Publications

Adaptive Sampling: Algorithmic vs. Human Waypoint Selection.

in

Kemna, Stephanie; Kangaslahti, Sara; Kroemer, Oliver; Sukhatme, Gaurav S.: Adaptive Sampling: Algorithmic vs. Human Waypoint Selection. CoRR, vol. abs/2104.11962, 2021

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking.

in

Heiden, Eric; Liu, Ziang; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.: Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking. 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31 - August 31, 2020, pp. 2595-2601, IEEE, 2020

Confidence-rich grid mapping.

in

Agha-mohammadi, Ali-akbar; Heiden, Eric; Hausman, Karol; Sukhatme, Gaurav S.: Confidence-rich grid mapping. CoRR, vol. abs/2006.15754, 2020

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking.

in

Heiden, Eric; Liu, Ziang; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.: Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking. CoRR, vol. abs/1912.01652, 2019

Confidence-rich grid mapping.

in

Agha-mohammadi, Ali-akbar; Heiden, Eric; Hausman, Karol; Sukhatme, Gaurav S.: Confidence-rich grid mapping. Int. J. Robotics Res., vol. 38, no. 12-13, 2019

Reliable Graphs for SLAM.

in

Khosoussi, Kasra; Giamou, Matthew; Sukhatme, Gaurav S.; Huang, Shoudong; Dissanayake, Gamini; How, Jonathan P.: Reliable Graphs for SLAM. Int. J. Robotics Res., vol. 38, no. 2-3, 2019

Confidence-Rich Grid Mapping.

in

Agha-mohammadi, Ali-akbar; Heiden, Eric; Hausman, Karol; Sukhatme, Gaurav S.: Confidence-Rich Grid Mapping. 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. 623-641, Springer, 2017

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

in

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

Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.

in

Khosoussi, Kasra; Sukhatme, Gaurav S.; Huang, Shoudong; Dissanayake, Gamini: Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. Goldberg, Ken; Abbeel, Pieter; Bekris, Kostas E.; Miller, Lauren (Ed.): Algorithmic Foundations of Robotics XII, Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, WAFR 2016, San Francisco, California, USA, December 18-20, 2016, pp. 17-32, Springer, 2016

Circling the Seas: Design of Lagrangian Drifters for Ocean Monitoring.

in

Subbaraya, Supreeth; Breitenmoser, Andreas; Molchanov, Artem; Mþller, Jürg; Oberg, Carl; Caron, David A.; Sukhatme, Gaurav S.: Circling the Seas: Design of Lagrangian Drifters for Ocean Monitoring. IEEE Robotics Autom. Mag., vol. 23, no. 4, pp. 42-53, 2016

Interactive affordance map building for a robotic task.

in

Kim, David Inkyu; Sukhatme, Gaurav S.: Interactive affordance map building for a robotic task. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015, pp. 4581-4586, IEEE, 2015

Structured sparse methods for active ocean observation systems with communication constraints.

in

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

An innovative methodology for detection and quantification of cracks through incorporation of depth perception.

in

Jahanshahi, Mohammad R.; Masri, Sami F.; Padgett, Curtis W.; Sukhatme, Gaurav S.: An innovative methodology for detection and quantification of cracks through incorporation of depth perception. Mach. Vis. Appl., vol. 24, no. 2, pp. 227-241, 2013

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

in

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

Probabilistic spatial mapping and curve tracking in distributed multi-agent systems.

in

Williams, Ryan K.; Sukhatme, Gaurav S.: Probabilistic spatial mapping and curve tracking in distributed multi-agent systems. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 1125-1130, IEEE, 2012

Uncertainty-driven view planning for underwater inspection.

in

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

Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned.

in

Das, Jnaneshwar; Maughan, Thom; McCann, Mike; Godin, Mike; O'Reilly, Tom; Messie, Monique; Bahr, Fred; Gomes, Kevin; Py, Frederic; Bellingham, James G.; Sukhatme, Gaurav S.; Rajan, Kanna: Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3132-3139, IEEE, 2011

Obstacle detection from overhead imagery using self-supervised learning for Autonomous Surface Vehicles.

in

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

Seeing with your hands: A better way to obtain perception capabilities with a personal robot.

in

Potthast, Christian; Sukhatme, Gaurav S.: Seeing with your hands: A better way to obtain perception capabilities with a personal robot. Advanced Robotics and its Social Impacts, ARSO 2011, Menlo Park, CA, USA, October 2-4, 2011, pp. 50-53, IEEE, 2011

Simultaneous mapping and stereo extrinsic parameter calibration using GPS measurements.

in

Kelly, Jonathan; Matthies, Larry H.; Sukhatme, Gaurav S.: Simultaneous mapping and stereo extrinsic parameter calibration using GPS measurements. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 279-286, IEEE, 2011

Obstacle detection and avoidance for an Autonomous Surface Vehicle using a profiling sonar.

in

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

Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration.

in

Kelly, Jonathan; Sukhatme, Gaurav S.: Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration. Int. J. Robotics Res., vol. 30, no. 1, pp. 56-79, 2011

Towards marine bloom trajectory prediction for AUV mission planning.

in

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

Sliding window filter with application to planetary landing.

in

Sibley, Gabe; Matthies, Larry H.; Sukhatme, Gaurav S.: Sliding window filter with application to planetary landing. J. Field Robotics, vol. 27, no. 5, pp. 587-608, 2010

3D tree reconstruction from laser range data.

in

Binney, Jonathan; Sukhatme, Gaurav S.: 3D tree reconstruction from laser range data. 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009, pp. 1321-1326, IEEE, 2009

Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration.

in

Kelly, Jonathan; Sukhatme, Gaurav S.: Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration. Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009, 15-18 December 2009, Daejeon, Korea, pp. 360-368, IEEE, 2009

Towards spatial and semantic mapping in aquatic environments.

in

Chen, Victor L.; Batalin, Maxim A.; Kaiser, William J.; Sukhatme, Gaurav S.: Towards spatial and semantic mapping in aquatic environments. 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA, pp. 629-636, IEEE, 2008

Semantic Mapping Using Mobile Robots.

in

Wolf, Denis F.; Sukhatme, Gaurav S.: Semantic Mapping Using Mobile Robots. IEEE Trans. Robotics, vol. 24, no. 2, pp. 245-258, 2008

Localization and Mapping in Urban Environments Using Mobile Robots.

in

Wolf, Denis Fernando; Sukhatme, Gaurav S.: Localization and Mapping in Urban Environments Using Mobile Robots. J. Braz. Comput. Soc., vol. 13, no. 4, pp. 69-80, 2007

Human assisted robotic team campaigns for aquatic monitoring.

in

Singh, Amarjeet; Stealey, Michael J.; Chen, Victor; Kaiser, William J.; Batalin, Maxim A.; Lam, Yeung; Zhang, Bin; Dhariwal, Amit; Oberg, Carl; Pereira, Arvind; Sukhatme, Gaurav S.; Stauffer, Beth; Moorthi, Stefanie; Caron, David A.; Hansen, Mark H.: Human assisted robotic team campaigns for aquatic monitoring. J. Field Robotics, vol. 24, no. 11-12, pp. 969-989, 2007

Mobile Robot Sensing for Environmental Applications.

in

Singh, Amarjeet; Batalin, Maxim A.; Stealey, Michael J.; Chen, Victor; Hansen, Mark H.; Harmon, Thomas C.; Sukhatme, Gaurav S.; Kaiser, William J.: Mobile Robot Sensing for Environmental Applications. Laugier, Christian; Siegwart, Roland (Ed.): Field and Service Robotics, Results of the 6th International Conference, FSR 2007, Chamonix, France, 9th - 12th July 2007, pp. 125-135, Springer, 2007

Virtual high-resolution for sensor networks.

in

Kansal, Aman; Kaiser, William J.; Pottie, Gregory J.; Srivastava, Mani B.; Sukhatme, Gaurav S.: Virtual high-resolution for sensor networks. Campbell, Andrew T.; Bonnet, Philippe; Heidemann, John S. (Ed.): Proceedings of the 4th International Conference on Embedded Networked Sensor Systems, SenSys 2006, Boulder, Colorado, USA, October 31 - November 3, 2006, pp. 43-56, ACM, 2006

Activity-Based Semantic Mapping of an Urban Environment.

in

Wolf, Denis F.; Sukhatme, Gaurav S.: Activity-Based Semantic Mapping of an Urban Environment. Khatib, Oussama; Kumar, Vijay; Rus, Daniela (Ed.): Experimental Robotics, The 10th International Symposium on Experimental Robotics [ISER '06, July 6-10, 2006, Rio de Janeiro, Brazil], pp. 321-329, Springer, 2006

Multirobot Simultaneous Localization and Mapping Using Manifold Representations.

in

Howard, Andrew; Sukhatme, Gaurav S.; Mataric, Maja J.: Multirobot Simultaneous Localization and Mapping Using Manifold Representations. Proc. IEEE, vol. 94, no. 7, pp. 1360-1369, 2006

The Iterated Sigma Point Kalman Filter with Applications to Long Range Stereo.

in

Sibley, Gabe; Sukhatme, Gaurav S.; Matthies, Larry H.: The Iterated Sigma Point Kalman Filter with Applications to Long Range Stereo. Sukhatme, Gaurav S.; Schaal, Stefan; Burgard, Wolfram; Fox, Dieter (Ed.): Robotics: Science and Systems II, August 16-19, 2006. University of Pennsylvania, Philadelphia, Pennsylvania, USA, The MIT Press, 2006

Towards geometric 3D mapping of outdoor environments using mobile robots.

in

Wolf, Denis Fernando; Howard, Andrew; Sukhatme, Gaurav S.: Towards geometric 3D mapping of outdoor environments using mobile robots. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005, pp. 1507-1512, IEEE, 2005

Adaptive sampling for environmental field estimation using robotic sensors.

in

Rahimi, Mohammad H.; Hansen, Mark H.; Kaiser, William J.; Sukhatme, Gaurav S.; Estrin, Deborah: Adaptive sampling for environmental field estimation using robotic sensors. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005, pp. 3692-3698, IEEE, 2005

Task allocation for event-aware spatiotemporal sampling of environmental variables.

in

Batalin, Maxim A.; Sukhatme, Gaurav S.; Yu, Yan; Pon, Richard; Gordon, Jason; Rahimi, Mohammad H.; Kaiser, William J.; Pottie, Gregory J.; Estrin, Deborah: Task allocation for event-aware spatiotemporal sampling of environmental variables. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005, pp. 721-728, IEEE, 2005

Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments.

in

Wolf, Denis F.; Sukhatme, Gaurav S.: Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments. Auton. Robots, vol. 19, no. 1, pp. 53-65, 2005

Coordinated Static and Mobile Sensing for Environmental Monitoring.

in

Pon, Richard; Batalin, Maxim A.; Chen, Victor; Kansal, Aman; Liu, Duo; Rahimi, Mohammad H.; Shirachi, Lisa; Somasundra, Arun; Yu, Yan; Hansen, Mark H.; Kaiser, William J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Estrin, Deborah: Coordinated Static and Mobile Sensing for Environmental Monitoring. 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. 403-405, Springer, 2005

Autonomous Terrain Mapping and Classification Using Hidden Markov Models.

in

Wolf, Denis F.; Sukhatme, Gaurav S.; Fox, Dieter; Burgard, Wolfram: Autonomous Terrain Mapping and Classification Using Hidden Markov Models. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain, pp. 2026-2031, IEEE, 2005

Robomote: enabling mobility in sensor networks.

in

Dantu, Karthik; Rahimi, Mohammad H.; Shah, Hardik; Babel, Sandeep; Dhariwal, Amit; Sukhatme, Gaurav S.: Robomote: enabling mobility in sensor networks. Proceedings of the Fourth International Symposium on Information Processing in Sensor Networks, IPSN 2005, April 25-27, 2005, UCLA, Los Angeles, California, USA, pp. 404-409, IEEE, 2005

Bias Reduction and Filter Convergence for Long Range Stereo.

in

Sibley, Gabe; Matthies, Larry H.; Sukhatme, Gaurav S.: Bias Reduction and Filter Convergence for Long Range Stereo. Thrun, Sebastian; Brooks, Rodney A.; Durrant-Whyte, Hugh F. (Ed.): Robotics Research: Results of the 12th International Symposium, ISRR 2005, October 12-15, 2005, San Francisco, CA, USA, pp. 285-294, Springer, 2005

Networked Infomechanical Systems (NIMS) for Ambient Intelligence.

in

Kaiser, William J.; Pottie, Gregory J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Villasenor, John D.; Estrin, Deborah: Networked Infomechanical Systems (NIMS) for Ambient Intelligence. Weber, Werner; Rabaey, Jan M.; Aarts, Emile H. L. (Ed.): Ambient Intelligence, pp. 83-113, Springer, 2005

Adaptive sampling for marine microorganism monitoring.

in

Zhang, Bin; Sukhatme, Gaurav S.; Requicha, Aristides A. G.: Adaptive sampling for marine microorganism monitoring. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004, pp. 1115-1122, IEEE, 2004

Towards 3D mapping in large urban environments.

in

Howard, Andrew; Wolf, Denis F.; Sukhatme, Gaurav S.: Towards 3D mapping in large urban environments. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004, pp. 419-424, IEEE, 2004

A Haptic-Rendering Technique Based on Hybrid Surface Representation.

in

Kim, Laehyun; Sukhatme, Gaurav S.; Desbrun, Mathieu: A Haptic-Rendering Technique Based on Hybrid Surface Representation. IEEE Computer Graphics and Applications, vol. 24, no. 2, pp. 66-75, 2004

Online Simultaneous Localization and Mapping in Dynamic Environments.

in

Wolf, Denis F.; Sukhatme, Gaurav S.: Online Simultaneous Localization and Mapping in Dynamic Environments. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 1301-1307, IEEE, 2004

Constrained Coverage for Mobile Sensor Networks.

in

Poduri, Sameera; Sukhatme, Gaurav S.: Constrained Coverage for Mobile Sensor Networks. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 165-171, IEEE, 2004

Adaptive Sampling for Environmental Robotics.

in

Rahimi, Mohammad H.; Pon, Richard; Kaiser, William J.; Sukhatme, Gaurav S.; Estrin, Deborah; Srivastava, Mani B.: Adaptive Sampling for Environmental Robotics. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 3537-3544, IEEE, 2004

Mobile Robot Navigation Using a Sensor Network.

in

Batalin, Maxim A.; Sukhatme, Gaurav S.; Hattig, Myron: Mobile Robot Navigation Using a Sensor Network. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 636-641, IEEE, 2004

Call and response: experiments in sampling the environment.

in

Batalin, Maxim A.; Rahimi, Mohammad H.; Yu, Yan; Liu, Duo; Kansal, Aman; Sukhatme, Gaurav S.; Kaiser, William J.; Hansen, Mark H.; Pottie, Gregory J.; Srivastava, Mani B.; Estrin, Deborah: Call and response: experiments in sampling the environment. 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. 25-38, ACM, 2004

Connecting the Physical World with Pervasive Networks.

in

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

An implicit-based haptic rendering technique.

in

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

Sonar-based feature recognition and robot navigation using a neural network.

in

Goel, Puneet; Sukhatme, Gaurav S.: Sonar-based feature recognition and robot navigation using a neural network. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000, October 30 - Novemver 5, 2000, Takamatsu, Japan, pp. 109-114, IEEE, 2000

Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots.

in

Dedeoglu, Güksel; Sukhatme, Gaurav S.: Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous 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. 251-260, Springer, 2000

Incremental online topological map building with a mobile robot.

in

Dedeoglu, Güksel; Mataric, Maja J.; Sukhatme, Gaurav S.: Incremental online topological map building with a mobile robot. Gage, Douglas W.; Choset, Howie (Ed.): Mobile Robots XIV, Boston, MA, USA, September 19, 1999, pp. 129-139, SPIE, 1999

Evaluating the mobility of a wheeled robot using dynamic modeling.

in

Sukhatme, Gaurav S.; Brizius, Scott; Bekey, George A.: Evaluating the mobility of a wheeled robot using dynamic modeling. Adv. Robotics, vol. 12, no. 5, pp. 579-591, 1997

Mission Reachability for Extraterrestrial Rovers.

in

Sukhatme, Gaurav S.; Lewis, M. Anthony; Bekey, George A.: Mission Reachability for Extraterrestrial Rovers. Proceedings of the 1995 International Conference on Robotics and Automation, Nagoya, Aichi, Japan, May 21-27, 1995, pp. 1964-1969, IEEE Computer Society, 1995