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Active SLAM via Deep Reinforcement Learning

Published in Workshop on Fast Neural Perception and Learning for Intelligent Vehicles and Robotics
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019

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A Deep Reinforcement Learning Approach for Active SLAM

Published in Applied Sciences, vol. 10, no. 23, p. 8386, 2020, 2020

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Fast Autonomous Robotic Exploration Using the Underlying Graph Structure

Published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 6672-6679, 2021

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Enough is Enough: Towards Autonomous Uncertainty-Driven Stopping Criteria

Published in 11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV): Prague, Czech Republic, 2022, 2022

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ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology

Published in 5th Iberian Robotics Conference (ROBOT), Zaragoza, Spain, 2022, pp. 199–210, 2022

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A General Relationship Between Optimality Criteria and Connectivity Indices for Active Graph-SLAM

Published in IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 2, pp. 816–823, 2023, 2023

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A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers

Published in IEEE Transactions on Robotics (T-RO), vol. 39, no. 3, pp. 1686–1705, 2023, 2023

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G-loc: Tightly-Coupled Graph Localization with Prior Topo-metric Information

Published in IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 11, pp. 9167–9174, 2024, 2024

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From Underground Mines to Offices: A Versatile and Robust Framework for Range-Inertial SLAM

Published in 7th Iberian Robotics Conference (ROBOT), Madrid, Spain, 2024, pp. 1–8, 2024

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3D Scene Graphs in Robotics: A Unified Representation Bridging Geometry, Semantics, and Action

Published in HAL Preprints, 2025, 2025

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Towards the Deployment of an Autonomous Scaling Machine in Underground Mines

Published in European Conference on Mobile Robots (ECMR), Padova, Italy, 2025, pp. 1-8, 2025

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Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics

Published in 2026 IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026

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When to Map? Adaptive Switching Between Localization and SLAM in Multi-Session Systems

Published in 1st Workshop on Long-term Deployments in the Wild
2026 IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026

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