| 2023 | ICRA | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. | Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard |
| 2022 | ICRA | Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. | Kevin J. Doherty, David M. Rosen, John J. Leonard |
| 2022 | IROS | Spectral Measurement Sparsification for Pose-Graph SLAM. | Kevin J. Doherty, David M. Rosen, John J. Leonard |
| 2022 | IROS | SLAM-Supported Self-Training for 6D Object Pose Estimation. | Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard |
| 2021 | IROS | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. | Jiahui Fu, Qiangqiang Huang, Kevin J. Doherty, Yue Wang, John J. Leonard |
| 2021 | IROS | Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. | Ziqi Lu, Qiangqiang Huang, Kevin J. Doherty, John J. Leonard |
| 2020 | ICRA | Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. | Kevin J. Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard |
| 2020 | IROS | Variational Filtering with Copula Models for SLAM. | John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard |
| 2019 | ICRA | Multimodal Semantic SLAM with Probabilistic Data Association. | Kevin J. Doherty, Dehann Fourie, John J. Leonard |
| 2018 | CoRL | Bayesian Generalized Kernel Inference for Terrain Traversability Mapping. | Tixiao Shan, Jinkun Wang, Brendan J. Englot, Kevin J. Doherty |
| 2018 | IROS | Approximate Distributed Spatiotemporal Topic Models for Multi-Robot Terrain Characterization. | Kevin J. Doherty, Genevieve Flaspohler, Nicholas Roy, Yogesh A. Girdhar |
| 2017 | ICRA | Bayesian generalized kernel inference for occupancy map prediction. | Kevin J. Doherty, Jinkun Wang, Brendan J. Englot |
| 2016 | ICRA | Probabilistic map fusion for fast, incremental occupancy mapping with 3D Hilbert maps. | Kevin J. Doherty, Jinkun Wang, Brendan J. Englot |
| 2015 | ISRR | Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces. | Shi Bai, Jinkun Wang, Kevin J. Doherty, Brendan J. Englot |