ( arXiv:2505.01339 [cs.RO])

[225]   Le Gentil C, Lisus D, and Barfoot T D. “Do We Still Need to Work on Odometry for Autonomous Driving?” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Field Robotics, to appear. Atlanta, GA, 19-23 May 2025. ( arXiv:2505.04438 [cs.RO])

[226]   Teetaert S, Lilge S, Burgner-Kahrs J, and Barfoot T D. “Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots”. In Proceedings of the 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA40). 2024. ( arXiv:2409.12302 [cs.RO])

[227]   Berczi L P, Ostafew C, Stenning B E, Barfoot T D, Jones E, Tornabene L, Osinski G, and Daly M. “Place Revisiting and Teleoperation for a Sample-Return Mission Control Architecture”. In Proceedings of the International Symposium on Artificial Intelligence for Robotics and Automation in Space (iSAIRAS). Montreal, Quebec, 17-19 June 2014. ( pdf)

[228]   Gammell J D, Srinivasa S S, and Barfoot T D. “BIT*: Sampling-based Optimal Planning via Batch Informed Trees”. In Proceedings of the Workshop on Information-based Grasp and Manipulation Planning, Robotics: Science and Systems (RSS). Berkeley, USA, 12-16 July 2014. ( pdf), ( arXiv:1405.5848 [cs.RO]), ( poster)

[229]   Barfoot T D, McManus C, Anderson S, Dong H, Beerepoot E, Tong C H, Furgale P, Gammell J D, and Enright J. “Into Darkness: Visual Navigation based on a Lidar-Intensity-Image Pipeline”. In M Inaba and P Corke, editors, Proceedings of the International Symposium on Robotics Research (ISRR), Springer Tracts in Advanced Robotics 114, pages 487–504. Singapore, 16-19 Dec 2013. doi: 10.1007/978-3-319-28872-7_28, ( google). ( pdf)

[230]   Barfoot T D, Stenning B E, Gammell J D, Tong C H, McManus C, Berczi L P, Osinski G R, Daly M, and Dickinson C. “Place Revisiting for Planetary Rovers: An Enabling Technology and Field Testing of Three Mission Concepts”. In Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, 10 May 2013. ( pdf)

[231]   Langley C, McCoubrey R, Ratti J, Ghafoor N, Gagnon C, Barfoot T D, and Picard M. “Hercules: Analogue Testing of a Canadian Lunar Rover Prototype”. In Proceedings of the 64th International Astronautical Congress (IAC). Beijing, China, 23-27 September 2013. ( pdf)

[232]   McCoubrey R, Langley C, Ghafoor N, Gagnon C, Barfoot T D, and Picard M. “Hercules et al: Recent Canadian Exploration Rover Prototypes”. In Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, 10 May 2013. ( pdf)

[233]   Collier J, Trentini M, Giesbrecht J, McManus C, Furgale P, Stenning B, Barfoot T D, Se S, Kotamraju V, Jasiobedzki P, Shang L, Chan B, Harmat A, and Sharf I. “Autonomous Navigation and Mapping in GPS-Denied Environments at Defence Research and Development Canada”. In Proceedings of NATO Symposium SET 168: Navigation Sensor and Systems in GNSS Denied Environments. Izmir, Turkey, 8-9 October 2012. ( pdf)

[234]   Francis R, Osinski G R, Moores J, Barfoot T, and Team I. “Co-operative Human-Robotic Exploration of Lunar Analogue Sites”. In Proceedings of the 43rd Lunar and Planetary Science Conference (LPSC), 1996. Texas, USA, 19-23 March 2012. ( pdf)

[235]   Langley C, Chappell L, Ratti J, Ghafoor N, Ower C, Gagnon C, Barfoot T D, Orr N, Allard P, Vachon E, and Picard M. “The Canadian Mars Exploration Science Rover Prototype”. In Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Turin, Italy, 4-6 September 2012. ( pdf)

[236]   Marion C L, Osinski G R, Abou-Aly S, Antonenko I, Barfoot T, Barry N, Bassi A, Battler M, Beauchamp M, Bondy M, Blain S, Capitan R, Cloutis E, Cupelli L, Chanou A, Clayton J, Daly M, Dong H, Ferriere L, Flemming R, Flynn L, Francis R, Furgale P, Gammell J, Garbino A, Ghafoor N, Grieve R A F, Hodges K, Hussein M, Jasiobedzki P, Jolliff B L, Kerrigan M C, Lambert A, Leung K, Mader M M, McCullough E, McManus C, Moores J, Ng H K, Otto C, Ozaruk A, Pickersgill A E, Pontefract A, Preston L J, Redman D, Sapers H, Shankar B, Shaver C, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, Tripp J, Tornabene L L, Unrau T, Veillette D, Young K, and Zanetti M. “A Series of Robotic and Human Analogue Missions in Support of Lunar Sample Return”. In Proceedings of the 43rd Lunar and Planetary Science Conference (LPSC), 2333. Texas, USA, 19-23 March 2012. ( pdf)

[237]   McCoubrey R, Chappell L, Dietrich P, Rufenacht H, Ghafoor N, Gagnon C, Orr N, Barfoot T, Tripp J, Sookhoo R, Osinski G, Pollard W, Daly M, and Picard M. “Canadian Exploration Prototypes: Building Towards a Flight Mission”. In Proceedings of the Canadian Space Summit. London, Ontario, Canada, 14-16 November 2012. ( pdf)

[238]   McCoubrey R, Langley C, Ratti J, Ghafoor N, Ower C, Gagnon C, and Barfoot T D. “A Canadian Lunar Exploration Light Rover Prototype”. In Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Turin, Italy, 4-6 September 2012. ( pdf)

[239]   Merali R S, Tong C H, Gammell J, Bakambu J, Dupuis E, and Barfoot T D. “Three-Dimensional Surface Mapping Using a Semi-Autonomous Rover: A Planetary Analogue Field Experiment”. In Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Turin, Italy, 4-6 September 2012. ( pdf)

[240]   Pickersgill A E, Osinski G R, Beauchamp M, Marion C, Mader M M, Francis R, McCullough E, Shanker B, Barfoot T D, Bondy M, Chanou A, Daly M, Dong H, Furgale P, Gammell J, N N G, Hussein M, Jasiobedski P, Lambert A, Leung K, McManus C, Ng H K, Pontefract A, Stenning B, Tornabene L L, Tripp J, and Team I. “Scientific Instrumentation for a Lunar Sample Return Analogue Mission”. In Proceedings of the 43rd Lunar and Planetary Science Conference (LPSC), 2657. Texas, USA, 19-23 March 2012. ( pdf)

[241]   Stenning B, Osinski G R, Barfoot T D, Basic G, Beauchamp M, Daly M, Dong H, Francis R, Furgale P, Gammell J, Ghafoor N, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Moores J, and Preston L. “Planetary Surface Exploration Using a Network of Reusable Paths”. In Proceedings of the 43rd Lunar and Planetary Science Conference (LPSC), 2360. Texas, USA, 19-23 March 2012. ( pdf)

[242]   Stenning B, Osinski G R, Barfoot T D, Basic G, Beauchamp M, Daly M, Dong H, Francis R, Furgale P, Gammell J, Ghafoor N, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Moores J, and Preston L. “Planetary Surface Exploration Using a Network of Reusable Paths”. In Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Turin, Italy, 4-6 September 2012. ( pdf)

[243]   Stenning B E, Osinski G R, and Barfoot T D. “Planetary Surface Exploration using a Network of Reusable Paths: A Paradigm for Parallel Science Investigations”. In Proceedings of the Canadian Space Summit. London, Ontario, Canada, 14-16 November 2012. ( pdf)

[244]   Beauchamp M, Osinski G R, Unrau T, Marion C, Mader M, Antonenko I, and Barfoot T. “Ground Penetrating Radar (GPR) Investigations of the Mistastin Lake Impact Structure: A Case for GPR on the Moon”. In Proceedings of the 42nd Lunar and Planetary Science Conference (LPSC), 2147. Texas, USA, 7-11 March 2011. ( pdf)

[245]   Marion C, Osinski G R, Antonenko I, Barfoot T, Battler M, Beauchamp M, Cloutis E, Cupelli L, Chanou A, Daly M, Ferriere L, Flemming R, Francis R, Ghafoor N, Grieve R A F, Hodges K, Hussain M, Jolliff B L, Mader M M, McCullough E, Otto C, Preston L, Redman D, Shankar B, Singleton A, Stooke P, Sylvester P, Tornabene L L, Unrau T, and Veillette D. “A Lunar Analogue Mission: Sample Return to the South Pole–Aitken Basin”. In Proceedings of the 42nd Lunar and Planetary Science Conference (LPSC), 2515. Texas, USA, 7-11 March 2011. ( pdf)

[246]   Moores J, Francis R, Barfoot T, Barry N, Basic G, Battler M, Beauchamp M, Blain S, Bondy M, Capitan R D, Chanou A, Clayton J, Cloutis E, Daly M, Dickinson C, Dong H, Flemming R, Furgale P, Gammel J, Ghafoor N, Hussein M, Grieve R, Henrys H, Jaziobedski P, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Neish C, Ng H, Ozaruk A, Pickersgill A, Preston L, Redman D, Sapers H, Shankar B, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, Tornabene L, and Osinski G. “Mission Operations Design for Lunar Sample Return as Field-Tested in an Analogue Deployment to the Sudbury Impact Structure”. In Proceedings of the European Planetary Science Congress (EPSC-DPS), volume 6, page 1728. Nantes, France, 2-7 October 2011. ( pdf)

[247]   Barfoot T, Furgale P, Stenning B, and Carle P. “Field Testing of Rover GNC Techniques to Support a Ground-Ice Prospecting Mission to Mars”. In Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA, 3 May 2010. ( pdf)

[248]   Barfoot T, Furgale P, Stenning B, Carle P, Thomson L, Osinski G, and Daly M. “Field Testing of Rover GNC Techniques to Support a Ground-Ice Prospecting Mission to Mars”. In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Sapporo, Japan, 29 August - 1 September 2010. ( pdf)

[249]   Osinski G R, Antonenko I, Barfoot T D, Ghafoor N, Jolliff B L, and Sylvester P. “An Analogue Mission in Support of Moonrise and Other Sample Return Missions to the South Pole-Aitken Basin”. In Proceedings of the Annual Meeting of the Lunar Exploration Analysis Group (LEAG), 3047. Washington, DC, 14-16 September 2010. ( pdf)

[250]   Thomson L, Osinski G, and Barfoot T D. “Application of Lidar and GPR to Terrestrial and Martian Periglacial and Glacial Geomorphology”. In Proceedings of the Third European Conference on Permafrost (EUCOP). Svalbard, Norway, 13-17 June 2010. ( pdf)

[251]   Giesbrecht J, Goi H, Barfoot T D, and Francis B A. “A Vision-Based Robotic Follower Vehicle”. In Proceedings of the SPIE Defence and Security Symposium, Unmanned Systems Technology XI, volume 7332. 14-17 April 2009. doi: 10.1117/12.823843, ( google). ( pdf)

[252]   Allen A, Langley C, Mukherji R, Taylor A, Umasuthan M, and Barfoot T. “Rendezvous lidar sensor system for terminal rendezvous, capture, and berthing to the International Space Station”. In Proceedings of the SPIE Space Exploration Technology Conference, volume 6958: Sensors and Systems for Space Applications II. Orlando, Florida, 16-20 March 2008. doi: 10.1117/12.777208, ( google). ( pdf)

[253]   Barfoot T D, Furgale P T, Ghafoor N, Osinski G R, Haltigin T W, and Williams K K. “Field Testing of a Mission Concept to Sample Ground Ice in Martian Polygonal Terrain”. In Proceedings of the Canadian Space Exploration Workshop (CSEW), CSEW6014, pages 73–74. Montreal, Quebec, 1-3 December 2008. ( pdf)

[254]   Osinski G R, Barfoot T D, Ghafoor N, Jasiobedzki P, Tripp J, Richards R, Haltigin T, Banerjee N, Izawa M, and Auclair S. “Optimizing Lunar Surface Activities: LiDAR and mSM as Scientific Tools?” In Proceedings of the Joint Annual Meeting of LEAG-ICEUM-SRR, 4061. Cape Canaveral, Florida, 28-31 October 2008. ( pdf)

[255]   Osinski G R, Barfoot T D, Ghafoor N, Tripp J, Richards R, Jasiobedzki P, Haltigin T W, Banerjee N, Izawa M, and Furgale P. “Lidar and mSM as scientific tools for the geological mapping of planetary surfaces”. In Proceedings of the Canadian Space Exploration Workshop (CSEW), CSEW6003, pages 50–51. Montreal, Quebec, 1-3 December 2008. ( pdf)

[256]   Ghafoor N, Choi E, Ravindran G, Bakambu J, Barfoot T, Richards R, and Sallaberger C. “Robotic Assistance, Mobility and Vision Systems – Enabling Technology For Early Human-Robotic Lunar Exploration”. In Proceedings of the 58th International Astronautical Congress (IAC). Hyderabad, India, 24-28 September 2007. ( pdf)

[257]   Bauer R, Leung W, and Barfoot T D. “Development of a Dynamic Simulator Tool for the ExoMars Rover”. In Proceedings of the International Symposium on Artificial Intelligence for Robotics and Automation Space (iSAIRAS). Munich, Germany, 5-9 September 2005. ( pdf)

[258]   Se S, Barfoot T D, and Jasiobedzki P. “Visual Motion Estimation and Terrain Modelling for Planetary Rovers”. In Proceedings of the International Symposium on Artificial Intelligence for Robotics and Automation Space (iSAIRAS). Munich, Germany, 5-9 September 2005. ( pdf)

[259]   Teti F, Whittaker W, Kherat S, Barfoot T, and Sallaberger C. “Sun-Synchronous Lunar Polar Rover as a First Step to Return to the Moon”. In Proceedings of the International Symposium on Artificial Intelligence for Robotics and Automation Space (iSAIRAS). Munich, Germany, 5-9 September 2005. ( pdf)

[260]   Thangavelautham J, Barfoot T D, and D’Eleuterio G M T. “Coevolving Communication and Cooperation for Lattice Formation Tasks”. In E Cantu-Paz, editor, Proceedings of the Genetic and Evolutionary Computation Conference (GECCO), Lecture Notes in Computer Science 2723, pages 377–378. Springer, Chicago, Illinois, 12-16 July 2003. doi: 10.1007/3-540-45105-6_46, ( google). ( pdf)

[261]   Barfoot T D and D’Eleuterio G M T. “An Algebra for the Control of Stochastic Systems: Exercises in Linear Algebra”. In Proceedings of the 5th International Conference on Dynamics and Control of Structures in Space (DCSS). Cambridge, England, 14-18 July 2002. ( pdf)

[262]   Quine, Drummond, Melo, Strong, Stewart, Barfoot, D’Eleuterio, Zee, Unrau, Roberts, and Midwinter. “Northern Light - A Canadian Mars Lander: Mission Overview”. In Proceedings of CASI ASTRO. Ottawa, Ontario, November 2002.

[263]   Barfoot T D, Earon E J P, and D’Eleuterio G M T. “A New Breed of Explorer: Development of a Network of Mobile Robots for Space Exploration”. In Proceedings of the International Symposium on Artificial Intelligence for Robotics and Automation Space (iSAIRAS). Montreal, Quebec, 19-21 June 2001. ( pdf)

[264]   Barfoot T D, Earon E J P, and D’Eleuterio G M T. “A Step in The Right Direction: Learning Hexapod Gaits Through Reinforcement”. In Proceedings of the International Symposium on Robotics (ISR). Montreal, Quebec, 14-17 May 2000. ( pdf)

[265]   Barfoot T D, Earon E J P, and D’Eleuterio G M T. “Controlling the Masses: Control Concepts for Multiagent Mobile Robotics”. In Proceedings of the Canadian Space Exploration Workshop (CSEW). Calgary, Alberta, 28-29 October 1999. ( pdf)

[266]   D’Eleuterio G M T and Barfoot T D. “Just a Second, We’d Like to Go First: A First-Order Discretized Formulation for Structural Dynamics”. In Proceedings of the 4th International Conference on Dynamics and Control of Structures in Space (DCSS). London, England, 24-28 May 1999. ( pdf)

[267]   Wettergreen D and Barfoot T D, editors. Field and Service Robotics: Results of the 10th International Conference. Springer Tracts in Advanced Robotics 113. Springer International Publishing, 2016. doi: 10.1007/978-3-319-27702-8, ( google). ( pdf)

[268]   Thangavelautham J, Barfoot T D, and D’Eleuterio G M T. “Evolutionary-Based Control Approaches for Multirobot Systems”. In H Iba, editor, Frontiers in Evolutionary Robotics, chapter 3, pages 35–60. Advanced Robotics Systems International, Vienna, Austria, 2008. ISBN 978-3-902613-19-6. ( pdf)

[269]   Barfoot T, Se S, and Jasiobedzki P. “Visual Motion Estimation and Terrain Modelling for Planetary Rovers”. In Ayanna Howard and Edward Tunstel (Jet Propulsion Laboratory), editor, Intelligence for Space Robotics, chapter 4, pages 71–92. TSI Press, NM, 2006. ( pdf)

[270]   Duembgen F, Shalaby M, Holmes C, Cossette C, Forbes J R, Ny J L, and Barfoot T D. “STAR-loc: Dataset for STereo And Range-based localization”. Technical report, Autonomous Space Robotics Lab, University of Toronto, 2023. ( arXiv:2309.05518 [cs.RO])

[271]   Barfoot T D, Holmes C, and Duembgen F. “A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization”. Technical report, Autonomous Space Robotics Lab, University of Toronto, 2022. ( pdf), ( arXiv:2206.05082 [cs.RO])

[272]   Barfoot T D. “A Geometric Algebra Solution to Wahba’s Problem”. Technical report, Autonomous Space Robotics Lab, University of Toronto, 2021. ( pdf), ( arXiv:2103.03773 [cs.RO])

[273]   Congram B and Barfoot T D. “Experimental Comparison of Visual and Single-Receiver GPS Odometry”, 2021. ( arXiv:2106.02122 [cs.RO])

[274]   Roy N, Posner I, Barfoot T D, Beaudoin P, Bengio Y, Bohg J, Brock O, Depatie I, Fox D, Koditschek D, Lozano-Perez T, Mansinghka V, Pal C, Richards B, Sadigh D, Schaal S, Sukhatme G, Therien D, Toussaint M, and de Panne M V. “From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence”, 2021. ( arXiv:2110.15245 [cs.RO])

[275]   Barfoot T D. “Fundamental Linear Algebra Problem of Gaussian Inference”. Technical report, University of Toronto Institute for Aerospace Studies, 2020. ( arXiv:2010.08022 [cs.LG])

[276]   Barfoot T D. “Multivariate Gaussian Variational Inference by Natural Gradient Descent”. Technical report, Autonomous Space Robotics Lab, University of Toronto, 2020. ( pdf), ( arXiv:2001.10025 [stat.ML])

[277]   Barfoot T D, Burgner-Kahrs J, Diller E, Garg A, Goldenberg A, Kelly J, Liu X, Naguib H E, Nejat G, Schoellig A P, Shkurti F, Siegel H, Sun Y, and Waslander S L. “Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors”. Technical report, University of Toronto Robotics Institute, 2020. ( arXiv:2009.08577 [cs.CY])

[278]   Gammell J D and Barfoot T D. “The Probability Density Function of a Transformation-based Hyperellipsoid Sampling Technique”. Technical Report TR-2014-JDG004, Autonomous Space Robotics Lab, University of Toronto, April 2014. ( pdf), arXiv:1404.1347 [math.ST]

[279]   Gammell J D, Srinivasa S S, and Barfoot T D. “On Recursive Random Prolate Hyperspheroids”. Technical Report TR-2014-JDG002, Autonomous Space Robotics Lab, University of Toronto, March 2014. ( pdf), arXiv:1403.7664 [math.ST]

[280]   Anderson S, McManus C, Dong H, Beerepoot E, and Barfoot T D. “The Gravel Pit Lidar-Intensity Imagery Dataset”. Technical Report ASRL-2012-ABL001, University of Toronto Institute for Aerospace Studies, 2012. ( pdf), ( dataset)

[281]   Barfoot T D and D’Eleuterio G M T. “A New Algebra for the Treatment of Markov Models”. Technical report, University of Toronto Institute for Aerospace Studies, 2003. ( pdf)

[282]   Barfoot T D and D’Eleuterio G M T. “Stochastic Algebra for Continuous Variables”. Technical report, University of Toronto Institute for Aerospace Studies, 2003. ( pdf)

[283]   Burnett K. “Towards Radar-Based Mapping and Localization in All Weather Conditions”. Ph.D. Thesis, University of Toronto, 2025. ( pdf)

[284]   Yoon D. “An Expectation-Maximization Approach to Unsupervised Parameter Learning for Trajectory Estimation”. Ph.D. Thesis, University of Toronto, 2024. ( pdf)

[285]   Chen Y. “Deep Learning for Long-Term Metric Visual Localization”. M.A.Sc. Thesis, University of Toronto, 2023. ( pdf)

[286]   Sehn J. “Pathfinder: Local Obstacle Avoidance for Long-Term Autonomous Path Following”. M.A.Sc. Thesis, University of Toronto, 2023. ( pdf)

[287]   Gridseth M. “Towards Deep Learning for Long-Term Visual Localization in Visual Teach and Repeat”. Ph.D. Thesis, University of Toronto, 2022. ( pdf), 2022 Gordon N. Patterson Award for top Ph.D. thesis

[288]   Wu Y. “VT&R3: Generalizing the Teach and Repeat Navigation Framework”. M.A.Sc. Thesis, University of Toronto, 2022. ( pdf)

[289]   Bianchi M. “Visual Localization for UAVs Using Satellite Images”. M.A.Sc. Thesis, University of Toronto, 2021. ( pdf)

[290]   Congram B. “Using the Global Positioning System for Relative Navigation of Mobile Robots”. M.A.Sc. Thesis, University of Toronto, 2021. ( pdf)

[291]   Tseng G. “Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization”. M.A.Sc. Thesis, University of Toronto, 2021. ( pdf)

[292]   Zhang H. “Self-Supervised Semantic Learning of LiDAR Point Clouds for Large-Scale Scene Understanding”. M.A.Sc. Thesis, University of Toronto, 2021. ( pdf)

[293]   Merali R S. “A Study of the Benefits of Cell Correlations in Occupancy Grid Mapping”. Ph.D. Thesis, University of Toronto, 2020. ( pdf)

[294]   Wong J N. “Data-Driven Parameter Learning without Groundtruth for Improving Robotic State Estimation”. M.A.Sc. Thesis, University of Toronto, 2020. ( pdf)

[295]   Yoon J D. “Model-Free Setting-Independent Detection of Dynamic Objects in 3D Lidar”. M.A.Sc. Thesis, University of Toronto, 2019. ( pdf)

[296]   Guo H. “The Robust Canadian Traveler Problem and Its Application to Robot Routing”. M.A.Sc. Thesis, University of Toronto, 2018. ( pdf)

[297]   Paton M. “Expanding the Limits of Vision-Based Autonomous Path Following”. Ph.D. Thesis, University of Toronto, 2018. ( pdf), 2018 Gordon N. Patterson Award for top Ph.D. thesis

[298]   Tang Y. “Reducing Bias in Lidar-Only Motion Estimation”. M.A.Sc. Thesis, University of Toronto, 2018. ( pdf)

[299]   Zhang N. “Towards Long-Term Vision-Based Localization in Support of Monocular Visual Teach and Repeat”. M.A.Sc. Thesis, University of Toronto, 2018. ( pdf)

[300]   Gammell J D. “Informed Anytime Search for Continuous Planning Problems”. Ph.D. Thesis, University of Toronto, 2017. ( pdf), 2017 CIPPRS Doctoral Dissertation Award

[301]   McGarey P M. “Towards Autonomy and Mobility for a Tethered Robot Exploring Extremely Steep Terrain”. Ph.D. Thesis, University of Toronto, 2017. ( pdf)

[302]   Anderson S W. “Batch Continuous-Time Trajectory Estimation”. Ph.D. Thesis, University of Toronto, 2016. ( pdf)

[303]   Ostafew C J. “Learning-Based Control for Autonomous Mobile Robots”. Ph.D. Thesis, University of Toronto, 2016. ( pdf)

[304]   Farboud-Sheshdeh S. “Estimating and Correcting Bias in Stereo Visual Odometry”. M.A.Sc. Thesis, University of Toronto, 2014. ( pdf)

[305]   Dong H. “Performance Improvements for Lidar-Based Visual Odometry”. M.A.Sc. Thesis, University of Toronto, 2013. ( pdf)

[306]   Kulani A. “Towards Longitudinal Control for Over-the-Horizon Autonomous Convoying”. M.A.Sc. Thesis, University of Toronto, 2013. ( pdf)

[307]   Stenning B E. “Path/Action Planning for a Mobile Robot”. Ph.D. Thesis, University of Toronto, 2013. ( pdf)

[308]   Tong C H. “Laser-Based 3D Mapping and Navigation in Planetary Worksite Environments”. Ph.D. Thesis, University of Toronto, 2013. ( pdf), 2013 CIPPRS Doctoral Dissertation Award Honourable Mention

[309]   Leung K Y K. “Cooperative Localization and Mapping in Sparsely-Communicating Robot Networks”. Ph.D. Thesis, University of Toronto, 2012. ( pdf)

[310]   Furgale P T. “Extensions to the Visual Odometry Pipeline for the Exploration of Planetary Surfaces”. Ph.D. Thesis, University of Toronto, 2011. ( pdf), 2012 Gordon N. Patterson Award for top Ph.D. thesis

[311]   Lambert A J. “Visual Odometry Aided by a Sun Sensor and an Inclinometer”. M.A.Sc. Thesis, University of Toronto, 2011. ( pdf)

[312]   McManus C. “Visual Teach and Repeat Using Appearance-Based Lidar: A Method for Planetary Exploration”. M.A.Sc. Thesis, University of Toronto, 2011. ( pdf), 2012 Etkin Medal for top M.A.Sc. thesis

[313]   Basic G J. “Power-Scavenging Tumbleweed Rover”. M.A.Sc. Thesis, University of Toronto, 2010. ( pdf)

[314]   Carle P J F. “Long-Range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps”. M.A.Sc. Thesis, University of Toronto, 2009. ( pdf)

[315]   Goi H K. “Distributed Control for Vision-Based Convoying”. M.A.Sc. Thesis, University of Toronto, 2009. ( pdf)

[316]   Barfoot T D. “Stochastic Decentralized Systems”. Ph.D. Thesis, University of Toronto, 2002. ( pdf)

[317]   Barfoot T D. “Hybrid Genetic Search Techniques”. B.A.Sc. Thesis, University of Toronto, 1997.

[318]   Kingsford T D, Liu C W, Singh H, and Barfoot T D. “Multimodal Localization and Mapping for a Mobile Automation Apparatus”. United States Patent US 15583759 (Application) 10949798 (Number) (Filed: 1 May, 2017, Granted: March, 2021), March 2021. ( link)

[319]   Barfoot T D, Marshall J A, Mukherji R, and Ward R. “Guidance, Navigation and Control System for a Vehicle”. PCT and Chile Patent Application (Filed: 26 July, 2006, Priority: US 60/702,285). International Patent WO/2007/012198, February 2007. ( link)

[320]   Marshall J A and Barfoot T D. “Traffic Management System for a Passageway Environment”. PCT Patent Application (Filed: 26 July, 2006, Priority: US 60/702,285). International Patent WO/2007/012199, February 2007. ( link)