Timothy D. Barfoot

University of Toronto — Canada

Engineering · Physical Sciences

40h-index7.5kcitations336works4.62yr avg
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Research Topics

Robotics and Sensor-Based Localization(178), Robotic Path Planning Algorithms(76), Advanced Vision and Imaging(43), Target Tracking and Data Fusion in Sensor Networks(40), Autonomous Vehicle Technology and Safety(32)

Publications336 total

Lunar Rover Cargo Transport: Mission Concept and Field Test
arXiv (Cornell University)·2026Open Access
Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion
arXiv (Cornell University)·2026Open Access
Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion
ArXiv.org·2026Open Access
Lunar Rover Cargo Transport: Mission Concept and Field Test
IEEE transactions on field robotics.·2026Open Access
Sharing the Load: Distributed Model-Predictive Control for Precise Multi-Rover Cargo Transport
arXiv (Cornell University)·2025Open Access
Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments
2025
UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
2025· 1 cited
A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
arXiv (Cornell University)·2025Open Access
Local Maps Are All You Need: A Review of Topometric Teach and Repeat Navigation
Annual Review of Control Robotics and Autonomous Systems·2025
Ratatouille: Imitation Learning Ingredients for Real-world Social Robot Navigation
arXiv (Cornell University)·2025Open Access
Towards Fast Correspondence-Free Odometry Using Multiple FMCW Lidars
IEEE Robotics and Automation Letters·2025
DRO: Doppler-Aware Direct Radar Odometry with Gyroscope
2025Open Access
Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping
arXiv (Cornell University)·2025Open Access
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
2025· 2 citedOpen Access
The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
2025Open Access
aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search
2025Open Access
MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR
2025· 1 citedOpen Access
UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
arXiv (Cornell University)·2025Open Access
Tunable Virtual IMU Frame by Weighted Averaging of Multiple Non-Collocated IMUs
2025· 1 cited
Radar Teach and Repeat: Architecture and Initial Field Testing
2025· 1 cited
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Frequent Co-authors

Paul Furgale(14), Angela P. Schoellig(8), Sean Anderson(6), Chi Hay Tong(6), Chris J. Ostafew(5), John Enright(4), Colin McManus(4), Jonathan D. Gammell(3), David J. Yoon(3), Kirk MacTavish(3), François Pomerleau(3), Siddhartha S Srinivasa(2), Gabe Sibley(2), Jack Collier(2), Keenan Burnett(2), Yuchen Wu(2), Andrew Lambert(2), Keith Y. K. Leung(2), Michael Paton(2), Michael Warren(2)