# Publications

“Posterior representation with a multi-modal likelihood using the gaussian sum filter for localization in a known map”, Journal of Field Robotics, vol. 29, pp. 240–257, 2012.

, “Sensitivity Analysis of a Tightly-Coupled GPS/INS System for Autonomous Navigation”, IEEE Transactions on Aerospace and Electronic Systems, vol. 48, pp. 1115–1135, 2012.

, “Efficient Unbiased Tracking of Multiple Dynamic Obstacles Under Large Viewpoint Changes”, IEEE Transactions on Robotics, vol. 27, pp. 29–46, 2011.

, “Map-aided localization in sparse global positioning system environments using vision and particle filtering”, Journal of Field Robotics, vol. 28, pp. 619–643, 2011.

, “Probabilistic Validation of Simplified Models of Spacecraft Formations near Libration Points”, IEEE Transactions on Aerospace and Electronic Systems, vol. 47, pp. 2779–2791, 2011.

, “Localization with multi-modal vision measurements in limited GPS environments using Gaussian Sum Filters”, in IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp. 1423–1428.

, “The MIT-Cornell collision and why it happened”, Journal of Field Robotics, vol. 25, pp. 775–807, 2008.

, “Particle filtering for map-aided localization in sparse GPS environments”, in IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 1834–1841.

, “Sensitivity Analysis of an Optimization-Based Trajectory Planner for Autonomous Vehicles in Urban Environments”, in SPIE Europe Conference on Unmanned/Unattended Sensors and Sensor Networks, 2008, vol. 7112, pp. 711211–711211–12.

, “Team Cornell's Skynet: Robust perception and planning in an urban environment”, Journal of Field Robotics, vol. 25, pp. 493–527, 2008.

, “Tightly-coupled GPS / INS system design for autonomous urban navigation”, in IEEE/ION Position, Location and Navigation Symposium, Monteray, CA, 2008, pp. 1297–1310.

, “Rao-Blackwellized Particle Filtering for Mapping Dynamic Environments”, in IEEE International Conference on Robotics and Automation, Roma, Italy, 2007, pp. 3862–3869.

, “A mixture-model based algorithm for real-time terrain estimation”, Journal of Field Robotics, vol. 23, pp. 755–775, 2006.

, “To Drive Is Human”, Computer, vol. 39, pp. 52–56, 2006.

, “Validation of simplified formation models at L2”, in American Control Conference, Portland, OR, 2005, pp. 2397–2404.

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