School of Electrical Engineering and Computer Science

Dr Kasra Khosoussi

Senior Lecturer
School of Electrical Engineering and Computer Science
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Researcher biography

Dr. Kasra Khosoussi is currently a Senior Lecturer (equivalent to Associate Professor in the US) at the School of Electrical Engineering and Computer Science at the University of Queensland. Previously, he was the Team Leader for Robotic Mapping at CSIRO and a Visiting Fellow at the Australian National University. Prior to that, he was also a Research Scientist (2019-2021) and a Postdoctoral Associate (2017–2018) at MIT's Department of Aeronautics and Astronautics and Laboratory for Information and Decision Systems (LIDS). He is currently an Associate Editor for the IEEE Robotics and Automation Letters (RA-L) and has served as an Area Chair for Robotics: Science and Systems (RSS) and an Associate Editor for ICRA and IROS.

His research focuses on the mathematical and algorithmic foundations of robot perception and autonomy. He was a finalist for the ICRA 2018 Best Paper Award in multi-robot systems, received an honorable mention for the IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award in 2021, and won the Hilti SLAM Challenge at ICRA 2022.

Publications

Journal Articles (10)
Conference Papers (11)

Journal Articles

Kottege, Navinda, Williams, Jason, Tidd, Brendan, Talbot, Fletcher, Steindl, Ryan, Cox, Mark, Frousheger, Dennis, Hines, Thomas, Pitt, Alex, Tam, Benjamin, Wood, Brett, Hanson, Lauren, Lo Surdo, Katrina, Molnar, Tea, Wildie, Matt, Stepanas, Kazys, Catt, Gavin, Tychsen-Smith, Lachlan, Penfold, Dean, Overs, Les, Ramezani, Milad, Khosoussi, Kasra, Kendoul, Farid, Wagner, Glenn, Palmer, Duncan, Manderson, Jack, Medek, Corey, O'Brien, Matthew, Chen, Shengkang and Arkin, Ronald C. (2025). Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge. IEEE Transactions on Field Robotics, 2, 100-130. doi: 10.1109/tfr.2024.3522063
de Lima, Lucas Carvalho, Lawrance, Nicholas, Khosoussi, Kasra, Borges, Paulo and Brünig, Michael (2024). Under-canopy navigation using aerial lidar maps. IEEE Robotics and Automation Letters, 9 (8), 7031-7038. doi: 10.1109/lra.2024.3417115
Cai, Xiaoyi, Schlotfeldt, Brent, Khosoussi, Kasra, Atanasov, Nikolay, Pappas, George J. and How, Jonathan P. (2023). Energy-aware, collision-free information gathering for heterogeneous robot teams. IEEE Transactions on Robotics, 39 (4), 2585-2602. doi: 10.1109/tro.2023.3257512
Huang, Qiangqiang, Pu, Can, Khosoussi, Kasra, Rosen, David M., Fourie, Dehann, How, Jonathan P. and Leonard, John J. (2022). Incremental non-Gaussian inference for SLAM using normalizing flows. IEEE Transactions on Robotics, 39 (2), 1458-1475. doi: 10.1109/tro.2022.3216498
Tian, Yulun, Khosoussi, Kasra, Rosen, David M. and How, Jonathan P. (2021). Distributed certifiably correct pose-graph optimization. IEEE Transactions on Robotics, 37 (6), 2137-2156. doi: 10.1109/tro.2021.3072346
Fathian, Kaveh, Khosoussi, Kasra, Tian, Yulun, Lusk, Parker and How, Jonathan P. (2020). CLEAR: A consistent lifting, embedding, and alignment rectification algorithm for multiview data association. IEEE Transactions on Robotics, 36 (6), 1686-1703. doi: 10.1109/tro.2020.3002432
Tian, Yulun, Khosoussi, Kasra and How, Jonathan P. (2020). A resource-aware approach to collaborative loop-closure detection with provable performance guarantees. The International Journal of Robotics Research, 40 (10-11), 1212-1233. doi: 10.1177/0278364920948594
Khosoussi, Kasra, Giamou, Matthew, Sukhatme, Gaurav S., Huang, Shoudong, Dissanayake, Gamini and How, Jonathan P. (2019). Reliable graphs for SLAM. The International Journal of Robotics Research, 38 (2-3), 260-298. doi: 10.1177/0278364918823086
Khosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2016). A sparse separable SLAM back-end. IEEE Transactions on Robotics, 32 (6) 7592861, 1536-1549. doi: 10.1109/TRO.2016.2609394
Wang, Heng, Huang, Shoudong, Khosoussi, Kasra, Frese, Udo, Dissanayake, Gamini and Liu, Bingbing (2015). Dimensionality reduction for point feature SLAM problems with spherical covariance matrices. Automatica, 51, 149-157. doi: 10.1016/j.automatica.2014.10.114

Conference Papers

Zhang, Yihao, Severinsen, Odin A., Leonard, John J., Carlone, Luca and Khosoussi, Kasra (2023). Data-association-free landmark-based SLAM. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 29 May-2 June 2023. Piscataway, NJ USA: Institute of Electrical and Electronics Engineers. doi: 10.1109/ICRA48891.2023.10160719
Huang, Qiangqiang, Pu, Can, Fourie, Dehann, Khosoussi, Kasra, How, Jonathan P. and Leonard, John J. (2021). NF-iSAM: Incremental smoothing and mapping via normalizing flows. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561436
Cai, Xiaoyi, Schlotfeldt, Brent, Khosoussi, Kasra, Atanasov, Nikolay, Pappas, George J. and How, Jonathan P. (2021). Non-monotone energy-aware information gathering for heterogeneous robot teams. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561354
Jamieson, Stewart, Fathian, Kaveh, Khosoussi, Kasra, How, Jonathan P. and Girdhar, Yogesh (2021). Multi-robot distributed semantic mapping in unfamiliar environments through online matching of learned representations. IEEE International Conference on Robotics and Automation (ICRA), Xian, China, 30 May - 5 June 2021. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra48506.2021.9561934
Giamou, Matthew, Khosoussi, Kasra and How, Jonathan P. (2018). Talk resource-efficiently to me: optimal communication planning for distributed loop closure detection. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD Australia, 21-25 May 2018. Washington, DC United States: IEEE Computer Society. doi: 10.1109/icra.2018.8460783
Tian, Yulun, Khosoussi, Kasra, Giamou, Matthew, How, Jonathan P. and Kelly, Jonathan (2018). Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection. MIT Press Journals. doi: 10.15607/RSS.2018.XIV.071
Khosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2016). Tree-connectivity: Evaluating the graphical structure of SLAM. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/ICRA.2016.7487264
Khosoussi, Kasra, Huang, Shoudong and Dissanyake, Gamini (2015). Exploiting the separable structure of SLAM. MIT Press Journals. doi: 10.15607/RSS.2015.XI.023
Khosoussi, Kasra, Huang, Shoudong and Dissanayake, Gamini (2014). Novel insights into the impact of graph structure on SLAM. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/IROS.2014.6942932
Hu, Gibson, Khosoussi, Kasra and Huang, Shoudong (2013). Towards a reliable SLAM back-end. doi: 10.1109/IROS.2013.6696329
Marhamati, Nina, Taghirad, Hamid D. and Khosoussi, Kasra (2012). Monte Carlo sampling of non-Gaussian proposal distribution in feature-based RBPF-SLAM.