Publications

Privacy Preserving Visual Question Answering.

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Bara, Cristian-Paul; Ping, Qing; Mathur, Abhinav; Thattai, Govind; MV, Rohith; Sukhatme, Gaurav S.: Privacy Preserving Visual Question Answering. CoRR, vol. abs/2202.07712, 2022

Suboptimal coverings for continuous spaces of control tasks.

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Preiss, James A.; Sukhatme, Gaurav S.: Suboptimal coverings for continuous spaces of control tasks. CoRR, vol. abs/2104.11865, 2021

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning.

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Batra, Sumeet; Huang, Zhehui; Petrenko, Aleksei; Kumar, Tushar; Molchanov, Artem; Sukhatme, Gaurav S.: Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning. CoRR, vol. abs/2109.07735, 2021

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning.

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Batra, Sumeet; Huang, Zhehui; Petrenko, Aleksei; Kumar, Tushar; Molchanov, Artem; Sukhatme, Gaurav S.: Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning. Faust, Aleksandra; Hsu, David; Neumann, Gerhard (Ed.): Conference on Robot Learning, 8-11 November 2021, London, UK, pp. 576-586, PMLR, 2021

Suboptimal coverings for continuous spaces of control tasks.

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Preiss, James A.; Sukhatme, Gaurav S.: Suboptimal coverings for continuous spaces of control tasks. Jadbabaie, Ali; Lygeros, John; Pappas, George J.; Parrilo, Pablo A.; Recht, Benjamin; Tomlin, Claire J.; Zeilinger, Melanie N. (Ed.): Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, L4DC 2021, 7-8 June 2021, Virtual Event, Switzerland, pp. 547-558, PMLR, 2021

Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles.

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Ghosh, Pradipta; Tabuada, Paulo; Govindan, Ramesh; Sukhatme, Gaurav S.: Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 1501-1508, IEEE, 2020

Estimating Metric Scale Visual Odometry from Videos using 3D Convolutional Networks.

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Koumis, Alexander S.; Preiss, James A.; Sukhatme, Gaurav S.: Estimating Metric Scale Visual Odometry from Videos using 3D Convolutional Networks. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 265-272, IEEE, 2019

Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors.

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Molchanov, Artem; Chen, Tao; Hünig, Wolfgang; Preiss, James A.; Ayanian, Nora; Sukhatme, Gaurav S.: Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 59-66, IEEE, 2019

Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT.

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Abdelzaher, Tarek F.; Ayanian, Nora; Basar, Tamer; Diggavi, Suhas N.; Diesner, Jana; Ganesan, Deepak; Govindan, Ramesh; Jha, Susmit; Lepoint, TancrŁde; Marlin, Benjamin M.; Nahrstedt, Klara; Nicol, David M.; Rajkumar, Raj; Russell, Stephen; Seshia, Sanjit A.; Sha, Fei; Shenoy, Prashant J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Swami, Ananthram; Tabuada, Paulo; Towsley, Don; Vaidya, Nitin H.; Veeravalli, Venugopal V.: Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT. 38th IEEE International Conference on Distributed Computing Systems, ICDCS 2018, Vienna, Austria, July 2-6, 2018, pp. 1129-1138, IEEE Computer Society, 2018

Toward an Internet of Battlefield Things: A Resilience Perspective.

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Abdelzaher, Tarek F.; Ayanian, Nora; Basar, Tamer; Diggavi, Suhas N.; Diesner, Jana; Ganesan, Deepak; Govindan, Ramesh; Jha, Susmit; Lepoint, TancrŁde; Marlin, Benjamin M.; Nahrstedt, Klara; Nicol, David M.; Rajkumar, Raj; Russell, Stephen; Seshia, Sanjit A.; Sha, Fei; Shenoy, Prashant J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Swami, Ananthram; Tabuada, Paulo; Towsley, Don; Vaidya, Nitin H.; Veeravalli, Venugopal V.: Toward an Internet of Battlefield Things: A Resilience Perspective. Computer, vol. 51, no. 11, pp. 24-36, 2018

Trajectory Planning for Quadrotor Swarms.

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Hünig, Wolfgang; Preiss, James A.; Kumar, T. K. Satish; Sukhatme, Gaurav S.; Ayanian, Nora: Trajectory Planning for Quadrotor Swarms. IEEE Trans. Robotics, vol. 34, no. 4, pp. 856-869, 2018

Simultaneous self-calibration and navigation using trajectory optimization.

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Preiss, James A.; Hausman, Karol; Sukhatme, Gaurav S.; Weiss, Stephan: Simultaneous self-calibration and navigation using trajectory optimization. Int. J. Robotics Res., vol. 37, no. 13-14, 2018

Crazyswarm: A large nano-quadcopter swarm.

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Preiss, James A.; Hünig, Wolfgang; Sukhatme, Gaurav S.; Ayanian, Nora: Crazyswarm: A large nano-quadcopter swarm. 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 3299-3304, IEEE, 2017

Downwash-aware trajectory planning for large quadrotor teams.

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Preiss, James A.; Hünig, Wolfgang; Ayanian, Nora; Sukhatme, Gaurav S.: Downwash-aware trajectory planning for large quadrotor teams. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 250-257, IEEE, 2017

Planning high-speed safe trajectories in confidence-rich maps.

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Heiden, Eric; Hausman, Karol; Sukhatme, Gaurav S.; Agha-mohammadi, Ali-akbar: Planning high-speed safe trajectories in confidence-rich maps. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 2880-2886, IEEE, 2017

Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs.

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Hausman, Karol; Preiss, James A.; Sukhatme, Gaurav S.; Weiss, Stephan: Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs. IEEE Robotics Autom. Lett., vol. 2, no. 3, pp. 1770-1777, 2017

Toward a Science of Autonomy for Physical Systems: Aerial Earth Science.

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Hsieh, M. Ani; Saripalli, Srikanth; Sukhatme, Gaurav S.; Kumar, Vijay: Toward a Science of Autonomy for Physical Systems: Aerial Earth Science. CoRR, vol. abs/1609.05783, 2016

Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV.

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Hausman, Karol; Weiss, Stephan; Brockers, Roland; Matthies, Larry H.; Sukhatme, Gaurav S.: Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV. Kragic, Danica; Bicchi, Antonio; Luca, Alessandro De (Ed.): 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, May 16-21, 2016, pp. 4289-4296, IEEE, 2016

Environmental Sensing Using Land-Based Spectrally-Selective Cameras and a Quadcopter.

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Das, Jnaneshwar; Evans, William C.; Minnig, Michael; Bahr, Alexander; Sukhatme, Gaurav S.; Martinoli, Alcherio: Environmental Sensing Using Land-Based Spectrally-Selective Cameras and a Quadcopter. Desai, Jaydev P.; Dudek, Gregory; Khatib, Oussama; Kumar, Vijay (Ed.): Experimental Robotics - The 13th International Symposium on Experimental Robotics, ISER 2012, June 18-21, 2012, QuØbec City, Canada, pp. 259-272, Springer, 2012

Landing a Helicopter on a Moving Target.

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Saripalli, Srikanth; Sukhatme, Gaurav S.: Landing a Helicopter on a Moving Target. 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy, pp. 2030-2035, IEEE, 2007

A Discrete Geometric Optimal Control Framework for Systems with Symmetries.

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Kobilarov, Marin; Desbrun, Mathieu; Marsden, Jerrold E.; Sukhatme, Gaurav S.: A Discrete Geometric Optimal Control Framework for Systems with Symmetries. Burgard, Wolfram; Brock, Oliver; Stachniss, Cyrill (Ed.): Robotics: Science and Systems III, June 27-30, 2007, Georgia Institute of Technology, Atlanta, Georgia, USA, The MIT Press, 2007

Adaptive teams of autonomous aerial and ground robots for situational awareness.

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Hsieh, M. Ani; Cowley, Anthony; Keller, James F.; Chaimowicz, Luiz; Grocholsky, Ben; Kumar, Vijay; Taylor, Camillo J.; Endo, Yoichiro; Arkin, Ronald C.; Jung, Boyoon; Wolf, Denis F.; Sukhatme, Gaurav S.; MacKenzie, Douglas C.: Adaptive teams of autonomous aerial and ground robots for situational awareness. J. Field Robotics, vol. 24, no. 11-12, pp. 991-1014, 2007

Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle.

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Kelly, Jonathan; Saripalli, Srikanth; Sukhatme, Gaurav S.: Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle. Laugier, Christian; Siegwart, Roland (Ed.): Field and Service Robotics, Results of the 6th International Conference, FSR 2007, Chamonix, France, 9th - 12th July 2007, pp. 255-264, Springer, 2007

Visual servoing of an autonomous helicopter in urban areas using feature tracking.

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Mejias, Luis; Saripalli, Srikanth; Cervera, Pascual Campoy; Sukhatme, Gaurav S.: Visual servoing of an autonomous helicopter in urban areas using feature tracking. J. Field Robotics, vol. 23, no. 3-4, pp. 185-199, 2006

A Visual Servoing Approach for Tracking Features in Urban Areas using an Autonomous Helicopter.

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Mejias, Luis; Cervera, Pascual Campoy; Saripalli, Srikanth; Sukhatme, Gaurav S.: A Visual Servoing Approach for Tracking Features in Urban Areas using an Autonomous Helicopter. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, May 15-19, 2006, Orlando, Florida, USA, pp. 2503-2508, IEEE, 2006

Combined optic-flow and stereo-based navigation of urban canyons for a UAV.

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Hrabar, Stefan; Sukhatme, Gaurav S.; Corke, Peter; Usher, Kane; Roberts, Jonathan M.: Combined optic-flow and stereo-based navigation of urban canyons for a UAV. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005, pp. 3309-3316, IEEE, 2005

Detection and Tracking of External Features in an Urban Environment Using an Autonomous Helicopter.

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Saripalli, Srikanth; Sukhatme, Gaurav S.; Mejias, Luis; Cervera, Pascual Campoy: Detection and Tracking of External Features in an Urban Environment Using an Autonomous Helicopter. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain, pp. 3972-3977, IEEE, 2005

A comparison of two camera configurations for optic-flow based navigation of a UAV through urban canyons.

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Hrabar, Stefan; Sukhatme, Gaurav S.: A comparison of two camera configurations for optic-flow based navigation of a UAV through urban canyons. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004, pp. 2673-2680, IEEE, 2004

Planar Spline Trajectory Following for an Autonomous Helicopter.

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Harbick, Kale; Montgomery, James F.; Sukhatme, Gaurav S.: Planar Spline Trajectory Following for an Autonomous Helicopter. J. Adv. Comput. Intell. Intell. Informatics, vol. 8, no. 3, pp. 237-242, 2004

Deployment and Connectivity Repair of a Sensor Net with a Flying Robot.

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Corke, Peter I.; Hrabar, Stefan; Peterson, Ronald A.; Rus, Daniela; Saripalli, Srikanth; Sukhatme, Gaurav S.: Deployment and Connectivity Repair of a Sensor Net with a Flying Robot. Jr., Marcelo H. Ang; Khatib, Oussama (Ed.): Experimental Robotics IX, The 9th International Symposium on Experimental Robotics [ISER 2004, Singapore, 18.-21. June 2004], pp. 333-343, Springer, 2004

Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle.

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Corke, Peter I.; Hrabar, Stefan; Peterson, Ronald A.; Rus, Daniela; Saripalli, Srikanth; Sukhatme, Gaurav S.: Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 3602-3608, IEEE, 2004

A tale of two helicopters.

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Saripalli, Srikanth; Roberts, Jonathan M.; Corke, Peter I.; Buskey, Gregg D.; Sukhatme, Gaurav S.: A tale of two helicopters. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003, pp. 805-810, IEEE, 2003

Visually guided landing of an unmanned aerial vehicle.

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Saripalli, Srikanth; Montgomery, James F.; Sukhatme, Gaurav S.: Visually guided landing of an unmanned aerial vehicle. IEEE Trans. Robotics Autom., vol. 19, no. 3, pp. 371-380, 2003

Onmidirectional vision for an autonomous helicopter.

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Hrabar, Stefan; Sukhatme, Gaurav S.: Onmidirectional vision for an autonomous helicopter. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan, pp. 558-563, IEEE, 2003

Landing on a Moving Target Using an Autonomous Helicopter.

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Saripalli, Srikanth; Sukhatme, Gaurav S.: Landing on a Moving Target Using an Autonomous Helicopter. Yuta, Shin'ichi; Asama, Hajime; Thrun, Sebastian; Prassler, Erwin; Tsubouchi, Takashi (Ed.): Field and Service Robotics, Recent Advances in Reserch and Applications, FSR 2003, Lake Yamanaka, Japan, 14-16 July 2003, pp. 277-286, Springer, 2003

A testbed for Mars precision landing experiments by emulating spacecraft dynamics on a model helicopter.

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Saripalli, Srikanth; Sukhatme, Gaurav S.: A testbed for Mars precision landing experiments by emulating spacecraft dynamics on a model helicopter. IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, pp. 2097-2102, IEEE, 2002

Vision-Based Autonomous Landing of an Unmanned Aerial Vehicle.

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Saripalli, Srikanth; Montgomery, James F.; Sukhatme, Gaurav S.: Vision-Based Autonomous Landing of an Unmanned Aerial Vehicle. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA 2002, May 11-15, 2002, Washington, DC, USA, pp. 2799-2804, IEEE, 2002

Towards vision-based safe landing for an autonomous helicopter.

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Garcia-Pardo, Pedro J.; Sukhatme, Gaurav S.; Montgomery, James F.: Towards vision-based safe landing for an autonomous helicopter. Robotics Auton. Syst., vol. 38, no. 1, pp. 19-29, 2002

An Experimental Study of the Autonomous Helicopter Landing Problem.

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Saripalli, Srikanth; Sukhatme, Gaurav S.; Montgomery, James F.: An Experimental Study of the Autonomous Helicopter Landing Problem. Siciliano, Bruno; Dario, Paolo (Ed.): Experimental Robotics VIII [ISER 2002, Sant'Angelo d'Ischia, Italy, 8-11 July 2002], pp. 466-475, Springer, 2002

Planar spline trajectory following for an autonomous helicopter.

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Harbick, Kale; Montgomery, James F.; Sukhatme, Gaurav S.: Planar spline trajectory following for an autonomous helicopter. Zhang, Hong (Ed.): Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001, Banff, Alberta, Canada, July 29 - August 1, 2001, pp. 408-413, IEEE, 2001

Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots.

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Vaughan, Richard T.; Sukhatme, Gaurav S.; Mesa-Martinez, Francisco J.; Montgomery, James F.: Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots. Parker, Lynne E.; Bekey, George A.; Barhen, Jacob (Ed.): Distributed Autonomous Robotic Systems 4, Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems, DARS 2000, October 4-6, 2000, Knoxville, Tennessee, USA, pp. 315-324, Springer, 2000

State estimation of an autonomous helicopter using Kalman filtering.

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Jun, Myungsoo; Roumeliotis, Stergios I.; Sukhatme, Gaurav S.: State estimation of an autonomous helicopter using Kalman filtering. Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, October 17-21,1999, Hyundai Hotel, Kyongju, Korea, pp. 1346-1353, IEEE, 1999