{"id":30,"date":"2024-01-03T14:45:01","date_gmt":"2024-01-03T19:45:01","guid":{"rendered":"https:\/\/arcolab.mcmaster.ca\/?page_id=30"},"modified":"2025-09-21T15:22:38","modified_gmt":"2025-09-21T19:22:38","slug":"publications","status":"publish","type":"page","link":"https:\/\/arcolab.mcmaster.ca\/?page_id=30","title":{"rendered":"Publications"},"content":{"rendered":"\n<p>See <a href=\"https:\/\/scholar.google.com\/citations?user=TWcYp5sAAAAJ&amp;hl=en\">Prof. Giamou&#8217;s Google scholar page<\/a> for a complete list.<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>A Certifiably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration<\/strong> (<a href=\"https:\/\/arxiv.org\/abs\/2507.23045\" data-type=\"link\" data-id=\"https:\/\/arxiv.org\/abs\/2507.23045\">arXiv<\/a>)<br>Emmett Wise, Pushyami Kaveti, Qilong Chen, Wenhao Wang, Hanumant Singh, Jonathan Kelly, David Rosen, and Matthew Giamou<br><em>Submitted to IJRR in 2025<\/em><\/li>\n\n\n\n<li><strong>OMASTAR: Optimal Magnetic Actuation System Arrangement<\/strong> (<a href=\"https:\/\/ieeexplore.ieee.org\/document\/11128287\">IEEEXplore<\/a>)<br>Veerash Palanichamy, Hussein Saad, Matthew Giamou, and Onaizah Onaizah<br><em>IEEE<\/em> <em>ICRA 2025<\/em><\/li>\n\n\n\n<li><strong>OASIS: Optimal Arrangements for Sensing in SLAM<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/ICRA57147.2024.10611644\">IEEEXplore<\/a>)<br>Pushyami Kaveti, Matthew Giamou, Hanumant Singh, and David Rosen <br><em>IEEE<\/em> <em>ICRA 2024<\/em><\/li>\n\n\n\n<li><strong>Towards Optimal Beacon Placement for Range-Aided Localization<\/strong> (<a href=\"https:\/\/arxiv.org\/abs\/2405.11550\">arXiv<\/a>)<br>Ethan Sequeira, Hussein Saad, Stephen Kelly, and Matthew Giamou<br><em>CRV 2024<\/em><\/li>\n\n\n\n<li><strong>CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots<\/strong> (<a href=\"https:\/\/ieeexplore.ieee.org\/document\/10271523\">IEEEXplore<\/a>) <br>Hannah Zhang, Matthew Giamou, Filip Mari\u0107, Jonathan Kelly, and Jessica Burgner-Kahrs <br><em>IEEE RA-L, 2023<\/em><\/li>\n\n\n\n<li><strong>Convex Iteration for Distance-Geometric Inverse Kinematics<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/LRA.2022.3141763\">IEEEXplore<\/a>) <br>Matthew Giamou, Filip Mari\u0107, David Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrovi\u0107, and Jonathan Kelly<br><em>IEEE RA-L<\/em>, 2022<\/li>\n\n\n\n<li><strong>Riemannian Optimization for Distance-Geometric Inverse Kinematics<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/TRO.2021.3123841\">IEEEXplore<\/a>) <br>Filip Mari\u0107, Matthew Giamou, Adam Hall, Soroush Khoubyarian, Ivan Petrovic, and Jonathan Kelly <br><em>IEEE T-RO, 2022<\/em><\/li>\n\n\n\n<li><strong>Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/ICRA40945.2020.9196704\">IEEEXplore<\/a>) <br>Filip Mari\u0107, Matthew Giamou, Soroush Khoubyarian, Ivan Petrovic, and Jonathan Kelly <br><em>IEEE ICRA 2022<\/em><\/li>\n\n\n\n<li><strong>A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty<\/strong> (<a href=\"https:\/\/doi.org\/10.15607\/RSS.2020.XVI.007\">PDF<\/a>) <br>Valentin Peretroukhin, Matthew Giamou, David Rosen, W. Nicholas Greene, Nicholas Roy, and Jonathan Kelly<br><em>RSS 2020<\/em><\/li>\n\n\n\n<li><strong>Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/LRA.2018.2890444\">IEEEXplore<\/a>)<br>Matthew Giamou, Ziye Ma, Valentin Peretroukhin, and Jonathan Kelly<br><em>IEEE RA-L 2019<\/em><\/li>\n\n\n\n<li><strong>Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/ICRA.2018.8460783\">IEEEXplore<\/a>)<br>Matthew Giamou, Kasra Khosoussi, Jonathan How<br><em>IEEE ICRA 2018<\/em><\/li>\n\n\n\n<li><strong>Stable laser interest point selection for place recognition in a forest<\/strong> (<a href=\"https:\/\/doi.org\/10.1109\/IROS.2017.8206292\">IEEEXplore<\/a>)<br>M. Giamou, Y. Babich, G. Habibi, and J. P. How<br><em>IEEE IROS 201<\/em>7.<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>See Prof. Giamou&#8217;s Google scholar page for a complete list.<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"templates\/template-full-width.php","meta":{"footnotes":""},"class_list":["post-30","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/pages\/30","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=30"}],"version-history":[{"count":6,"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/pages\/30\/revisions"}],"predecessor-version":[{"id":352,"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=\/wp\/v2\/pages\/30\/revisions\/352"}],"wp:attachment":[{"href":"https:\/\/arcolab.mcmaster.ca\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=30"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}