- Segmented SLAM in Three-Dimensional Environments
Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Journal of Field Robotics, Vol. 27, No. 1, February, 2010, pp. 85-103.
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- Localization, Mapping, and Planning in 3D Environments
Nathaniel Fairfield
doctoral dissertation, tech. report CMU-RI-TR-09-05, Robotics Institute, Carnegie Mellon University, January, 2009
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- DEPTHX Autonomy Software: Design and Field Results
Nathaniel Fairfield, George A. Kantor, Dominic Jonak, and David Wettergreen
tech. report CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008
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- 3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)
Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor, and John M. Sharp~Jr.
Proceedings of KARST08: 11th Sinkhole Conference ASCE, 2008.
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- Active Localization on the Ocean Floor With Multibeam Sonar
Nathaniel Fairfield and David Wettergreen
Proceedings of MTS/IEEE OCEANS, 2008.
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- Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
William Stone, Nathaniel Fairfield, and George A. Kantor
Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, March, 2007.
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- Experiments in Navigation and Mapping with a Hovering AUV
George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen
Intl. Conf. on Field and Service Robotics, 2007.
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- Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
Nathaniel Fairfield, Dominic Jonak, George A. Kantor, and David Wettergreen
Intl. Symp. on Unmanned Untethered Submersible Technology, 2007.
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- Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Journal of Field Robotics, , 2007
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- Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580.
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- Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005.
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