Isar Meijer, Michael Pantic, Helen Oleynikova, Roland Siegwart, “Pushing the Limits of Reactive Planning: Learning to Escape Local Minima”. IEEE Robotics and Automation Letters (RA-L), 2025.
[arxiv]

Eugenio Cuniato, Mike Allenspach, Thomas Stastny, Helen Oleynikova, Roland Siegwart, Michael Pantic, “Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics”. In submission, 2025.
[arxiv]

Patrick Pfreundschuh, Helen Oleynikova, Cesar Cadena, Roland Siegwart, Olov Andersson, “COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry”. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2024.
[pdf | bibtex | arxiv | code]

Helen Oleynikova*, Alexander Millane*, Émilie Wirbel, Remo Steiner, Vikram Ramasamy, David Tingdahl, Roland Siegwart, “nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping”. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2024.
[arxiv | code]

Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox. “CuRobo: Parallelized Collision-Free Robot Motion Generation”. In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023.
[pdf | bibtex | arxiv | code]

Eugenio Cuniato, Olov Andersson, Helen Oleynikova, Roland Siegwart, Michael Pantic, “Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network”. In Int. Symposium on Experimental Robotics (ISER), 2023.
[arxiv]

Christian Lanegger, Helen Oleynikova, Michael Pantic, Lionel Ott, Roland Siegwart, “To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots”. In Int. Symposium on Experimental Robotics (ISER), 2023.
[arxiv]

Jeffrey Delmerico, Roi Poranne, Federica Bogo, Helen Oleynikova, Eric Vollenweider, Stelian Coros, Juan Nieto, Marc Pollefeys, “Spatial computing and intuitive interaction: Bringing mixed reality and robotics together”. IEEE Robotics & Automation Magazine, 2022.
[pdf | bibtex | arxiv]

Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, and Cesar Cadena, “Freetures: Localization in Signed Distance Function Maps”. IEEE Robotics and Automation Letters, 2021.
[pdf | bibtex]

Helen Oleynikova, Christian Lanegger, Zachary Taylor, Michael Pantic, Alexander Millane, Roland Siegwart, and Juan Nieto, “An Open‐Source System for Vision‐Based Micro‐Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments”. Journal of Field Robotics, 2020.
[pdf | bibtex | video | arxiv | publisher link | code]

Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, Juan Nieto, “Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps”. IEEE Robotics and Automation Letters, 2019.
[pdf | bibtex | video | arxiv]

Helen Oleynikova, “Mapping and Planning for Safe Collision Avoidance On-board Micro-Aerial Vehicles”. Doctoral Thesis, ETH Zurich, 2019.
[pdf | ETH research collection | video]

Alexander Millane, Helen Oleynikova, Juan Nieto, Roland Siegwart, Cesar Cadena. “Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), November 2019.
[pdf | bibtex | arxiv]

Helen Oleynikova, Zachary Taylor, Roland Siegwart, and Juan Nieto, “Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles”. IEEE Robotics and Automation Letters, 2018.
[pdf | bibtex | video | arxiv]

Helen Oleynikova, Zachary Taylor, Marius Fehr, Roland Siegwart, and Juan Nieto, “Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), October 2017
[pdf | bibtex | video | arxiv | code]

Helen Oleynikova, Zachary Taylor, Roland Siegwart, and Juan Nieto, “Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), October 2018.
[pdf | bibtex | video | arxiv]

Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, and Roland Siegwart “Receding Horizon Path Planning for 3D Exploration and Surface Inspection”. Autonomous Robots, 2016.
[pdf | bibtex | code]

Helen Oleynikova, Alex Millane, Zachary Taylor, Enric Galceran, Juan Nieto, and Roland Siegwart “Signed Distance Fields: A Natural Representation for Both Mapping and Planning”. In Geometry and Beyond, RSS Workshop, 2016.
[pdf | bibtex]

Helen Oleynikova, Michael Burri, Simon Lynen, and Roland Siegwart, “Real-Time Visual-Inertial Localization for Aerial and Ground Robots”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), September 2015.
[pdf | bibtex]

Michael Burri, Helen Oleynikova, Markus Achtelik, and Roland Siegwart, “Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), September 2015.
[pdf | bibtex | video]

Helen Oleynikova, Dominik Honegger, and Marc Pollefeys. “Reactive Avoidance Using Embedded Stereo Vision for MAV Flight”. In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2015.
[pdf | bibtex]

Andrew J. Barry, Helen Oleynikova, Dominik Honegger, Marc Pollefeys, and Russ Tedrake. “FPGA vs. pushbroom stereo vision for MAVs”. In Vision-based Control and Navigation of Small Lightweight UAVs, IROS Workshop, 2015.
[pdf]

Dominik Honegger, Helen Oleynikova, and Marc Pollefeys. “Real-time and Low Latency Embedded Computer Vision Hardware Based on a Combination of FPGA and Mobile CPU”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), September 2014.
[pdf | bibtex | video]

Elena Oleynikova, Nicole Lee, Andrew J. Barry, Joseph Holler, David Barrett, “Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar”. In Proceedings of IEEE Oceans 2010, May 2010.
[pdf | bibtex | video]