Kasra Khosoussi

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

Google Scholar Profile

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

  1. Distributed Certifiably Correct Pose-Graph Optimization – arXiv arXiv
    Y. Tian, K. Khosoussi, D.M. Rosen, and J.P. How
    IEEE Transactions on Robotics (T-RO) 2021 — Conditionally Accepted
  1. A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees – arXiv
    Y. Tian, K. Khosoussi, and J.P. How
    Int. Journal of Robotics Research (IJRR) 2020 — Invited Paper
  1. CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association – arXiv
    K. Fathian, K. Khosoussi, Y. Tian, P. Lusk, and J.P. How
    IEEE Transactions on Robotics (T-RO) 2020
    Source code: Code
  1. Reliable Graphs for SLAM – arXiv
    K. Khosoussi, M. Giamou, G.S. Sukhatme, S. Huang, G. Dissanayake, and J.P. How
    Int. Journal of Robotics Research (IJRR) 2019 — Invited Paper
  1. A Sparse Separable SLAM Back-End — arXiv
    K. Khosoussi, S. Huang, and G. Dissanayake
    IEEE Transactions on Robotics (T-RO) 2016
    Source code: Code
  1. 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

  1. Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams – arXiv arXiv
    X. (J.) Cai, B. Schlotfeldt, K. Khosoussi, N. Atanasov, G.J. Pappas, J.P. How
    IEEE Int. Conf. on Robotics and Automation (ICRA) 2021
  1. 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
  1. 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
  1. Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees – arXiv arXiv
    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.
  1. Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection – arXiv arXiv arXiv
    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: Code
  1. Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection – arXiv arXiv
    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: Code
  1. Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach – arXiv arXiv arXiv
    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.
  1. Tree-Connectivity: Evaluating the Graphical Structure of SLAM – arXiv
    K. Khosoussi, S. Huang, and G. Dissanayake
    IEEE Int. Conf. on Robotics and Automation (ICRA) 2016
    Note: See the journal version.
  1. 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: Code
  1. Novel Insights into the Impact of Graph Structure on SLAM – arXiv
    K. Khosoussi, S. Huang, and G. Dissanayake
    IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2014
    Note: See the journal version.
  1. Towards a Reliable SLAM Back-End – arXiv
    G. Hu, K. Khosoussi, and S. Huang
    IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2013
  1. Monte Carlo Sampling of Non-Gaussian Proposal Distribution in RBPF-SLAM – arXiv
    N. Marhamati, H.D. Taghirad, and K. Khosoussi
    Australasian Conf. on Robotics and Automation (ACRA) 2012

Tutorials & Refereed Workshop Papers

  1. Good, Bad, and Ugly Graphs for SLAM – arXiv
    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.
  1. Past, Present and Future of SLAM – arXiv
    K. Khosoussi and H.D. Taghirad
    RSI/ISM Int. Conf. on Robotics and Mechantronics (ICRoM) 2013
    Sharif University of Technology, Tehran, Iran

Theses

  1. Exploiting the Intrinsic Structures of Simultaneous Localization and Mapping – arXiv
    K. Khosoussi
    Ph.D. Thesis, 2017
    Centre for Autonomous Systems
    University of Technology Sydney
  1. Novel RBPF-SLAM Algorithms with Non-Gaussian Proposal Distributions – arXiv
    K. Khosoussi
    B.Sc. Thesis, 2011
    ECE Department
    K.N.Toosi University of Technology

Technical Notes

  1. Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints – arXiv
    Y. Tian, K. Khosoussi, and J.P. How
    arXiv:1903.00597 [math.OC]
  1. On the Expected Value of the Determinant of Random Sum of Rank-One Matrices – arXiv
    K. Khosoussi
    arXiv:1702.08247 [cs.DS]
    Note: see the journal version.
  1. Maximizing the Weighted Number of Spanning Trees: Near-t-Optimal Graphs – arXiv
    K. Khosoussi, G.S. Sukhatme, S. Huang, and G. Dissanayake
    arXiv:1604.01116 [cs.DS]
    Note: see the journal version.