Yewei Huang

Yewei Huang / Publications

Publications

Refereed papers, workshop contributions, and thesis.

Refereed Conference and Journal Publications

2026

  • Y. Huang, T. Shan, A. Rajvanshi, N. Chowdhury, Y. Li, B. Englot, and H.-P. Chiu, SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2026. (Accepted, to appear). (Link to arXiv preprint)
  • C. Burgul, X. Zhao, Y. Huang, M. Chatzispyrou, A. Quattrini Li, and I. Rekleitis, SVIn+: Multi-Modal Framework for Robust Underwater State Estimation using 3D Sonar, Visual-Inertial, Water-Pressure, and DVL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • Y. Jiang, Y. Huang, W. Cao, M. Jeong, A. Quattrini Li, L. Zhao, M. Chen, and D. Balkcom, Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • S. Ma, Y. Wang, Y. Huang, R. Bucknall, and Y. Liu, Active Tracking of Marine Pollution Sources: An Uncertainty-Aware Categorical Bayesian Framework for Unmanned Surface Vehicles, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • Y. Li, Y. Huang, W. Gaozhang, A. Quattrini Li, B. Englot, and Y. Liu, Variable-Resolution Virtual Maps for Autonomous Exploration with Unmanned Surface Vehicles (USVs), Submitted, under review, 2026. (Link to arXiv preprint)
  • J. McConnell, Y. Huang, T. Morris, J. Doughty, and D. Moynihan, Multi-session SLAM for Imaging Sonar Equipped Underwater Vehicles Using Semantic Scene Graphs, IEEE Robotics and Automation Letters, 2026.
  • C. Burgul, Y. Huang, M. Chatzispyrou, I. Rekleitis, A. Quattrini Li, and M. Xanthidis, Underwater Dense Mapping with the First Compact 3D Sonar, IEEE International Conference on Robotics and Automation (ICRA), 2026. (Link to arXiv preprint)

2025

  • Y. Huang, J. McConnell, X. Lin, and B. Englot, DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams with Object Graph Matching, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2025. (Link to arXiv preprint, Video Attachment, Code Release)
  • Y. Li, Y. Huang, B. Gaudel, H. Jafarnejadsani, and B. Englot, CVD-SfM: A Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2025. (Link to arXiv preprint, Video Attachment, Code Release)
  • Y. Li, Y. Huang, W. Gaozhang, and Y. Liu, Autonomous Exploration with Virtual Map using Unmanned Surface Vehicles, IEEE International Conference on Automation and Computing (ICAC), pp. 1-7, August 2025. (Link to IEEExplore)
  • X. Lin, P. Szenher, Y. Huang, and B. Englot, Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles, IEEE Robotics and Automation Letters, vol. 10(2), pp. 1194-1201, February 2025. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)

2024

  • Y. Huang, X. Lin, and B. Englot, Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 7236-7242, May 2024. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
  • X. Lin, Y. Huang, F. Chen, and B. Englot, Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 8327-8333, May 2024. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
  • Y. Huang, X. Lin, M. Hernandez-Rocha, S. Narain, K. Pochiraju, and B. Englot, Mission-oriented Gaussian Process Motion Planning for UUVs over Complex Seafloor Terrain and Current Flows, IEEE Robotics and Automation Letters, vol. 9(2), pp. 1780-1787, February 2024. (Link to IEEExplore, Video Attachment, Code Release)

2023

  • X. Lin, Y. Huang, D. Sun, T.-Z. Lin, B. Englot, R.M. Eustice, and M. Ghaffari, A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios, IEEE Access, vol. 11, pp. 97239-97249, September 2023. (Link to IEEExplore)

2022

2021

2020

2018

  • Y. Huang, J. Zhao, X. He, S. Zhang, T. Feng, Vision-based semantic mapping and localization for autonomous indoor parking, IEEE Intelligent Vehicles Symposium (IV), pp. 636-641, June 2018. (Link to IEEExplore)

Other Publications

  • K. Doherty, A. Papalia, Y. Huang, D. Rosen, B. Englot, J. Leonard, MAC: Maximizing Algebraic Connectivity for Graph Sparsification, Work-In-Progress Paper. (Link to arXiv preprint)
  • Y. Huang, X. Lin, and B. Englot, Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty via Reinforcement Learning on Graphs, Work-In-Progress Paper, Proceedings of the 21st International Conference on Ubiquitous Robots, pp. 836-839, June 2024. (Full Text)
  • Y. Huang and B. Englot, Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization, IEEE IROS 2023 Workshop on Closing the Loop on Localization, 4 pp., October 2023. (Full Text)
  • J. Wang, F. Chen, Y. Huang, J. McConnell, T. Shan, and B. Englot, Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments, IEEE ICRA 2021 Workshop on Underwater Active Perception, 8 pp., June 2021. (Full Text, Workshop Poster, Video Attachment)
  • Y. Huang, H. Wang, K. Zhan, J. Zhao, P. Gui, T. Feng, Image-based localization for indoor environment using mobile phone, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, pp. 211-215, June 2015. (Full Text)

Thesis

  • Y. Huang, Inference with Factor Graphs for Single and Multi-Robot Perception and Navigation, Ph.D. Thesis, Stevens Institute of Technology, May 2025. (Full Text)