**Journal Papers**
**|** **Conference Papers**
**|** **Workshop Papers**
**|** **Theses**
**|** **Technical Notes**

My research has been published / presented in the following journals / conferences:

**Journals:**IEEE T-RO (3), IJRR (2), Automatica (1)**Conferences:**RSS (2), WAFR (2), ICRA (5), IROS (2)

Please see below for papers, theses, preprints, presentations, and research software.

**Journal Papers**

**Distributed Certifiably Correct Pose-Graph Optimization**–

Y. Tian, K. Khosoussi, D.M. Rosen, and J.P. How

IEEE Transactions on Robotics (T-RO) 2021 — Conditionally Accepted

**A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees**–

Y. Tian, K. Khosoussi, and J.P. How

Int. Journal of Robotics Research (IJRR) 2020 —**Invited Paper**

**CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association**–

K. Fathian, K. Khosoussi, Y. Tian, P. Lusk, and J.P. How

IEEE Transactions on Robotics (T-RO) 2020

Source code:

**Reliable Graphs for SLAM**–

K. Khosoussi, M. Giamou, G.S. Sukhatme, S. Huang, G. Dissanayake, and J.P. How

Int. Journal of Robotics Research (IJRR) 2019 —**Invited Paper**

**A Sparse Separable SLAM Back-End**—

K. Khosoussi, S. Huang, and G. Dissanayake

IEEE Transactions on Robotics (T-RO) 2016

Source code:

**Dimensionality Reduction for Point Feature SLAM Problems with Spherical Covariance Matrices**– ScienceDirect

H. Wang, S. Huang, K. Khosoussi, U. Frese, G. Dissanayake, and B. Liu.

Automatica 2015

**Conference Papers**

**Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams**–

X. (J.) Cai, B. Schlotfeldt, K. Khosoussi, N. Atanasov, G.J. Pappas, J.P. How

IEEE Int. Conf. on Robotics and Automation (ICRA) 2021

**NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows**

Q. Huang, C. Pu, D. Fourie, K. Khosoussi, J.P. How, J.J. Leonard

IEEE Int. Conf. on Robotics and Automation (ICRA) 2021

**Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations**

S. Jamieson, K. Fathian, K. Khosoussi, J.P. How, Y. Girdhar

IEEE Int. Conf. on Robotics and Automation (ICRA) 2021

**Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees**–

Y. Tian^{++}, K. Khosoussi^{++}, and J.P. How

Int. Workshop on the Algorithmic Foundations of Robotics (WAFR) 2019

**Note:**++ Equal contribution; Invited to IJRR - see the journal version.

**Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection**–

Y. Tian, K. Khosoussi, M. Giamou, J.P. How, and J. Kelly

Robotics: Science and Systems (RSS) 2018

**Note:**See the journal version.

Source code:

**Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection**–

M. Giamou^{++}, K. Khosoussi^{++}, and J.P. How

IEEE Int. Conf. on Robotics and Automation (ICRA) 2018

**Note:**++ Equal contribution; Nominated for ICRA best multi-robot systems award

Source code:

**Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach**–

K. Khosoussi, G.S. Sukhatme, S. Huang, and G. Dissanayake

Int. Workshop on the Algorithmic Foundations of Robotics (WAFR) 2016

**Note:**Invited to IJRR - see the journal version.

**Tree-Connectivity: Evaluating the Graphical Structure of SLAM**–

K. Khosoussi, S. Huang, and G. Dissanayake

IEEE Int. Conf. on Robotics and Automation (ICRA) 2016

**Note:**See the journal version.

**Exploiting the Separable Structure of SLAM**– RSS Proceedings

K. Khosoussi, S. Huang, and G. Dissanayake

Robotics: Science and Systems (RSS) 2015

**Note:**See the journal version.

Source code:

**Novel Insights into the Impact of Graph Structure on SLAM**–

K. Khosoussi, S. Huang, and G. Dissanayake

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2014

**Note:**See the journal version.

**Towards a Reliable SLAM Back-End**–

G. Hu, K. Khosoussi, and S. Huang

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2013

**Monte Carlo Sampling of Non-Gaussian Proposal Distribution in RBPF-SLAM**–

N. Marhamati, H.D. Taghirad, and K. Khosoussi

Australasian Conf. on Robotics and Automation (ACRA) 2012

**Tutorials & Refereed Workshop Papers**

**Good, Bad, and Ugly Graphs for SLAM**–

K. Khosoussi, S. Huang, and G. Dissanayake

Robotics: Science and Systems (RSS) 2015 Workshop on The Problem of Mobile Sensors

**Note:**See the journal version.

**Past, Present and Future of SLAM**–

K. Khosoussi and H.D. Taghirad

RSI/ISM Int. Conf. on Robotics and Mechantronics (ICRoM) 2013

Sharif University of Technology, Tehran, Iran

**Theses**

**Exploiting the Intrinsic Structures of Simultaneous Localization and Mapping**–

K. Khosoussi

Ph.D. Thesis, 2017

Centre for Autonomous Systems

University of Technology Sydney

**Novel RBPF-SLAM Algorithms with Non-Gaussian Proposal Distributions**–

K. Khosoussi

B.Sc. Thesis, 2011

ECE Department

K.N.Toosi University of Technology

**Technical Notes**

**Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints**–

Y. Tian, K. Khosoussi, and J.P. How

arXiv:1903.00597 [math.OC]

**On the Expected Value of the Determinant of Random Sum of Rank-One Matrices**–

K. Khosoussi

arXiv:1702.08247 [cs.DS]

**Note:**see the journal version.

**Maximizing the Weighted Number of Spanning Trees: Near-t-Optimal Graphs**–

K. Khosoussi, G.S. Sukhatme, S. Huang, and G. Dissanayake

arXiv:1604.01116 [cs.DS]

**Note:**see the journal version.