• Positioning systems, indoors and outdoors
• Context-aware middleware
• Context-aware applications
• Security in Ubiquitous computing
• Autonomous navigation
• Wearable computing
• Wireless Sensor Networks
• Sensing for Sport

1. G. P. Bailey, R. K. Harle, "Investigation of Sensor Parameters for Kinematic Assessment of Steady State Running using Foot Mounted IMUs," icSPORTS 2014, Oct 2014

2. G. P. Bailey, R. K. Harle, "Assessment of Foot Kinematics During Steady State Running Using a Foot-mounted IMU," Procedia Engineering, Jul 2014

3. Agata Brajdic, Robert Harle, "Walk detection and step counting on unconstrained smartphones," Proceedings of the 2013 ACM international joint conference on Pervasive and ubiquitous computing, UbiComp 2013, Sep 2013

4. Agata Brajdic, Robert Harle, "Scalable indoor pedestrian localisation using inertial sensing and parallel particle filters," International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2012, Nov 2012

5. R. Harle, S. Taherian, M. Pias, G. Coulouris, A. Hopper, J. Cameron, J. Lasenby, G. Kuntze, I. Bezodis, G. Irwin, D. G. Kerwin, "Towards real-time profiling of sprints using wearable pressure sensors," Comput. Commun., vol. 35, no. 6, pp. 650--660, Elsevier Science Publishers B. V., Mar 2012

6. Agata Brajdic, Robert Harle, "Particle filtering on GPU for indoor pedestrian localisation," International Conference on Pervasive Computing 2011, Jun 2011

7. Oliver Woodman, Robert Harle, "Concurrent scheduling in the Active Bat location system," Sixth IEEE International Workshop on Sensor Networks and Systems for Pervasive Computing (PerSeNS 2010), Mannheim, Germany, Mar 2010

8. S. Taherian, M. Pias, R. Harle, G. Coulouris, S. Hay, J. Cameron, J. Lasenby, G. Kuntze, I. Bezodis, G. Irwin, D. Kerwin, "Profiling Sprints using On-Body Sensors," Proc of PerSens'10 - Sixth IEEE International Workshop on Sensor Networks and Systems for Pervasive Computing, IEEE, Mar 2010

9. S. Taherian, M. Pias, R. Harle, G. Coulouris, S. Hay, J. Cameron, J. Lasenby, G. Kuntze, I. Bezodis, D. Irwin, "Profiling Sprints using On-Body Sensors," in Proceedings of the Sixth IEEE International Workshop on Sensor Networks and Systems for Pervasive Computing (PerSeNS), Mannheim, Germany, Mar 2010

10. Oliver Woodman, Robert Harle, "RF-Based Initialisation for Inertial Pedestrian Tracking," Pervasive, series Lecture Notes in Computer Science, vol. 5538/2009, pp. 238-255, Springer Berlin / Heidelberg, May 2009

11. Simon Hay, Robert Harle, "Bluetooth Tracking without Discoverability," LoCA 2009: The 4th International Symposium on Location and Context Awareness, May 2009

12. Simon Fothergill, Robert Harle, Sean Holden, "Modelling the model athlete: automatic coaching of rowing technique," Joint IAPR Workshops on Structural & Syntactic and Statistical Pattern Recognition, Springer, Dec 2008

13. David N. Cottingham, Robert K. Harle, Andy Hopper, "Constructing Accurate, Space-Efficient, Wireless Coverage Maps for Vehicular Contexts," The 4th International Wireless Internet Conference (ICST WICON), Nov 2008

14. Oliver Woodman, Robert Harle, "Pedestrian Localisation for Indoor Environments," Proceedings of the Tenth International Conference on Ubiquitous Computing (UbiComp 08), Seoul, Korea, ACM, Sep 2008

15. Robert Harle, Andy Hopper, "The Potential for Location-Aware Power Management," Proceedings of the Tenth International Conference on Ubiquitous Computing (UbiComp 08), Seoul, Korea, ACM, Sep 2008

16. Simon Hay, Joseph Newman, Robert Harle, "Optical tracking using commodity hardware ," 7th IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR 2008), Sep 2008

17. Robert Harle, "Spatial Indexing for Location-Aware Systems," Proceedings of the Fourth Annual International Conference on Mobile and Ubiquitous Systems: Networking & Services (MobiQuitous 2007), IEEE, Aug 2007

18. David N. Cottingham, Alastair R. Beresford, Robert K. Harle, "A Survey of Technologies for the Implementation of National-Scale Road User Charging," Transport Reviews, vol. 27, no. 4, pp. 499-523, Taylor & Francis Group, Jul 2007

19. Mbou Eyole-Monono, Robert K. Harle, Andrew Rose, "SpotCore: A Power-Efficient Embedded Processor for Intelligent Sensor Networks," Proceedings of Second International Conference on Body Area Networks, Jun 2007

20. David N. Cottingham, Ian J. Wassell, Robert K. Harle, "Performance of IEEE 802.11a in Vehicular Contexts," IEEE Vehicular Technology Conference, pp. 854-858, Apr 2007

21. Andrew C. Rice, Robert K. Harle, Alastair R. Beresford, "Analysing fundamental properties of marker-based vision system designs," Pervasive and Mobile Computing , series Special Issue on PerCom 2006, vol. 2, no. 4, pp. 453-471, Elsevier, Nov 2006

22. Mbou Eyole-Monono, Robert Harle, Andy Hopper, "POISE: An Inexpensive, Low-Power Location Sensor Based On Electrostatics," 3rd Annual International Conference On Mobile and Ubiquitous Systems: Networks And Services (MobiQuitous 2006), Jul 2006

23. R. K. Harle, A. Hopper, "Cluster Tagging: Robust Fiducial Tracking for Smart Environments," 2nd International Workshop on Location- and Context-Awareness (LoCA 2006), series LNCS, no. 3987, Springer-Verlag, May 2006

24. Alastair R. Beresford, Jonathan J. Davies, Robert K. Harle, "Privacy-Sensitive Congestion Charging," 14th International Workshop on Security Protocols, series LNCS, vol. (in press), Springer-Verlag, Mar 2006

25. Andrew C. Rice, Alastair R. Beresford, Robert K. Harle, "Cantag: an open source software toolkit for designing and deploying marker-based vision systems," Fourth Annual IEEE International Conference on Pervasive Computing and Communications (PerCom), pp. 12-21, Mar 2006

26. Robert Harle, Alastair Beresford, "Keeping Big Brother off the road," IEE Review, vol. 51, no. 10, pp. 34-37, Oct 2005

27. Andrew Rice, Robert Harle, "Evaluating Lateration-Based Positioning Algorithms for Fine-Grained Tracking," Joint Workshop on Foundations of Mobile Computing (DIAL-M-POMC) 2005, ACM Press, Sep 2005

28. Robert Harle, Andy Hopper, "Deploying and Evaluating a Location-Aware System," MobiSys 2005, Jun 2005

29. Robert Harle, "Maintaining World Models in Context-Aware Environments," PhD thesis, Oct 2004

30. Robert Harle, Andy Hopper, "Dynamic World Models from Ray-tracing," Proceedings of the Second International Conference on Pervasive Computing and Communications, IEEE, Mar 2004

31. Robert Harle, Andy Hopper, "Building World Models By Ray-tracing Within Ceiling-Mounted Positioning Systems," Proceedings of the Fifth International Conference on Ubiquitous Computing (UbiComp 03), Oct 2003

32. Robert Harle, Andy Ward, Andy Hopper, "A Novel Method for Discovering Reflective Surfaces Using Indoor Positioning Systems," Proceedings of THe First International Conference on Mobile Systems, Applications, and Services (MobiSys 2003), ACM, May 2003

33. Robert Harle, Andy Hopper, "Using Personnel For Indoor Autonomous Environment Discovery," First Conference on Pervasive Computing and Communications (PerCom 2003), Mar 2003