| 2013 | ICRA | Monocular feature-based periodic motion estimation for surgical guidance. | Stephen Tully, George Kantor, Howie Choset |
| 2012 | ICRA | Over-tube apparatus for increasing the capabilities of an articulated robotic probe. | Amir Degani, Stephen Tully, Brett Zubiate, Howie Choset |
| 2012 | ICRA | Multi-agent deterministic graph mapping via robot rendezvous. | Chaohui Gong, Stephen Tully, George Kantor, Howie Choset |
| 2012 | ICRA | Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. | Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan |
| 2011 | IROS | Monte Carlo Localization using 3D texture maps. | Yu Fu, Stephen Tully, George Kantor, Howie Choset |
| 2011 | IROS | Inequality constrained Kalman filtering for the localization and registration of a surgical robot. | Stephen Tully, George Kantor, Howie Choset |
| 2011 | IROS | Shape estimation for image-guided surgery with a highly articulated snake robot. | Stephen Tully, George Kantor, Marco A. Zenati, Howie Choset |
| 2011 | ICRA | Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM. | Tong Tao, Stephen Tully, George Kantor, Howie Choset |
| 2010 | AAAI | A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM. | Stephen Tully, George Kantor, Howie Choset |
| 2009 | IROS | A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs. | Stephen Tully, George Kantor, Howie Choset, Felix Werner |
| 2009 | IROS | Topological SLAM using neighbourhood information of places. | Felix Werner, Frdric Maire, Joaquin Sitte, Howie Choset, Stephen Tully, George Kantor |
| 2008 | ICRA | Iterated filters for bearing-only SLAM. | Stephen Tully, Hyungpil Moon, George Kantor, Howie Choset |
| 2007 | IROS | Hybrid localization using the hierarchical atlas. | Stephen Tully, Hyungpil Moon, Deryck Morales, George Kantor, Howie Choset |