Denniston, Christopher E.; Peltzer, Oriana; Ott, Joshua; Moon, Sangwoo; Kim, Sung-Kyun; Sukhatme, Gaurav S.; Kochenderfer, Mykel J.; Schwager, Mac; Agha-mohammadi, Ali-akbar: Fast and Scalable Signal Inference for Active Robotic Source Seeking. CoRR, vol. abs/2301.02362, 2023
Denniston, Christopher E.; Salhotra, Gautam; Kangaslahti, Akseli; Caron, David A.; Sukhatme, Gaurav S.: Learned Parameter Selection for Robotic Information Gathering. CoRR, vol. abs/2303.05022, 2023
Mohamed, Ihab S.; Xu, Junhong; Sukhatme, Gaurav S.; Liu, Lantao: Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy. CoRR, vol. abs/2306.12369, 2023
Senbaslar, Baskin; Sukhatme, Gaurav S.: DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments. CoRR, vol. abs/2307.15887, 2023
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Santos, Renato Fernando; Ramachandran, Ragesh K.; Vieira, Marcos A. M.; Sukhatme, Gaurav S.: Parallel multi-speed Pursuit-Evasion Game algorithms. Robotics Auton. Syst., vol. 163, pp. 104382, 2023
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Rayas Fernández, Isabel M.; Denniston, Christopher E.; Caron, David A.; Sukhatme, Gaurav S.: Informative Path Planning to Estimate Quantiles for Environmental Analysis. IEEE Robotics and Automation Letters, 2022. (RA-L) Presented in IEEE International Conference on Intelligent Robots and Systems, 2022. (IROS), 2022
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Senbaslar, Baskin; Sukhatme, Gaurav S.: Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 9972-9979, IEEE, 2022
Kemna, Stephanie; Kangaslahti, Sara; Kroemer, Oliver; Sukhatme, Gaurav S.: Adaptive Sampling: Algorithmic vs. Human Waypoint Selection. CoRR, vol. abs/2104.11962, 2021
Salhotra, Gautam; Denniston, Christopher E.; Caron, David A.; Sukhatme, Gaurav S.: Adaptive Sampling using POMDPs with Domain-Specific Considerations. International Conference on Robotics and Automation (ICRA 2020), 2021
Salhotra, Gautam; Denniston, Christopher E.; Caron, David A.; Sukhatme, Gaurav S.: Adaptive Sampling using POMDPs with Domain-Specific Considerations. IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021, pp. 2385-2391, IEEE, 2021
Heiden, Eric; Palmieri, Luigi; Bruns, Leonard; Arras, Kai Oliver; Sukhatme, Gaurav S.; Koenig, Sven: Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots. IEEE Robotics Autom. Lett., vol. 6, no. 3, pp. 4536-4543, 2021
Englert, Peter; Rayas Fernández, Isabel M.; Ramachandran, Ragesh Kumar; Sukhatme, Gaurav S.: Sampling-Based Motion Planning on Sequenced Manifolds. Robotics: Science and Systems, 2021. (RSS), 2021
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Heiden, Eric; Palmieri, Luigi; Arras, Kai Oliver; Sukhatme, Gaurav S.; Koenig, Sven: Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots. CoRR, vol. abs/2003.03543, 2020
Rayas Fernández, Isabel M.; Sutanto, Giovanni; Englert, Peter; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.: Learning Manifolds for Sequential Motion Planning. RSS 2020 Learning (in) Task and Motion Planning Workshop, 2020
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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
Debnath, Shoubhik; Liu, Lantao; Sukhatme, Gaurav S.: Reachability and Differential based Heuristics for Solving Markov Decision Processes. CoRR, vol. abs/1901.00921, 2019
Debnath, Shoubhik; Liu, Lantao; Sukhatme, Gaurav S.: Solving Markov Decision Processes with Reachability Characterization from Mean First Passage Times. CoRR, vol. abs/1901.01229, 2019
Pflueger, Max; Agha-Mohammadi, Ali-Akbar; Sukhatme, Gaurav S.: Rover-IRL: Inverse Reinforcement Learning With Soft Value Iteration Networks for Planetary Rover Path Planning. IEEE Robotics Autom. Lett., vol. 4, no. 2, pp. 1387-1394, 2019
Heiden, Eric; Palmieri, Luigi; Koenig, Sven; Arras, Kai Oliver; Sukhatme, Gaurav S.: Gradient-Informed Path Smoothing for Wheeled Mobile Robots. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, pp. 1710-1717, IEEE, 2018
Kemna, Stephanie; Kroemer, Oliver; Sukhatme, Gaurav S.: Pilot Surveys for Adaptive Informative Sampling. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, pp. 6417-6424, IEEE, 2018
Debnath, Shoubhik; Liu, Lantao; Sukhatme, Gaurav S.: Solving Markov Decision Processes with Reachability Characterization from Mean First Passage Times. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, pp. 7063-7070, IEEE, 2018
Denniston, Chris; Krogstad, Thomas R.; Kemna, Stephanie; Sukhatme, Gaurav S.: Planning Safe Paths through Hazardous Environments. CoRR, vol. abs/1803.00664, 2018
Liu, Lantao; Sukhatme, Gaurav S.: A Solution to Time-Varying Markov Decision Processes. IEEE Robotics Autom. Lett., vol. 3, no. 3, pp. 1631-1638, 2018
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
Ma, Kai-Chieh; Liu, Lantao; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.: Data-driven learning and planning for environmental sampling. J. Field Robotics, vol. 35, no. 5, pp. 643-661, 2018
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
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
Ma, Zhibei; Yin, Kai; Liu, Lantao; Sukhatme, Gaurav S.: A spatio-temporal representation for the orienteering problem with time-varying profits. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 6785-6792, IEEE, 2017
Debnath, Shoubhik; Liu, Lantao; Sukhatme, Gaurav S.: Reachability and Differential Based Heuristics for Solving Markov Decision Processes. Amato, Nancy M.; Hager, Greg; Thomas, Shawna L.; Torres-Torriti, Miguel (Ed.): Robotics Research, The 18th International Symposium, ISRR 2017, Puerto Varas, Chile, December 11-14, 2017, pp. 387-404, Springer, 2017
Preiss, James A.; Hausman, Karol; Sukhatme, Gaurav S.; Weiss, Stephan: Trajectory Optimization for Self-Calibration and Navigation. Amato, Nancy M.; Srinivasa, Siddhartha S.; Ayanian, Nora; Kuindersma, Scott (Ed.): Robotics: Science and Systems XIII, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA, July 12-16, 2017, 2017
Ma, Kai-Chieh; Liu, Lantao; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.: Data-Driven Learning and Planning for Environmental Sampling. CoRR, vol. abs/1702.01848, 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
Ma, Kai-Chieh; Liu, Lantao; Sukhatme, Gaurav S.: An information-driven and disturbance-aware planning method for long-term ocean monitoring. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016, pp. 2102-2108, IEEE, 2016
Ma, Zhibei; Liu, Lantao; Sukhatme, Gaurav S.: An adaptive k-opt method for solving traveling salesman problem. 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016, pp. 6537-6543, IEEE, 2016
Liu, Lantao; Sukhatme, Gaurav S.: Making Decisions with Spatially and Temporally Uncertain Data. CoRR, vol. abs/1605.01018, 2016
Ma, Zhibei; Yin, Kai; Liu, Lantao; Sukhatme, Gaurav S.: A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits. CoRR, vol. abs/1611.08037, 2016
Ma, Kai-Chieh; Ma, Zhibei; Liu, Lantao; Sukhatme, Gaurav S.: Multi-robot Informative and Adaptive Planning for Persistent Environmental Monitoring. Groë, Roderich; Kolling, Andreas; Berman, Spring; Frazzoli, Emilio; Martinoli, Alcherio; Matsuno, Fumitoshi; Gauci, Melvin (Ed.): Distributed Autonomous Robotic Systems, The 13th International Symposium, DARS 2016, Natural History Museum, London, UK, November 7-9, 2016, pp. 285-298, Springer, 2016
Hollinger, Geoffrey A.; Pereira, Arvind; Binney, Jonathan; Somers, Thane; Sukhatme, Gaurav S.: Learning Uncertainty in Ocean Current Predictions for Safe and Reliable Navigation of Underwater Vehicles. J. Field Robotics, vol. 33, no. 1, pp. 47-66, 2016
Potthast, Christian; Breitenmoser, Andreas; Sha, Fei; Sukhatme, Gaurav S.: Active multi-view object recognition: A unifying view on online feature selection and view planning. Robotics Auton. Syst., vol. 84, pp. 31-47, 2016
Potthast, Christian; Breitenmoser, Andreas; Sha, Fei; Sukhatme, Gaurav S.: Active Multi-view Object Recognition and Online Feature Selection. Bicchi, Antonio; Burgard, Wolfram (Ed.): Robotics Research, Proceedings of the 17th International Symposium of Robotics Research, ISRR 2015, Sestri Levante, Italy, September 12-15, 2015, Volume 2, pp. 471-488, Springer, 2015
Bhattacharya, Subhrajit; Kim, Soonkyum; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A topological approach to using cables to separate and manipulate sets of objects. Int. J. Robotics Res., vol. 34, no. 6, pp. 799-815, 2015
Jiang, Yurong; Qiu, Hang; McCartney, Matthew; Sukhatme, Gaurav S.; Gruteser, Marco; Bai, Fan; Grimm, Donald; Govindan, Ramesh: CARLOC: Precise Positioning of Automobiles. Song, Junehwa; Abdelzaher, Tarek F.; Mascolo, Cecilia (Ed.): Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems, SenSys 2015, Seoul, South Korea, November 1-4, 2015, pp. 253-265, ACM, 2015
Jiang, Yurong; Qiu, Hang; McCartney, Matthew; Sukhatme, Gaurav S.; Gruteser, Marco; Bai, Fan; Grimm, Donald; Govindan, Ramesh: Poster: CARLOC: Precisely Tracking Automobile Position. Song, Junehwa; Abdelzaher, Tarek F.; Mascolo, Cecilia (Ed.): Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems, SenSys 2015, Seoul, South Korea, November 1-4, 2015, pp. 411-412, ACM, 2015
Priolo, Attilio; Williams, Ryan K.; Gasparri, Andrea; Sukhatme, Gaurav S.: Decentralized algorithms for optimally rigid network constructions. 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 5010-5015, IEEE, 2014
Hollinger, Geoffrey A.; Sukhatme, Gaurav S.: Trajectory learning for human-robot scientific data collection. 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 6600-6605, IEEE, 2014
Mþller, Jürg; Sukhatme, Gaurav S.: Risk-aware trajectory generation with application to safe quadrotor landing. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014, pp. 3642-3648, IEEE, 2014
Chen, Jie; Low, Kian Hsiang; Tan, Colin Keng-Yan; Oran, Ali; Jaillet, Patrick; Dolan, John M.; Sukhatme, Gaurav S.: Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena. CoRR, vol. abs/1408.2046, 2014
Smith, Ryan N.; Cooksey, Philip; Py, Frederic; Sukhatme, Gaurav S.; Rajan, Kanna: Adaptive Path Planning for Tracking Ocean Fronts with an Autonomous Underwater Vehicle. Hsieh, M. Ani; Khatib, Oussama; Kumar, Vijay (Ed.): Experimental Robotics - The 14th International Symposium on Experimental Robotics, ISER 2014, June 15-18, 2014, Marrakech and Essaouira, Morocco, pp. 761-775, Springer, 2014
Hollinger, Geoffrey A.; Sukhatme, Gaurav S.: Sampling-based robotic information gathering algorithms. Int. J. Robotics Res., vol. 33, no. 9, pp. 1271-1287, 2014
Smith, Ryan N.; Kelly, Jonathan; Nazarzadeh, Kimia; Sukhatme, Gaurav S.: An investigation on the accuracy of Regional Ocean Models through field trials. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 3436-3442, IEEE, 2013
Hollinger, Geoffrey A.; Pereira, Arvind; Sukhatme, Gaurav S.: Learning uncertainty models for reliable operation of Autonomous Underwater Vehicles. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 5593-5599, IEEE, 2013
Williams, Ryan K.; Sukhatme, Gaurav S.: Locally constrained connectivity control in mobile robot networks. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 901-906, 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
Hollinger, Geoffrey A.; Englot, Brendan J.; Hover, Franz S.; Mitra, Urbashi; Sukhatme, Gaurav S.: Active planning for underwater inspection and the benefit of adaptivity. Int. J. Robotics Res., vol. 32, no. 1, pp. 3-18, 2013
Binney, Jonathan; Krause, Andreas; Sukhatme, Gaurav S.: Optimizing waypoints for monitoring spatiotemporal phenomena. Int. J. Robotics Res., vol. 32, no. 8, pp. 873-888, 2013
Pereira, Arvind; Binney, Jonathan; Hollinger, Geoffrey A.; Sukhatme, Gaurav S.: Risk-aware Path Planning for Autonomous Underwater Vehicles using Predictive Ocean Models. J. Field Robotics, vol. 30, no. 5, pp. 741-762, 2013
Kim, Soonkyum; Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects. Newman, Paul; Fox, Dieter; Hsu, David (Ed.): Robotics: Science and Systems IX, Technische Universitît Berlin, Berlin, Germany, June 24 - June 28, 2013, 2013
Hollinger, Geoffrey A.; Sukhatme, Gaurav S.: Sampling-based Motion Planning for Robotic Information Gathering. Newman, Paul; Fox, Dieter; Hsu, David (Ed.): Robotics: Science and Systems IX, Technische Universitît Berlin, Berlin, Germany, June 24 - June 28, 2013, 2013
Hollinger, Geoffrey A.; Choudhuri, Chiranjib; Mitra, Urbashi; Sukhatme, Gaurav S.: Squared error distortion metrics for motion planning in robotic sensor networks. Workshops Proceedings of the Global Communications Conference, GLOBECOM 2013, Atlanta, GA, USA, December 9-13, 2013, pp. 1426-1431, IEEE, 2013
Hollinger, Geoffrey A.; Mitra, Urbashi; Sukhatme, Gaurav S.: Active and Adaptive Dive Planning for Dense Bathymetric Mapping. 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. 803-817, Springer, 2012
Chen, Jie; Low, Kian Hsiang; Tan, Colin Keng-Yan; Oran, Ali; Jaillet, Patrick; Dolan, John M.; Sukhatme, Gaurav S.: Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena. Freitas, Nando; Murphy, Kevin P. (Ed.): Proceedings of the Twenty-Eighth Conference on Uncertainty in Artificial Intelligence, Catalina Island, CA, USA, August 14-18, 2012, pp. 163-173, AUAI Press, 2012
Binney, Jonathan; Sukhatme, Gaurav S.: Branch and bound for informative path planning. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 2147-2154, IEEE, 2012
Smith, Ryan N.; Kelly, Jonathan; Sukhatme, Gaurav S.: Towards improving mission execution for autonomous gliders with an ocean model and kalman filter. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 4870-4877, IEEE, 2012
Hollinger, Geoffrey A.; Englot, Brendan J.; Hover, Franz; Mitra, Urbashi; Sukhatme, Gaurav S.: Uncertainty-driven view planning for underwater inspection. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 4884-4891, IEEE, 2012
Hollinger, Geoffrey A.; Choudhary, Sunav; Qarabaqi, Parastoo; Murphy, Christopher; Mitra, Urbashi; Sukhatme, Gaurav S.; Stojanovic, Milica; Singh, Hanumant; Hover, Franz: Underwater Data Collection Using Robotic Sensor Networks. IEEE J. Sel. Areas Commun., vol. 30, no. 5, pp. 899-911, 2012
Kobilarov, Marin; Marsden, Jerrold E.; Sukhatme, Gaurav S.: Global estimation in constrained environments. Int. J. Robotics Res., vol. 31, no. 1, pp. 24-41, 2012
Das, Jnaneshwar; Py, Frederic; Maughan, Thom; O'Reilly, Tom; Messie, Monique; Ryan, John P.; Sukhatme, Gaurav S.; Rajan, Kanna: Coordinated sampling of dynamic oceanographic features with underwater vehicles and drifters. Int. J. Robotics Res., vol. 31, no. 5, pp. 626-646, 2012
Pereira, Arvind; Binney, Jonathan; Jones, Burton H.; Ragan, Matthew; Sukhatme, Gaurav S.: Toward risk aware mission planning for Autonomous Underwater Vehicles. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3147-3153, IEEE, 2011
Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.: Obstacle detection from overhead imagery using self-supervised learning for Autonomous Surface Vehicles. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3160-3165, IEEE, 2011
Hollinger, Geoffrey A.; Mitra, Urbashi; Sukhatme, Gaurav S.: Autonomous data collection from underwater sensor networks using acoustic communication. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3564-3570, IEEE, 2011
Williams, Ryan K.; Sukhatme, Gaurav S.: Cooperative multi-agent inference over grid structured Markov random fields. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 4348-4353, IEEE, 2011
Hollinger, Geoffrey A.; Mitra, Urbashi; Sukhatme, Gaurav S.: Active Classification: Theory and Application to Underwater Inspection. Christensen, Henrik I.; Khatib, Oussama (Ed.): Robotics Research - The 15th International Symposium ISRR, 9-12 December 2011, Flagstaff, Arizona, USA, pp. 95-110, Springer, 2011
Smith, Ryan N.; Schwager, Mac; Smith, Stephen L.; Rus, Daniela; Sukhatme, Gaurav S.: Persistent ocean monitoring with underwater gliders: Towards accurate reconstruction of dynamic ocean processes. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 1517-1524, IEEE, 2011
Hummel, Robert; Poduri, Sameera; Hover, Franz; Mitra, Urbashi; Sukhatme, Gaurav S.: Mission design for compressive sensing with mobile robots. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 2362-2367, IEEE, 2011
Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: Cooperative control of autonomous surface vehicles for oil skimming and cleanup. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 2374-2379, IEEE, 2011
Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.: Obstacle detection and avoidance for an Autonomous Surface Vehicle using a profiling sonar. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 731-736, IEEE, 2011
Smith, Ryan N.; Schwager, Mac; Smith, Stephen L.; Jones, Burton H.; Rus, Daniela; Sukhatme, Gaurav S.: Persistent ocean monitoring with underwater gliders: Adapting sampling resolution. J. Field Robotics, vol. 28, no. 5, pp. 714-741, 2011
Hollinger, Geoffrey A.; Choudhary, Sunav; Qarabaqi, Parastoo; Murphy, Christopher; Mitra, Urbashi; Sukhatme, Gaurav S.; Stojanovic, Milica; Singh, Hanumant; Hover, Franz S.: Communication protocols for underwater data collection using a robotic sensor network. Workshops Proceedings of the Global Communications Conference, GLOBECOM 2011, 5-9 December 2011, Houston, Texas, USA, pp. 1308-1313, IEEE, 2011
Hover, Franz S.; Hummel, Robert; Mitra, Urbashi; Sukhatme, Gaurav S.: One-step-ahead kinematic compressive sensing. Workshops Proceedings of the Global Communications Conference, GLOBECOM 2011, 5-9 December 2011, Houston, Texas, USA, pp. 1314-1319, IEEE, 2011
Smith, Ryan N.; Pereira, Arvind; Chao, Yi; Li, Peggy; Caron, David A.; Jones, Burton H.; Sukhatme, Gaurav S.: Autonomous Underwater Vehicle trajectory design coupled with predictive ocean models: A case study. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 4770-4777, IEEE, 2010
Das, Jnaneshwar; Rajan, Kanna; Frolov, Sergey; Py, Frederic; Ryan, John P.; Caron, David A.; Sukhatme, Gaurav S.: Towards marine bloom trajectory prediction for AUV mission planning. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 4784-4790, IEEE, 2010
Binney, Jonathan; Krause, Andreas; Sukhatme, Gaurav S.: Informative path planning for an autonomous underwater vehicle. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 4791-4796, IEEE, 2010
Smith, Ryan N.; Chao, Yi; Li, Peggy; Caron, David A.; Jones, Burton H.; Sukhatme, Gaurav S.: Planning and Implementing Trajectories for Autonomous Underwater Vehicles to Track Evolving Ocean Processes Based on Predictions from a Regional Ocean Model. Int. J. Robotics Res., vol. 29, no. 12, pp. 1475-1497, 2010
Dantu, Karthik; Sukhatme, Gaurav S.: Connectivity vs. control: Using directional and positional cues to stabilize routing in robot networks. Govindan, Ramesh; Stły, Kasper (Ed.): 2nd International ICST Conference on Robot Communication and Coordination, ROBOCOMM 2009, Odense, Denmark, March 31 - April 2, 2009, pp. 1-6, ICST/IEEE, 2009
Smith, Ryan N.; Chao, Yi; Jones, Burton H.; Caron, David A.; Li, Peggy; Sukhatme, Gaurav S.: Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking. Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo (Ed.): Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009, pp. 263-273, Springer, 2009
Arrichiello, Filippo; Das, Jnaneshwar; Heidarsson, Hordur Kristinn; Pereira, Arvind; Chiaverini, Stefano; Sukhatme, Gaurav S.: Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs. Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo (Ed.): Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009, pp. 443-453, Springer, 2009
Borgstrom, Per Henrik; Borgstrom, Nils Peter; Stealey, Michael J.; Jordan, Brett L.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: Design and Implementation of NIMS3D, a 3-D Cabled Robot for Actuated Sensing Applications. IEEE Trans. Robotics, vol. 25, no. 2, pp. 325-339, 2009
Hrabar, Stefan; Sukhatme, Gaurav S.: Vision-based navigation through urban canyons. J. Field Robotics, vol. 26, no. 5, pp. 431-452, 2009
Kota, Dheeraj; Laumas, Neha; Shinde, Urmila; Sonalkar, Saurabh; Dantu, Karthik; Poduri, Sameera; Sukhatme, Gaurav S.: emphdeSCribe: A Personalized Tour Guide and Navigational Assistant. Phan, Thomas; Montanari, Rebecca; Zerfos, Petros (Ed.): Mobile Computing, Applications, and Services - First International ICST Conference, MobiCASE 2009, San Diego, CA, USA, October 26-29, 2009, Revised Selected Papers, pp. 393-403, Springer, 2009
Smith, Ryan N.; Das, Jnaneshwar; Heidarsson, Hordur Kristinn; Pereira, Arvind; Sukhatme, Gaurav S.: Implementation of an embedded sensor network for the coordination of Slocum gliders for coastal monitoring and observation. Preisig, James C.; Schurgers, Curt; Heidemann, John S.; Corke, Peter (Ed.): Proceedings of the Fourth ACM International Workshop on UnderWater Networks, WUWNet 2009, Berkeley, CA, USA, November 3, 2009, pp. 2, ACM, 2009
Borgstrom, Per Henrik; Borgstrom, Nils Peter; Stealey, Michael J.; Jordan, Brett L.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot. 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA, pp. 2222-2227, IEEE, 2008
Borgstrom, Per Henrik; Singh, Amarjeet; Jordan, Brett L.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: Energy based path planning for a novel cabled robotic system. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France, pp. 1745-1751, IEEE, 2008
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
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
Dantu, Karthik; Sukhatme, Gaurav S.: Detecting and Tracking Level Sets of Scalar Fields using a Robotic Sensor Network. 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy, pp. 3665-3672, 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
Batalin, Maxim A.; Sukhatme, Gaurav S.: The Design and Analysis of an Efficient Local Algorithm for Coverage and Exploration Based on Sensor Network Deployment. IEEE Trans. Robotics, vol. 23, no. 4, pp. 661-675, 2007
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
Kobilarov, Marin; Sukhatme, Gaurav S.: Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain, pp. 1821-1828, IEEE, 2005
Batalin, Maxim A.; Sukhatme, Gaurav S.: The Analysis of an Efficient Algorithm for Robot Coverage and Exploration based on Sensor Network Deployment. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain, pp. 3478-3485, IEEE, 2005
Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments.
Senbaslar, Baskin; Sukhatme, Gaurav S.: Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 9972-9979, IEEE, 2022
Choosing locations for scientific analysis by using a robot to perform an informative path planning survey.
We investigate improving Monte Carlo Tree Search based solvers for Partially Observable Markov Decision Processes (POMDPs), when applied to adaptive sampling problems. We propose improvements in rollout allocation, the action exploration algorithm, and plan commitment. The first allocates a different number of rollouts depending on how many actions the agent has taken in an episode. We find that rollouts are more valuable after some initial information is gained about the environment. Thus, a linear increase in the number of rollouts, i.e. allocating a fixed number at each step, is not appropriate for adaptive sampling tasks. The second alters which actions the agent chooses to explore when building the planning tree. We find that by using knowledge of the number of rollouts allocated, the agent can more effectively choose actions to explore. The third improvement is in determining how many actions the agent should take from one plan. Typically, an agent will plan to take the first action from the planning tree and then call the planner again from the new state. Using statistical techniques, we show that it is possible to greatly reduce the number of rollouts by increasing the number of actions taken from a single planning tree without affecting the agent’s final reward. Finally, we demonstrate experimentally, on simulated and real aquatic data from an underwater robot, that these improvements can be combined, leading to better adaptive sampling. Accepted at ICRA 2021 The first two authors had an equal contribution
This work is in collaboration with the USC ACT Lab.
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
