Millard, David; Pastor, Daniel; Bowkett, Joseph; Backes, Paul; Sukhatme, Gaurav S.: GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials. Bekris, Kostas E.; Hauser, Kris; Herbert, Sylvia L.; Yu, Jingjin (Ed.): Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023, 2023
Preiss, James A.; Millard, David; Yao, Tao; Sukhatme, Gaurav S.: Tracking Fast Trajectories with a Deformable Object using a Learned Model. 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 1351-1357, IEEE, 2022
Heiden, Eric; Denniston, Christopher E.; Millard, David; Ramos, Fabio; Sukhatme, Gaurav S.: Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 3638-3645, IEEE, 2022
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Millard, David; Preiss, James A.; Barbic, Jernej; Sukhatme, Gaurav S.: Parameter Estimation for Deformable Objects in Robotic Manipulation Tasks. Billard, Aude; Asfour, Tamim; Khatib, Oussama (Ed.): Robotics Research - The 20th International Symposium ISRR 2022, Geneva, Switzerland, 25-30 September 2022, pp. 239-251, Springer, 2022
Heiden, Eric; Liu, Ziang; Vineet, Vibhav; Coumans, Erwin; Sukhatme, Gaurav S.: Inferring Articulated Rigid Body Dynamics from RGBD Video. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 8383-8390, IEEE, 2022
Preiss, James A.; Sukhatme, Gaurav S.: Suboptimal coverings for continuous spaces of control tasks. CoRR, vol. abs/2104.11865, 2021
Heiden, Eric; Denniston, Christopher E.; Millard, David; Ramos, Fabio; Sukhatme, Gaurav S.: Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. CoRR, vol. abs/2109.08815, 2021
Heiden, Eric; Millard, David; Coumans, Erwin; Sheng, Yizhou; Sukhatme, Gaurav S.: NeuralSim: Augmenting Differentiable Simulators with Neural Networks. IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021, pp. 9474-9481, IEEE, 2021
[Video]
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
Sutanto, Giovanni; Wang, Austin S.; Lin, Yixin; Mukadam, Mustafa; Sukhatme, Gaurav S.; Rai, Akshara; Meier, Franziska: Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. Bayen, Alexandre M.; Jadbabaie, Ali; Pappas, George J.; Parrilo, Pablo A.; Recht, Benjamin; Tomlin, Claire J.; Zeilinger, Melanie N. (Ed.): Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, L4DC 2020, Online Event, Berkeley, CA, USA, 11-12 June 2020, pp. 804-813, PMLR, 2020
Millard, David; Heiden, Eric; Agrawal, Shubham; Sukhatme, Gaurav S.: Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics. CoRR, vol. abs/2001.08539, 2020
Sutanto, Giovanni; Wang, Austin S.; Lin, Yixin; Mukadam, Mustafa; Sukhatme, Gaurav S.; Rai, Akshara; Meier, Franziska: Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. CoRR, vol. abs/2001.08861, 2020
Heiden, Eric; Millard, David; Coumans, Erwin; Sukhatme, Gaurav S.: Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. CoRR, vol. abs/2007.06045, 2020
Heiden, Eric; Millard, David; Coumans, Erwin; Sheng, Yizhou; Sukhatme, Gaurav S.: NeuralSim: Augmenting Differentiable Simulators with Neural Networks. CoRR, vol. abs/2011.04217, 2020
Heiden, Eric; Millard, David; Zhang, Hejia; Sukhatme, Gaurav S.: Interactive Differentiable Simulation CoRR, vol. abs/1905.10706, 2019
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
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
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
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
Williams, Ryan K.; Gasparri, Andrea; Soffietti, Matteo; Sukhatme, Gaurav S.: Redundantly rigid topologies in decentralized multi-agent networks. 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, December 15-18, 2015, pp. 6101-6108, IEEE, 2015
Mitra, Urbashi; Choudhary, Sunav; Hover, Franz S.; Hummel, Robert; Kumar, Naveen; Narayanan, Shrikanth S.; Stojanovic, Milica; Sukhatme, Gaurav S.: Structured sparse methods for active ocean observation systems with communication constraints. IEEE Commun. Mag., vol. 53, no. 11, pp. 88-96, 2015
Williams, Ryan K.; Gasparri, Andrea; Sukhatme, Gaurav S.; Ulivi, Giovanni: Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 1255-1261, IEEE, 2015
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Evaluating Network Rigidity in Realistic Systems: Decentralization, Asynchronicity, and Parallelization. IEEE Trans. Robotics, vol. 30, no. 4, pp. 950-965, 2014
Kelly, Jonathan; Roy, Nicholas; Sukhatme, Gaurav S.: Determining the Time Delay Between Inertial and Visual Sensor Measurements. IEEE Trans. Robotics, vol. 30, no. 6, pp. 1514-1523, 2014
Williams, Ryan K.; Sukhatme, Gaurav S.: Topology-constrained flocking in locally interacting mobile networks. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 2002-2007, IEEE, 2013
Pastor, Peter; Kalakrishnan, Mrinal; Binney, Jonathan; Kelly, Jonathan; Righetti, Ludovic; Sukhatme, Gaurav S.; Schaal, Stefan: Learning task error models for manipulation. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 2612-2618, IEEE, 2013
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Decentralized generic rigidity evaluation in interconnected systems. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-7, 2013, pp. 5093-5099, IEEE, 2013
Williams, Ryan K.; Sukhatme, Gaurav S.: Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems. IEEE Trans. Robotics, vol. 29, no. 4, pp. 930-944, 2013
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Distributed combinatorial rigidity control in multi-agent networks. Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, December 10-13, 2013, pp. 6061-6066, IEEE, 2013
Vathsangam, Harshvardhan; Emken, B. Adar; Schroeder, E. Todd; Spruijt-Metz, Donna; Sukhatme, Gaurav S.: Towards a generalized regression model for on-body energy prediction from treadmill walking. 5th International Conference on Pervasive Computing Technologies for Healthcare, PervasiveHealth 2011, Dublin, Ireland, May 23-26, 2011, pp. 168-175, IEEE, 2011
Vathsangam, Harshvardhan; Emken, B. Adar; Schroeder, E. Todd; Spruijt-Metz, Donna; Sukhatme, Gaurav S.: Determining Energy Expenditure From Treadmill Walking Using Hip-Worn Inertial Sensors: An Experimental Study. IEEE Trans. Biomed. Eng., vol. 58, no. 10, pp. 2804-2815, 2011
Vathsangam, Harshvardhan; Tulsyan, Anupam; Sukhatme, Gaurav S.: A Data-Driven Movement Model for Single Cellphone-Based Indoor Positioning. International Conference on Body Sensor Networks, BSN 2011, Dallas, Texas, USA, 23-25 May, 2011, pp. 174-179, IEEE, 2011
Borgstrom, Per Henrik; Batalin, Maxim A.; Sukhatme, Gaurav S.; Kaiser, William J.: Weighted barrier functions for computation of force distributions with friction cone constraints. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 785-792, IEEE, 2010
Borgstrom, Per Henrik; Jordan, Brett L.; Borgstrom, Bengt J.; Stealey, Michael J.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: NIMS-PL: A Cable-Driven Robot With Self-Calibration Capabilities. IEEE Trans. Robotics, vol. 25, no. 5, pp. 1005-1015, 2009
Borgstrom, Per Henrik; Jordan, Brett L.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots. IEEE Trans. Robotics, vol. 25, no. 6, pp. 1271-1281, 2009
Kobilarov, Marin; Sukhatme, Gaurav S.: Optimal Control Using Nonholonomic Integrators. 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy, pp. 1832-1837, IEEE, 2007
Cheung, Leslie; Golubchik, Leana; Medvidovic, Nenad; Sukhatme, Gaurav S.: Identifying and Addressing Uncertainty in Architecture-Level Software Reliability Modeling. 21th International Parallel and Distributed Processing Symposium (IPDPS 2007), Proceedings, 26-30 March 2007, Long Beach, California, USA, pp. 1-6, IEEE, 2007
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
Banerjee, Somo; Cheung, Leslie; Golubchik, Leana; Medvidovic, Nenad; Roshandel, Roshanak; Sukhatme, Gaurav S.: Engineering reliability into hybrid systems via rich design models: recent results and current directions. 20th International Parallel and Distributed Processing Symposium (IPDPS 2006), Proceedings, 25-29 April 2006, Rhodes Island, Greece, IEEE, 2006
Chintalapudi, Krishna; Caffrey, John; Govindan, Ramesh; Johnson, Erik A.; Krishnamachari, Bhaskar; Masri, Sami F.; Sukhatme, Gaurav S.: Networked Active Sensing of Structures. Prasanna, Viktor K.; Iyengar, S. Sitharama; Spirakis, Paul G.; Welsh, Matt (Ed.): Distributed Computing in Sensor Systems, First IEEE International Conference, DCOSS 2005, Marina del Rey, CA, USA, June 30 - July 1, 2005, Proceedings, pp. 387-388, Springer, 2005
Pon, Richard; Batalin, Maxim A.; Gordon, Jason; Kansal, Aman; Liu, Duo; Rahimi, Mohammad H.; Shirachi, Lisa; Yu, Yan; Hansen, Mark H.; Kaiser, William J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Estrin, Deborah: Networked infomechanical systems: a mobile embedded networked sensor platform. Proceedings of the Fourth International Symposium on Information Processing in Sensor Networks, IPSN 2005, April 25-27, 2005, UCLA, Los Angeles, California, USA, pp. 376-381, IEEE, 2005
Pon, Richard; Batalin, Maxim A.; Rahimi, Mohammad H.; Yu, Yan; Estrin, Deborah; Pottie, Gregory J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Kaiser, William J.: Self-Aware Distributed Embedded Systems. 10th IEEE International Workshop on Future Trends of Distributed Computing Systems (FTDCS 2004), 26-28 May 2004, Suzhou, China, pp. 102-107, IEEE Computer Society, 2004
Chintalapudi, Krishna Kant; Dantu, Karthik; Babel, Sandeep; Govindan, Ramesh; Sukhatme, Gaurav S.; Caffrey, John: A sensor-actuator network for damage detection in civil structures. Stankovic, John A.; Arora, Anish; Govindan, Ramesh (Ed.): Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems, SenSys 2004, Baltimore, MD, USA, November 3-5, 2004, pp. 323, ACM, 2004
Kim, Laehyun; Sukhatme, Gaurav S.; Desbrun, Mathieu: Haptic Editing of Decoration and Material Propertie. 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 22-23 March 2003, Los Angeles, CA, USA, Proceedings, pp. 213-220, IEEE Computer Society, 2003
McLaughlin, Margaret; Sukhatme, Gaurav S.; Peng, Wei; Zhu, Weirong; Parks, Jacob: Performance and Co-Presence in Heterogeneous Haptic Collaboration. 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 22-23 March 2003, Los Angeles, CA, USA, Proceedings, pp. 285, IEEE Computer Society, 2003
Estrin, Deborah; Culler, David E.; Pister, Kris; Sukhatme, Gaurav S.: Connecting the Physical World with Pervasive Networks. IEEE Pervasive Comput., vol. 1, no. 1, pp. 59-69, 2002
Kim, Laehyun; Kyrikou, Anna; Sukhatme, Gaurav S.; Desbrun, Mathieu: An implicit-based haptic rendering technique. IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, pp. 2943-2948, IEEE, 2002
Robotic Embedded Systems Laboratory
University of Southern California
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