Publications

Wang, C., Bahreinian, M., & Tron, R. (2021). Chance Constraint Robust Control with Control Barrier Functions. IEEE American Control Conference.

Bahreinian, M., Aasi, E., & Tron, R. (2021). Robust Path Planning and Control For Polygonal Environments via Linear Programming. IEEE American Control Conference.

Yang, Z., & Tron, R. (2020, submitted). A Toolbox for Optimal Path Planning Under Spatio-Temporal Constraints Using the Alternating Direction Method of Multipliers. IEEE American Control Conference.

Wardega, K., Tron, R., & Li, W. (2019). Masquerade Attack Detection Through Observation Planning for Multi-Robot Systems. International Conference on Autonomous Agents and MultiAgent Systems.

Serlin, Z., Yang, G., Sookraj, B., Belta, C., & Tron, and R. (2019). Distributed and Consistent Multi-Image Feature Matching via QuickMatch. International Journal of Robotics Research (Submitted).

Vang, B., & Tron, R. (2019). Geometric Attitude Control via Contraction on Manifolds with Automatic Gain Selection. IEEE Conference on Decision and Control.

Leonardos, S., Daniilidis, K., & Tron, R. (2019). Distributed 3-D Bearing-Only Orientation Localization. IEEE Conference on Decision and Control.

Jones, A., Leahy, K., Vasile, C. I., Sadraddini, S., Serlin, Z., Tron, R., & Belta, C. (2019). ScRATCHS: Scalable and Robust Algorithms for Task-based Coordination from High-level Specifications. International Symposium on Robotics Research.

Bahreinian, M., & Tron, R. (2019). A Computational Theory of Robust Localization Verifiability in the Presence of Pure Outlier Measurements. IEEE Conference on Decision and Control.

Greenawalt, J., & Tron, R. (2019). A Bearing-Based Control Law for Trajectory Tracking. IEEE American Control Conference.

Yang, G., Belta, C., & Tron, R. (2019). Self-triggered Control for Safety Critical Systems Using Control Barrier Functions. IEEE.

Serlin, Z., Sookraj, B., Belta, C., & Tron, R. (2018, accepted). Consistent Multi-Robot Object Matching via QuickMatch. International Symposium on Experimental Robotics. Download

Pandey, P., He, Q., Pompili, D., & Tron, R. (2018). Light-weight Object Detection and Decision Making via Approximate Computing in Resource-constrained Mobile Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems. Download Download Download

Vang, B., & Tron, R. (2018). Non-Natural Metrics on the Tangent Bundle. ArXiv. http://arxiv.org/abs/1809.06895

Schiano, F., & Tron, R. (2018). The Dynamic Bearing Rigidity Matrix (DBRM) Nonlinear Observability and Estimation for Multi-Agent Systems. IEEE International Conference on Robotics and Automation. Download Download

Tron, R., Zhou, X., Esteves, C., & Daniilidis, K. (2017). Fast Multi-image Matching via Density-Based Clustering. IEEE International Conference on Computer Vision, 4077–4086. https://doi.org/10.1109/ICCV.2017.437 Download Download Download Download

Karimian, A., & Tron, R. (2017). Theory and Methods for Bearing Rigidity Recovery. IEEE Conference on Decision and Control. Download

Tron, R., & Daniilidis, K. (2017). The space of essential matrices as a Riemannian quotient manifold. SIAM Journal on Imaging Sciences. Download

Tron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016). Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. IEEE Conference on Decision and Control.

Tron, R., Zhou, X., & Daniilidis, K. (2016). A Survey on Rotation Optimization in Structure from Motion. IEEE Conference on Computer Vision and Pattern Recognition Workshop on Differential Geometry and Computer Vision. Download

Tron, R. (2016). A Factorization Approach to Inertial Affine Structure from Motion. https://arxiv.org/abs/1608.02680

Tron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016). A Distributed Optimization Framework for Localization and Formation Control with Applications to Vision-Based Measurements. IEEE Control Systems Magazine, 36(4), 22–44.

Tron, R., Carlone, L., Dellaert, F., & Daniilidis, K. (2015). Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis. IEEE American Control Conference.

Carlone, L., Tron, R., Daniilidis, K., & Dellaert, F. (2015). Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. IEEE International Conference on Robotics and Automation.

Leonardos, S., Tron, R., & Daniilidis, K. (2015). A Metric Parametrization for Trifocal Tensors with Non-Colinear Pinholes. IEEE Conference on Computer Vision and Pattern Recognition, 259–267.

Tron, R., Rosen, D. M., & Carlone, L. (2015). On the inclusion of determinant constraints in Lagrangian duality for 3D SLAM. Workshop on The Problem of Mobile Sensors.

Tron, R., & Daniilidis, K. (2014). Technical report on Optimization-Based Bearing-Only Visual Homing with Applications to a 2-D Unicycle Model. https://arxiv.org/abs/1402.3584

Tron, R., & Daniilidis, K. (2014). Statistical Pose Averaging with Varying and Non-Isotropic Covariances. European Conference on Computer Vision.

Tron, R., & Daniilidis, K. (2014). On the quotient representation for the essential manifold. IEEE Conference on Computer Vision and Pattern Recognition Workshop on Differential Geometry and Computer Vision.

Atanasov, N., Tron, R., Preciado, V. M., & Pappas, G. J. (2014). Joint estimation and localization in sensor networks. IEEE Conference on Decision and Control, 6875–6882.

Tron, R., & Vidal, R. (2014). Distributed 3-D Localization of Camera Sensor Networks from 2-D Image Measurements. IEEE Transactions on Automatic Control.

Tron, R., & Daniilidis, K. (2014). An Optimization Approach to Bearing-Only Visual Homing with Applications to a 2-D Unicycle Model. IEEE International Conference on Robotics and Automation.

Tron, R., Thomas, J., Loianno, G., Polin, J., Kumar, V., & Daniilidis, K. (2014). Vision-based formation control of aerial vehicles. Workshop on Distributed Control and Estimation for Robotic Vehicle Networks.

Tron, R., Osteen, P., Owens, J., & Daniilidis, K. (2014). Pose Optimization for the Registration of Multiple Heterogeneous Views. Workshop on Multi-View Geometry in Robotics.

Tron, R., Afsari, B., & Vidal, R. (2013). Riemannian consensus for manifolds with bounded curvature. IEEE Transactions on Automatic Control, 58(4), 921–934.

Afsari, B., Tron, R., & Vidal, R. (2013). On the convergence of gradient descent for finding the Riemannian center of mass. SIAM Journal on Control and Optimization, 51(3), 2230–2260.

Singaraju, D., Tron, R., Elhamifar, E., Yang, A. Y., & Sastry, S. (2012). On the Lagrangian biduality of sparsity minimization problems. IEEE International Conference on Acoustics, Speech and Signal Processing, 3429–3432.

Tron, R., Afsari, B., & Vidal, R. (2012). Intrinsic consensus on SO(3) with almost-global convergence. IEEE Conference on Decision and Control, 2052–2058.

Tron, R. (2012). Distributed optimization on manifolds for consensus algorithms and camera network localization [PhD Thesis]. The Johns Hopkins University.

Tron, R., & Vidal, R. (2011). Distributed computer vision algorithms through distributed averaging. IEEE Conference on Computer Vision and Pattern Recognition, 57–63.

Tron, R., & Vidal, R. (2011). Distributed computer vision algorithms. IEEE Signal Processing Magazine, 28(3), 32–45.

Chen, Y., Tron, R., Terzis, A., & Vidal, R. (2011). Corrective consensus with asymmetric wireless links. IEEE Conference on Decision and Control, 6660–6665.

Tron, R., & Vidal, R. (2011). Average Consensus on Riemannian Manifolds with Bounded Curvature. IEEE Conference on Decision and Control.

Chen, Y., Tron, R., Terzis, A., & Vidal, R. (2011). Accelerated corrective consensus: Converge to the exact average at a faster rate. IEEE American Control Conference, 3417–3422.

Tron, R., Terzis, A., & Vidal, R. (2011). Distributed consensus algorithms for image-based localization in camera sensor networks. In Distributed Video Sensor Networks (pp. 289–302). Springer.

Rao, S., Tron, R., Vidal, R., & Ma, Y. (2010). Motion segmentation in the presence of outlying, incomplete, or corrupted trajectories. IEEE Transactions on Pattern Analysis and Machine Intelligence, 32(10), 1832–1845.

Chen, Y., Tron, R., Terzis, A., & Vidal, R. (2010). Corrective consensus: Converging to the exact average. IEEE Conference on Decision and Control, 1221–1228.

Tron, R., & Vidal, R. (2009). Distributed Image-Based 3-D Localization in Camera Sensor Networks. IEEE Conference on Decision and Control.

Vidal, R., Tron, R., & Hartley, R. (2008). Multiframe motion segmentation with missing data using PowerFactorization and GPCA. International Journal of Computer Vision, 79(1), 85–105.

Rao, S. R., Tron, R., Vidal, R., & Ma, Y. (2008). Motion segmentation via robust subspace separation in the presence of outlying, incomplete, or corrupted trajectories. IEEE Conference on Computer Vision and Pattern Recognition, 1–8.