View-invariant localization using semantic objects robust to environment changes

Outlier rejection based on geometric consistency  robust to high-outlier regimes (>95%)

Outlier rejection based on cycle consistency for multi-way data association

Distributed, scalable, and deconflicted formation flying

Robust 3D distributed formation control with collision avoidance

Distributed formation control with vision-based  motion and relative pose estimation

Robust 2D distributed formation control for vehicles with complex dynamics

Multi-agent robotic testbed using Sphero robots

AirSim Unreal Engine simulator for validation of multi-robot systems 

Visual servoing and camera relative pose estimation 

Formation control on Georgia Tech's Robotarium platform 

Quaternion-Based camera motion estimation

Spoof-resilient coordination of distributed robotic networks