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I am a research engineer at the University of Sydney, the Australian Centre for Field Robotics (ACFR), the Rio Tinto Centre for Mining Automation (RTCMA). I obtained my Ph.D. at the ACFR in 2009, focussing on representation and solving methods for estimation in localisation and mapping. My research interests include sparsity and graph methods in convex systems for probabilistic estimation, in robotics and decentralised systems.