Publications

Conference Publications

• [C5] R. Buchanan, S. Tu, M. Camurri, S. Mellon, and M. Fallon, “3D Freehand Ultrasound using Visual Inertial and Deep Inertial Odometry for Measuring Patellar Tracking,” in IEEE Medical Measurements Applications (MeMeA), 2024 [Paper]

• [C4] R. Buchanan, A. Röfer, J. Moura, A. Valada, and S. Vijayakumar, “Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing,” in IEEE International Conference on Robotics and Automation (ICRA), 2024 [Paper] [Video]

• [C3] M. Łysakowski, M. R. Nowicki, R. Buchanan, M.Camurri, M. Fallon, and K. Walas, “Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization,” in IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 4642–4648 [Paper] [Video]

• [C2] R. Buchanan, M. Camurri, F. Dellaert, and M. Fallon, “Learning Inertial Odometry for Dynamic Legged Robot State Estimation,” in Proceedings of the 5th Conference on Robot Learning (CoRL), vol. 164, 2021, pp. 1575–1584 [Paper] [Video]

• [C1] R. Buchanan, M. Camurri, and M. Fallon, “Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3657–3663 [Paper] [Video]

Journal Publications

• [J7] R. Buchanan, V. Agrawal, M. Camurri, F. Dellaert, and M. Fallon, “Deep Imu Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs,” IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 41–48, 2023 [Paper] [Video]

• [J6] M. Tranzatto et al., “Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned”. Field Robotics 2022.  [Paper] [Video]

• [J5] R. Buchanan, J. Bednarek, M. Camurri, M. R. Nowicki, K. Walas, and M. Fallon, “Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification,” Autonomous Robots, vol. 45, pp. 843–857, 2021  [Paper] [Video]

• [J4] M. Tranzatto et al., “CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge”. Field Robotics 2021.  [Paper]

• [J3] R. Buchanan, L. Wellhausen, M. Bjelonic, T. Bandyopadhyay, N. Kottege, and M. Hutter, “Perceptive Whole-Body Planning for Multilegged Robots in Confined Spaces,” Journal of Field Robotics, vol. 38, no. 1, pp. 68–84, 2021  [Paper] [Video]

• [J2] H. Kolvenbach, D. Wisth, R. Buchanan, G. Valsecchi, R. Grandia, M. Fallon, and M. Hutter, “Towards Autonomous Inspection of Concrete Deterioration in Sewers with Legged Robots,” Journal of Field Robotics, vol. 37, no. 8, pp. 1314–1327, 2020  [Paper] [Video]

• [J1] R. Buchanan, T. Bandyopadhyay, M. Bjelonic, L. Wellhausen, M. Hutter, and N. Kottege, “Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2148–2155, 2019  [Paper]