Publications

Fast and Scalable Signal Inference for Active Robotic Source Seeking.

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

Alexa Arena: A User-Centric Interactive Platform for Embodied AI.

Gao, Qiaozi; Thattai, Govind; Gao, Xiaofeng; Shakiah, Suhaila; Pansare, Shreyas; Sharma, Vasu; Sukhatme, Gaurav S.; Shi, Hangjie; Yang, Bofei; Zheng, Desheng; Hu, Lucy; Arumugam, Karthika; Hu, Shui; Wen, Matthew; Guthy, Dinakar; Chung, Cadence; Khanna, Rohan; Ipek, Osman; Ball, Leslie; Bland, Kate; Rocker, Heather; Rao, Yadunandana; Johnston, Michael; Ghanadan, Reza; Mandal, Arindam; Hakkani-Tþr, Dilek; Natarajan, Prem: Alexa Arena: A User-Centric Interactive Platform for Embodied AI. CoRR, vol. abs/2303.01586, 2023

A Study on Multirobot Quantile Estimation in Natural Environments.

Rayas Fernández, Isabel M.; Denniston, Christopher E.; Sukhatme, Gaurav S.: A Study on Multirobot Quantile Estimation in Natural Environments. CoRR abs/2303.03539, 2023
[PDF] [Video]

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy.

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

DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments.

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
[Video] [Twitter]

Parallel multi-speed Pursuit-Evasion Game algorithms.

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
[Video] [Twitter] [LinkedIn] [Website] [Other]

A Simple Approach for Visual Room Rearrangement: 3D Mapping and Semantic Search.

Trabucco, Brandon; Sigurdsson, Gunnar A.; Piramuthu, Robinson; Sukhatme, Gaurav S.; Salakhutdinov, Ruslan: A Simple Approach for Visual Room Rearrangement: 3D Mapping and Semantic Search. The Eleventh International Conference on Learning Representations, ICLR 2023, Kigali, Rwanda, May 1-5, 2023, OpenReview.net, 2023

The Role of Heterogeneity in Autonomous Perimeter Defense Problems.

Adler, Aviv; Mickelin, Oscar; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Karaman, Sertac: The Role of Heterogeneity in Autonomous Perimeter Defense Problems. CoRR, vol. abs/2202.10433, 2022

Decentralized Risk-Aware Tracking of Multiple Targets.

Liu, Jiazhen; Zhou, Lifeng; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Kumar, Vijay: Decentralized Risk-Aware Tracking of Multiple Targets. CoRR, vol. abs/2208.02772, 2022

OpenD: A Benchmark for Language-Driven Door and Drawer Opening.

Zhao, Yizhou; Gao, Qiaozi; Qiu, Liang; Thattai, Govind; Sukhatme, Gaurav S.: OpenD: A Benchmark for Language-Driven Door and Drawer Opening. CoRR, vol. abs/2212.05211, 2022

Informative Path Planning to Estimate Quantiles for Environmental Analysis.

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
[Video]

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM.

Denniston, Christopher E.; Chang, Yun; Reinke, Andrzej; Ebadi, Kamak; Sukhatme, Gaurav S.; Carlone, Luca; Morrell, Benjamin; Agha-mohammadi, Ali-akbar: Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. IEEE Robotics Autom. Lett., vol. 7, no. 4, pp. 9651-9658, 2022

Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning.

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

The Role of Heterogeneity in Autonomous Perimeter Defense Problems.

Adler, Aviv; Mickelin, Oscar; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Karaman, Sertac: The Role of Heterogeneity in Autonomous Perimeter Defense Problems. LaValle, Steven M.; O'Kane, Jason M.; Otte, Michael W.; Sadigh, Dorsa; Tokekar, Pratap (Ed.): Algorithmic Foundations of Robotics XV - Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2022, College Park, MD, USA, 22-24 June, 2022, pp. 115-131, Springer, 2022

Selective Object Rearrangement in Clutter.

Tang, Bingjie; Sukhatme, Gaurav S.: Selective Object Rearrangement in Clutter. Liu, Karen; Kulic, Dana; Ichnowski, Jeffrey (Ed.): Conference on Robot Learning, CoRL 2022, 14-18 December 2022, Auckland, New Zealand, pp. 1001-1010, PMLR, 2022
[Video] [Website]

Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion.

Suglia, Alessandro; Gao, Qiaozi; Thomason, Jesse; Thattai, Govind; Sukhatme, Gaurav S.: Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion. CoRR, vol. abs/2108.04927, 2021

Adaptive Sampling using POMDPs with Domain-Specific Considerations.

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

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation.

Liu, I-Chun Arthur; Uppal, Shagun; Sukhatme, Gaurav S.; Lim, Joseph J.; Englert, Peter; Lee, Youngwoon: Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation. Faust, Aleksandra; Hsu, David; Neumann, Gerhard (Ed.): Conference on Robot Learning, 8-11 November 2021, London, UK, pp. 641-650, PMLR, 2021
[Video] [Website]

Adaptive Sampling using POMDPs with Domain-Specific Considerations.

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

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots.

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

Sampling-Based Motion Planning on Sequenced Manifolds.

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
[Video]

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots.

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

Learning Manifolds for Sequential Motion Planning.

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
[Video]

Confidence-rich grid mapping.

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

Learning Equality Constraints for Motion Planning on Manifolds.

Sutanto, Giovanni; Rayas Fernández, Isabel M.; Englert, Peter; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.: Learning Equality Constraints for Motion Planning on Manifolds. CoRR, vol. abs/2009.11852, 2020
[Video]

Pac-Man is Overkill.

Santos, Renato Fernando; Ramachandran, Ragesh K.; Vieira, Marcos Augusto M.; Sukhatme, Gaurav S.: Pac-Man is Overkill. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 11652-11657, IEEE, 2020

Resilient Coverage: Exploring the Local-to-Global Trade-off.

Ramachandran, Ragesh K.; Zhou, Lifeng; Preiss, James A.; Sukhatme, Gaurav S.: Resilient Coverage: Exploring the Local-to-Global Trade-off. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 11740-11747, IEEE, 2020

Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles.

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

Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments.

Yamada, Jun; Lee, Youngwoon; Salhotra, Gautam; Pertsch, Karl; Pflueger, Max; Sukhatme, Gaurav S.; Lim, Joseph J.; Englert, Peter: Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments. Kober, Jens; Ramos, Fabio; Tomlin, Claire J. (Ed.): 4th Conference on Robot Learning, CoRL 2020, 16-18 November 2020, Virtual Event / Cambridge, MA, USA, pp. 589-603, PMLR, 2020

Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams.

Ramachandran, Ragesh K.; Preiss, James A.; Sukhatme, Gaurav S.: Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 6518-6525, IEEE, 2019

Reachability and Differential based Heuristics for Solving Markov Decision Processes.

Debnath, Shoubhik; Liu, Lantao; Sukhatme, Gaurav S.: Reachability and Differential based Heuristics for Solving Markov Decision Processes. CoRR, vol. abs/1901.00921, 2019

Solving Markov Decision Processes with Reachability Characterization from Mean First Passage Times.

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

Resilient Coverage: Exploring the Local-to-Global Trade-off.

Ramachandran, Ragesh K.; Zhou, Lifeng; Sukhatme, Gaurav S.: Resilient Coverage: Exploring the Local-to-Global Trade-off. CoRR, vol. abs/1910.01917, 2019

Confidence-rich grid mapping.

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.

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

Coordinating multi-robot systems through environment partitioning for adaptive informative sampling.

Fung, Nicholas; III, John G. Rogers; Nieto, Carlos; Christensen, Henrik I.; Kemna, Stephanie; Sukhatme, Gaurav S.: Coordinating multi-robot systems through environment partitioning for adaptive informative sampling. International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 3231-3237, IEEE, 2019

Gradient-Informed Path Smoothing for Wheeled Mobile Robots.

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

Solving Markov Decision Processes with Reachability Characterization from Mean First Passage Times.

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

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

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

Planning Safe Paths through Hazardous Environments.

Denniston, Chris; Krogstad, Thomas R.; Kemna, Stephanie; Sukhatme, Gaurav S.: Planning Safe Paths through Hazardous Environments. CoRR, vol. abs/1803.00664, 2018

Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation.

Zhang, Hejia; Heiden, Eric; Julian, Ryan; He, Zhangpeng; Lim, Joseph J.; Sukhatme, Gaurav S.: Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation. CoRR, vol. abs/1810.00146, 2018

Trajectory Planning for Quadrotor Swarms.

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

On-Line Coordination Tasks for Multi-robot Systems Using Adaptive Informative Sampling.

Nieto-Granda, Carlos; III, John G. Rogers; Fung, Nicholas; Kemna, Stephanie; Christensen, Henrik I.; Sukhatme, Gaurav S.: On-Line Coordination Tasks for Multi-robot Systems Using Adaptive Informative Sampling. Xiao, Jing; Krüger, Torsten; Khatib, Oussama (Ed.): Proceedings of the 2018 International Symposium on Experimental Robotics, ISER 2018, Buenos Aires, Argentina, November 5-8, 2018, pp. 318-327, Springer, 2018

Downwash-aware trajectory planning for large quadrotor teams.

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.

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

A spatio-temporal representation for the orienteering problem with time-varying profits.

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

Reachability and Differential Based Heuristics for Solving Markov Decision Processes.

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

Confidence-Rich Grid Mapping.

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

Trajectory Optimization for Self-Calibration and Navigation.

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

Occlusion-aware multi-robot 3D tracking.

Hausman, Karol; Kahn, Gregory; Patil, Sachin; Mþller, Jürg; Goldberg, Ken; Abbeel, Pieter; Sukhatme, Gaurav S.: Occlusion-aware multi-robot 3D tracking. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016, pp. 1863-1870, IEEE, 2016

An information-driven and disturbance-aware planning method for long-term ocean monitoring.

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

An adaptive k-opt method for solving traveling salesman problem.

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

Making Decisions with Spatially and Temporally Uncertain Data.

Liu, Lantao; Sukhatme, Gaurav S.: Making Decisions with Spatially and Temporally Uncertain Data. CoRR, vol. abs/1605.01018, 2016

A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits.

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

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

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

Multi-robot Informative and Adaptive Planning for Persistent Environmental Monitoring.

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

Learning Uncertainty in Ocean Current Predictions for Safe and Reliable Navigation of Underwater Vehicles.

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

Multi-step planning for robotic manipulation.

Pflueger, Max; Sukhatme, Gaurav S.: Multi-step planning for robotic manipulation. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 2496-2501, IEEE, 2015

Active articulation model estimation through interactive perception.

Hausman, Karol; Niekum, Scott; Osentoski, Sarah; Sukhatme, Gaurav S.: Active articulation model estimation through interactive perception. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 3305-3312, IEEE, 2015

Using Manipulation Primitives for Object Sorting in Cluttered Environments.

Gupta, Megha; Mþller, Jürg; Sukhatme, Gaurav S.: Using Manipulation Primitives for Object Sorting in Cluttered Environments. IEEE Trans Autom. Sci. Eng., vol. 12, no. 2, pp. 608-614, 2015

Rigidity-Preserving Team Partitions in Multiagent Networks.

Carboni, Daniela; Williams, Ryan K.; Gasparri, Andrea; Ulivi, Giovanni; Sukhatme, Gaurav S.: Rigidity-Preserving Team Partitions in Multiagent Networks. IEEE Trans. Cybern., vol. 45, no. 12, pp. 2640-2653, 2015

Decentralized and Parallel Constructions for Optimally Rigid Graphs in R2.

Gasparri, Andrea; Williams, Ryan K.; Priolo, Attilio; Sukhatme, Gaurav S.: Decentralized and Parallel Constructions for Optimally Rigid Graphs in R2. IEEE Trans. Mob. Comput., vol. 14, no. 11, pp. 2216-2228, 2015

Distributed Data Fusion for Multirobot Search.

Hollinger, Geoffrey A.; Yerramalli, Srinivas; Singh, Sanjiv; Mitra, Urbashi; Sukhatme, Gaurav S.: Distributed Data Fusion for Multirobot Search. IEEE Trans. Robotics, vol. 31, no. 1, pp. 55-66, 2015

A topological approach to using cables to separate and manipulate sets of objects.

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

CARLOC: Precise Positioning of Automobiles.

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

Poster: CARLOC: Precisely Tracking Automobile Position.

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

Decentralized algorithms for optimally rigid network constructions.

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

Trajectory learning for human-robot scientific data collection.

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

Risk-aware trajectory generation with application to safe quadrotor landing.

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

An autonomous manipulation system based on force control and optimization.

Righetti, Ludovic; Kalakrishnan, Mrinal; Pastor, Peter; Binney, Jonathan; Kelly, Jonathan; Voorhies, Randolph; Sukhatme, Gaurav S.; Schaal, Stefan: An autonomous manipulation system based on force control and optimization. Auton. Robots, vol. 36, no. 1-2, pp. 11-30, 2014

Adaptive Path Planning for Tracking Ocean Fronts with an Autonomous Underwater Vehicle.

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

Sampling-based robotic information gathering algorithms.

Hollinger, Geoffrey A.; Sukhatme, Gaurav S.: Sampling-based robotic information gathering algorithms. Int. J. Robotics Res., vol. 33, no. 9, pp. 1271-1287, 2014

An investigation on the accuracy of Regional Ocean Models through field trials.

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

Locally constrained connectivity control in mobile robot networks.

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

Interactive environment exploration in clutter.

Gupta, Megha; Rþhr, Thomas; Beetz, Michael; Sukhatme, Gaurav S.: Interactive environment exploration in clutter. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-7, 2013, pp. 5265-5272, IEEE, 2013

Mitigating multi-path fading in a mobile mesh network.

Vieira, Marcos Augusto M.; Taylor, Matthew E.; Tandon, Prateek; Jain, Manish; Govindan, Ramesh; Sukhatme, Gaurav S.; Tambe, Milind: Mitigating multi-path fading in a mobile mesh network. Ad Hoc Networks, vol. 11, no. 4, pp. 1510-1521, 2013

An autonomous Wireless Networked Robotics System for backbone deployment in highly-obstructed environments.

Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: An autonomous Wireless Networked Robotics System for backbone deployment in highly-obstructed environments. Ad Hoc Networks, vol. 11, no. 7, pp. 1963-1974, 2013

Editorial.

Sadler, Brian M.; Rus, Daniela; Sukhatme, Gaurav S.: Editorial. Int. J. Robotics Res., vol. 32, no. 12, pp. 1361-1362, 2013

Optimizing waypoints for monitoring spatiotemporal phenomena.

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

Risk-aware Path Planning for Autonomous Underwater Vehicles using Predictive Ocean Models.

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

A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects.

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

Sampling-based Motion Planning for Robotic Information Gathering.

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

Squared error distortion metrics for motion planning in robotic sensor networks.

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

Active and Adaptive Dive Planning for Dense Bathymetric Mapping.

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

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

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

Branch and bound for informative path planning.

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

Using manipulation primitives for brick sorting in clutter.

Gupta, Megha; Sukhatme, Gaurav S.: Using manipulation primitives for brick sorting in clutter. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 3883-3889, IEEE, 2012

Towards improving mission execution for autonomous gliders with an ocean model and kalman filter.

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

Underwater Data Collection Using Robotic Sensor Networks.

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

Global estimation in constrained environments.

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

Coordinated sampling of dynamic oceanographic features with underwater vehicles and drifters.

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

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

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

Toward risk aware mission planning for Autonomous Underwater Vehicles.

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

Autonomous data collection from underwater sensor networks using acoustic communication.

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

Persistent ocean monitoring with underwater gliders: Towards accurate reconstruction of dynamic ocean processes.

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

Mission design for compressive sensing with mobile robots.

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

Distributed coordination and data fusion for underwater search.

Hollinger, Geoffrey A.; Yerramalli, Srinivas; Singh, Sanjiv; Mitra, Urbashi; Sukhatme, Gaurav S.: Distributed coordination and data fusion for underwater search. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 349-355, IEEE, 2011

Towards autonomous wireless backbone deployment in highly-obstructed environments.

Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: Towards autonomous wireless backbone deployment in highly-obstructed environments. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 5369-5374, IEEE, 2011

Persistent ocean monitoring with underwater gliders: Adapting sampling resolution.

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

Communication protocols for underwater data collection using a robotic sensor network.

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

Video

Using Manipulation Primitives for Brick Sorting in Clutter

Using Manipulation Primitives for Brick Sorting in Clutter
Tags:

Using Manipulation Primitives for Brick Sorting in Clutter.


Related Publications

Gupta, Megha; Sukhatme, Gaurav S.: Using manipulation primitives for brick sorting in clutter. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 3883-3889, IEEE, 2012

Motivation behind Minimum Risk Planning

Motivation behind Minimum Risk Planning
Tags:

Toward Risk Aware Mission Planning for Autonomous Underwater Vehicles.


Related Publications

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

Simulations for Path Planning for Gliders

Simulations for Path Planning for Gliders
Tags:

Path planning for underwater vehicles in the presence of ocean currents using “Pseudo-Waypoints”.


Duplo Sorting by PR2

Duplo Sorting by PR2
Tags:

A PR2 robot sorting Duplo bricks by size and color using visual data from a head-mounted Kinect sensor. 100% accuracy is achieved for uncluttered scenes. Duplo Bricks Sorting by PR2