Home/Sanjiv Singh

Sanjiv Singh

Research Professor
Email: js89@andrew.cmu.edu
Office: NSH 2111
Phone: (412) 268-6577
Personal Homepage
Administrative Assistant: Sanae Urano Minick

Autonomous Navigation. This theme is developing motion planning, state estimation and real-time control for ground and air vehicles at various scales. Applications include agriculture (CASC project), exploration with air vehicles (Riverine project) and autonomous low flying aircraft (Transformer project)

Coordinated Multi-Robots. This theme examines tasks such as assembly of structures that can’t be conducted by single robots. We are developing motion planning and architectures that enable teams of robots and humans to operate efficiently and reliably. Applications include assembly of structures (Trestle and Cluster projects) and coordinated search/localization in first response (Ember project)

Forceful Interaction with the world. I am interested in a class of tasks in which the interaction between a robot and the world is complex and involves large forces. The approach is to select optimal actions using physical models of the interaction, thereby making the machines more capable.

 

Publications

Displaying 173 Publications
A Real-time Method for Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess, Sanjiv Singh

Autonomous Robots, AURO, Vol. 41, No. 1, pp. 31-43, January, 2017

Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
Garrett Hemann, Sanjiv Singh, Michael Kaess

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016

On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess, Sanjiv Singh

2016 IEEE International Conference on Robotics and Automation, May, 2016

Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman

Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015

Visual–Inertial Combined Odometry System for Aerial Vehicles
Ji Zhang and Sanjiv Singh

Journal of Field Robotics, Vol. 32, No. 8, pp. 1043-1055, July, 2015

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

CMU-RI-TR-, Journal of Field Robotics, June, 2015

Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast
Ji Zhang and Sanjiv Singh

IEEE Intl. Conf. on Robotics and Automation (ICRA), May, 2015

Robot Farmers: Autonomous Orchard Vehicles Help Tree Fruit Production
Marcel Bergerman, Silvio Mano Maeta, Ji Zhang, Gustavo Medeiros Freitas, Bradley Hamner, Sanjiv Singh and George A. Kantor

IEEE Robotics and Automation Magazine, Vol. 22, No. 1, pp. 54-63, March, 2015

Automated Visual Yield Estimation in Vineyards
Stephen T. Nuske, Stephen Kyle Wilshusen, Supreeth Achar, Luke Yoder, Srinivasa G. Narasimhan and Sanjiv Singh

Journal of Field Robotics, Vol. 31, No. 5, pp. 837--860, September, 2014

Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 2014

LOAM: Lidar Odometry and Mapping in Real-time
Ji Zhang and Sanjiv Singh

Robotics: Science and Systems Conference, July, 2014

Mapping Orchards for Autonomous Navigation
Ji Zhang, Silvio Mano Maeta, Marcel Bergerman and Sanjiv Singh

2014 ASABE and CSBE/SCGAB Annual International Meeting, July, 2014

Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh

In Proceedings of American Control Conference, Portland, OR, June, 2014

Hand Waiving Away Scale
C. Hamm, Sanjiv Singh and Simon Lucey

ECCV 2014, January, 2014

Autonomous River Exploration
Sezal Jain, Stephen T. Nuske andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

Field and Service Robotics, Brisbane, December, 2013

INS Assisted Monocular Visual Odometry for Aerial Vehicles
Ji Zhang and Sanjiv Singh

The 9th Intl. Conf. on Field and Service Robots (FSR), Brisbane, Australia, Dec. 2013., December, 2013

3D Perception for Accurate Row Following: Methodology and Results
Ji Zhang andrew D. Chambers, Silvio Mano Maeta, Marcel Bergerman and Sanjiv Singh

IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013

Efficient Aerial Coverage Search in Road Networks
Michael Dille and Sanjiv Singh

AIAA Conference on Guidance, Navigation, and Control, August, 2013

Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

AHS Forum 69, May, 2013

Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

International Conference on Robotics and Automation, May, 2013

RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

International Conference on Robotics and Automation, May, 2013

Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

International Conference on Robotics and Automation, May, 2013

Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012

Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain
Ji Zhang, Sanjiv Singh and George A. Kantor

The 8th International Conference on Field and Service Robots (FSR 2012), November, 2012

A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012

A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

CMU-RI-TR-, IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, October, 2012

Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments
Ji Zhang, George A. Kantor, Marcel Bergerman and Sanjiv Singh

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012

Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Robotics and Autonomous Systems, September, 2012

Automated Crop Yield Estimation for Apple Orchards
Qi Wang, Stephen T. Nuske, Marcel Bergerman and Sanjiv Singh

CMU-RI-TR-, 13th Internation Symposium on Experimental Robotics (ISER 2012), July, 2012

Modeling and Calibration Visual Yield Estimates in Vineyards
Stephen T. Nuske, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

International Conference on Field and Service Robotics, July, 2012

First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

ICRA, May, 2012

Global pose estimation with limited gps and long range visual odometry
Joern Rehder, Kamal Gupta, Stephen T. Nuske and Sanjiv Singh

IEEE Conference on Robotics and Automation, May, 2012

Results with Autonomous Vehicles Operating in Specialty Crops
Marcel Bergerman, Sanjiv Singh and Bradley Hamner

CMU-RI-TR-, 2012 IEEE International Conference on Robotics and Automation, May, 2012

River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh

Autonomous Robots, Vol. 32, No. 5, May, 2012

Motion-aided network SLAM with range
Joseph Djugash and Sanjiv Singh

CMU-RI-TR-, The International Journal of Robotics Research, Vol. 31, No. 5, pp. 603 - 625, April, 2012

Target tracking without line of sight using range from radio
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Autonomous Robots, Vol. 32, No. 1, January, 2012

Visual yield estimation in vineyards: Experiments with different varietals and calibration procedures
Stephen T. Nuske, Supreeth Achar, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

CMU-RI-TR-11-39, Robotics Institute, Carnegie Mellon University, December, 2011

A cascaded method to detect aircraft in video imagery
Debadeepta Dey, Christopher M. Geyer, Sanjiv Singh and and Matthew Digioia

CMU-RI-TR-, The International Journal of Robotics Research, Vol. 30, No. 12, pp. 1527 - 1540, October, 2011

Monocular Visual Odometry using a Planar Road Model to Solve Scale Ambiguity
Bernd Manfred Kitt, Joern Rehder andrew D. Chambers, Miriam Schonbein, Henning Lategahn and Sanjiv Singh

Proc. European Conference on Mobile Robots, September, 2011

Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
Sebastian Scherer and Sanjiv Singh

CMU-RI-TR-, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Yield Estimation in Vineyards by Visual Grape Detection
Stephen T. Nuske, Supreeth Achar, Terry Bates, Srinivasa G. Narasimhan and Sanjiv Singh

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Air-Ground Collaborative Surveillance with Human-Portable Hardware
Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley and Sanjiv Singh

AUVSI Unmanned Systems North America, August, 2011

Autonomous Mechanical Thinning Using Scanning LIDAR
Matthew Aasted, Reuben J. Dise, Tara Auxt Baugher, James R Schupp, Paul H Heinemann and Sanjiv Singh

2011 ASABE Annual International Meeting, July, 2011

Autonomous Orchard Vehicles for Specialty Crops Production
Bradley Hamner, Marcel Bergerman and Sanjiv Singh

2011 ASABE Annual International Meeting, July, 2011

Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011

Distributed Coordination and Data Fusion for Underwater Search
Geoffrey Hollinger, Srinivas Yerramalli, Sanjiv Singh, Urbashi Mitra and Gaurav Sukhatme

CMU-RI-TR-, ICRA 2011, May, 2011

Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

CMU-RI-TR-, ICRA 2011, May, 2011

Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments
Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

AHS Forum 67, March, 2011

Motion-aided Network SLAM
Joseph Djugash and Sanjiv Singh

12th International Symposium on Experimental Robotics, December, 2010

Towards Experimental Analysis of Challenge Scenarios in Robotics
Geoffrey Hollinger and Sanjiv Singh

12th International Symposium on Experimental Robotics, December, 2010

Representing Substantial Heading Uncertainty for Accurate Geolocation by Small UAVs
Stephen T. Nuske, Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

AIAA Guidance, Navigation, and Control Conference, August, 2010

Comprehensive Automaton for Specialty Crops: Year 1 results and lessons learned
Sanjiv Singh, Marcel Bergerman , Jillian Cannons, Benjamin P. Grocholsky, Bradley Hamner, German Holguin, Larry Hull, Vincent Jones, George A. Kantor, Harvey Koselka, Guiqin Li, James Owen, Johnny Park, Wenfan Shi and James Teza

Journal of Intelligent Service Robotics, July, 2010

GSST: anytime guaranteed search
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Autonomous Robots, Vol. 29, No. 1, pp. 99 - 118, July, 2010

Improving the Efficiency of Clearing with Multi-agent Teams
Geoffrey Hollinger, Sanjiv Singh and Athanasios Kehagias

International Journal of Robotics Research, Vol. 29, No. 8, pp. 1088-1105, July, 2010

On-the-Fly Tree Caliper Measurement
Wenfan Shi, Sanjiv Singh, Marcel Bergerman and James Owen

CMU-RI-TR-, 2010 ASABE Annual International Meeting, June, 2010

Multi-Robot Coordination with Periodic Connectivity
Geoffrey Hollinger and Sanjiv Singh

IEEE International Conference on Robotics and Automation, May, 2010

Robust Robotic Assembly through Contingencies, Plan Repair and Re-Planning
Frederik Heger and Sanjiv Singh

Proceedings of ICRA 2010, May, 2010

Online Assessment of Landing Sites
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

AIAA Infotech@Aerospace 2010, April, 2010

An autonomous mobile manipulator for assembly tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Autonomous Robots, Vol. 28, No. 1, pp. 131 - 149, January, 2010

A graph search algorithm for indoor pursuit/evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

Mathematical and Computer Modelling, Vol. 50, No. 10-Sep, pp. 1305-1317, November, 2009

Mobile Robotic Dynamic Tracking for Assembly Tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Proceedings of IROS 2009, October, 2009

Modeling Mobile Robot Motion with Polar Representations
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

Proceedings of IROS 2009, October, 2009

Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Tara Baugher, Marcel Bergerman , Katie Ellis, Benjamin P. Grocholsky, Bradley Hamner, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, George A. Kantor, Brian Kliethermes, Harvey Koselka, Karen Lewis, Jacqueline Libby , William Messner, Henry Ngugi, James Owen, Johnny Park, Clark Seavert, Wenfan Shi and James Teza

The 4th IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems (2009 IFAC Bio-Robotics IV Workshop), September, 2009

Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Marcel Bergerman , Benjamin P. Grocholsky, Bradley Hamner, George A. Kantor, Brian Kliethermes, Jacqueline Libby , William Messner, Wenfan Shi, James Teza, Tara Baugher, Katie Ellis, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, Harvey Koselka, Karen Lewis, Henry Ngugi, James Owen, Johnny Park and Clark Seavert

CMU-RI-TR-, 4th IFAC International Workshop on Bio-Robotics,Information Technology,and Intelligent Control for Bioproduction Systems, September, 2009

Efficient, Guaranteed Search with Multi-Agent Teams
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Robotics: Science and Systems, July, 2009

Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors
Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

Proceedings Field & Service Robotics (FSR '09), July, 2009

Passive, long-range detection of Aircraft: Towards a field deployable Sense and Avoid System
Debadeepta Dey, Christopher M. Geyer, Sanjiv Singh and Matthew E. DiGioia

Proceedings Field & Service Robotics (FSR '09), July, 2009

Combining Search and Action for Mobile Robots
Geoffrey Hollinger, David Ferguson , Siddhartha Srinivasa and Sanjiv Singh

IEEE International Conference on Robotics and Automation, May, 2009

Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh

Proceedings International Conference on Robotics and Automation, May, 2009

Prototype Sense-andAvoid System for UAVs
Christopher M. Geyer, Debadeepta Dey and Sanjiv Singh

CMU-RI-TR-09-09, Robotics Institute, Carnegie Mellon University, May, 2009

Integrated long-range UAV/UGV collaborative target tracking
Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung and Sanjiv Singh

Proc. SPIE, Unmanned Systems Technology XI Conference, Vol. 7332, April, 2009

Efficient Multi-Robot Search for a Moving Target
Geoffrey Hollinger, Sanjiv Singh, Joseph Djugash and Athanasios Kehagias

The International Journal of Robotics Research, Vol. 28, No. 2, pp. 201-219, February, 2009

Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Nicholas Melchior, Stephen Roderick, David Akin, Reid Simmons and Sanjiv Singh

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), pp. 4017-4023, September, 2008

A Graph Search Algorithm for Indoor Pursuit / Evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

CMU-RI-TR-08-38, Robotics Institute, Carnegie Mellon University, August, 2008

Anytime Guaranteed Search using Spanning Trees
Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson and Siddhartha Srinivasa

CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008

A Robust Method of Localization and Mapping Using Only Range
Joseph Djugash and Sanjiv Singh

International Symposium on Experimental Robotics, July, 2008

Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, pp. 425-466, June, 2008

Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots
Geoffrey Hollinger and Sanjiv Singh

Robotics: Science and Systems, June, 2008

An efficient system for combined route traversal and collision avoidance
Bradley Hamner, Sanjiv Singh, Stephan Roth and Takeshi Takahashi

Autonomous Robots, Vol. 24, No. 4, pp. 365-385, May, 2008

Decentralized Mapping of Robot-Aided Sensor Networks
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

IEEE International Conference on Robotics and Automation, May, 2008

Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008

Learning to Detect Aircraft at Low Resolutions
Stavros Petridis, Christopher M. Geyer and Sanjiv Singh

Computer Vision Systems, Lecture Notes in Computer Science, Vol. 5008, pp. 474 - 483, May, 2008

Tracking a Moving Target in Cluttered Environments with Ranging Radios
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

IEEE International Conference on Robotics and Automation, May, 2008

Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace
Christopher M. Geyer, Sanjiv Singh and Lyle J. Chamberlain

CMU-RI-TR-08-03, Robotics Institute, Carnegie Mellon University, March, 2008

Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008

Coordinated Search in Cluttered Environments Using Range from Multiple Robots
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Sixth International Conference on Field and Service Robotics, July, 2007

Human-Robot Teams for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior and Brennan Peter Sellner

Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007

Flying Fast and Low Among Obstacles
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli

Proceedings International Conference on Robotics and Automation, April, 2007

Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

IEEE International Conference on Robotics and Automation, April, 2007

Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert , Thomas Howard, Alonzo Kelly , David Kohanbash, Maxim Likhachev , Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz , William (Red) L. Whittaker and Jason Ziglar

CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007

Parrots: A Range Measuring Sensor Network
Wei Zhang, Joseph Djugash and Sanjiv Singh

CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007

Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer

Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12-Nov, pp. 1037-1058, December, 2006

Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, October, 2006

Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
Frederik Heger and Sanjiv Singh

In Proceedings, Robotics: Systems and Science, August, 2006

Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons and Sanjiv Singh

Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, pp. 1425 - 1444, July, 2006

Long-term motion estimation from images
Dennis Strelow and Sanjiv Singh

In Proceedings, International Symposium on Experimental Robotics, July, 2006

Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots
Elizabeth Liao, Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

The 8th International Symposium on Distributed Autonomous Robotic Systems, pp. 125-134, June, 2006

Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
Joseph Djugash, Sanjiv Singh, George A. Kantor and Wei Zhang

IEEE International Conference on Robotics and Automation, pp. 2078 - 2084, May, 2006

Range-only SLAM with Interpolated Range Data
Athanasios Kehagias, Joseph Djugash and Sanjiv Singh

CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006

Attaining Situational Awareness for Sliding Autonomy
Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons and Sanjiv Singh

Proceedings of HRI 2006, March, 2006

Results in Sliding Autonomy for Multi-robot Spatial Assembly
Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005

Further Results with Localization and Mapping using Range from Radio
Joseph Djugash, Sanjiv Singh and Peter Ian Corke

International Conference on Field & Service Robotics (FSR '05), July, 2005

Results in Combined Route Traversal and Collision Avoidance
Stephan Roth, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

International Conference on Field & Service Robotics (FSR '05), July, 2005

Bearings based robot homing with robust landmark matching and limited horizon view
Ivan Kirigin and Sanjiv Singh

CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 2005

User Modelling for Principled Sliding Autonomy in Human-Robot Teams
Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Proceedings of the NRL Multirobot Workshop 2005, January, 2005

Motion estimation from image and inertial measurements
Dennis Strelow and Sanjiv Singh

The International Journal of Robotics Research, Vol. 23, No. 12, pp. 1157 - 1195, December, 2004

Robot and Sensor Networks for First Responders
Vijay Kumar, Daniela Rus and Sanjiv Singh

PERVASIVE computing, pp. 24 - 33, October, 2004

Application of robust, high-accuracy positioning for autonomous ground vehicles
Stephan Roth and Sanjiv Singh

Proceedings AUVSI Unmanned Systems North America, August, 2004

Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Proceedings of The 2004 Spring Symposium Series, March, 2004

Omnidirectional Visual Odometry for a Planetary Rover
Peter Ian Corke, Dennis Strelow and Sanjiv Singh

Proceedings of IROS 2004, January, 2004

Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

January, 2004

Experimental results in range-only localization with radio
Derek Kurth, George A. Kantor and Sanjiv Singh

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, pp. 974 - 979, October, 2003

Motion Planning for a Mobile Manipulator with Imprecise Locomotion
Dong Hun Shin, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003

Distributed Search and Rescue with Robot and Sensor Teams
George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer

The 4th International Conference on Field and Service Robotics, July, 2003

Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003

Reckless motion estimation from omnidirectional image and inertial measurements
Dennis Strelow and Sanjiv Singh

IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003

Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Proceedings of the Workshop on Applications of Computer Vision, December, 2002

An empirical comparison of methods for image-base motion estimation
Henele Adams, Sanjiv Singh and Dennis Strelow

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002

Autonomous Coverage Operations in Semi-Structured Outdoor Environments
Parag Batavia and Sanjiv Singh

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002

State of the Art in Automation of Earthmoving, 2002
Sanjiv Singh

Proceedings of the Workshop on Advanced Geomechatronics, October, 2002

Recent Results in Extensions to Simultaneous Localization and Mapping
Sanjiv Singh, George A. Kantor and Dennis Strelow

Proceedings of the International Symposium on Experimental Robotics, July, 2002

Obstacle Detection in Smooth High Curvature Terrain
Parag Batavia and Sanjiv Singh

Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002

Preliminary Results in Range-only Localization and Mapping
George A. Kantor and Sanjiv Singh

Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 1818 - 1823, May, 2002

Precise omnidirectional camera calibration
Dennis Strelow, Jeffrey S. Mishler, David Koes and Sanjiv Singh

IEEE Computer Vision and Pattern Recognition, December, 2001

Collection of Environmental Data From an Airship Platform
George A. Kantor, David Wettergreen, James P. Ostrowski and Sanjiv Singh

Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, pp. 76-83, October, 2001

Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
Trey Smith, Reid Simmons, Sanjiv Singh and David Hershberger

Proceedings of the 2001 Space Studies Institute Conference, May, 2001

Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography
Parag Batavia and Sanjiv Singh

Proceedings of the IEEE International Conference on Robotics and Automation, May, 2001

Automatic railway classification using surface and subsurface measurements
George A. Kantor, Herman Herman , Sanjiv Singh, John G. Tabacchi and William Kaufman

Proceeding of the 3rd International Conference on Field and Service Robotics (FSR 2001), pp. 43-48, January, 2001

Extending Shape from Motion to Non-Central Omnidirectional Cameras
Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh and Herman Herman

Proceedings of IROS 2001, January, 2001

Technology for Autonomous Space Systems
Ashley Stroupe, Sanjiv Singh, Reid Simmons, Trey Smith, Paul Tompkins, Vandi Verma, R. Vitti-Lyons and Michael D. Wagner

CMU-RI-TR-00-02, Robotics Institute, Carnegie Mellon University, January, 2001

First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, David Hershberger, Josue Ramos and Trey Smith

Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000

An Efficient On-line Path Planner for Outdoor Mobile Robots Operating in Vast Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Robotics and Autonomous Systems, Vol. 33, No. 2&3, pp. 129-143, August, 2000

Recent Progress in Local and Global Traversability for Planetary Rovers
Sanjiv Singh, Reid Simmons, Trey Smith, Anthony (Tony) Stentz , Vandi Verma, Alex Yahja and Kurt Schwehr

Proceedings of the IEEE International Conference on Robotics and Automation, 2000, April, 2000

A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz , John Bares, Sanjiv Singh and Patrick Rowe

Autonomous Robots, Vol. 7, No. 2, pp. 175-186, September, 1999

Models for Automated Earthmoving
Howard Cannon and Sanjiv Singh

Proceedings of the International Symposium on Experimental Robotics, March, 1999

Analysis and Design of Panoramic Stereo Vision Using Equi-Angular Pixel Cameras
Mark Ollis, Herman Herman and Sanjiv Singh

CMU-RI-TR-99-04, Robotics Institute, Carnegie Mellon University, January, 1999

Autonomous Cross-Country Navigation Using Stereo Vision
Sanjiv Singh and Bruce Digney

CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999

Modeling and Identification of Soil-tool Interaction in Automated Excavation
O. Luengo, Sanjiv Singh and Howard Cannon

Proceedings, IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998

A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz , John Bares, Sanjiv Singh and Patrick Rowe

IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 7, No. 2, pp. 175-186, September, 1998

Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998

Grading of Vegetative Cuttings Using Computer Vision
Sanjiv Singh and Michael Montemerlo

Advanced Robotics, Vol. 12, No. 5, pp. 551 - 564, July, 1998

Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments
Alex Yahja, Anthony (Tony) Stentz , Sanjiv Singh and Barry Brummit

In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), May, 1998

Multi-Resolution Planning for Earthmoving
Sanjiv Singh and Howard Cannon

Proc. Int'l Conference on Robotics and Automation, May, 1998

Precise Image Segmentation for Forest Inventory
Jeffrey Byrne and Sanjiv Singh

CMU-RI-TR-98-14, Robotics Institute, Carnegie Mellon University, May, 1998

The State of the Art in Automation of Earthmoving
Sanjiv Singh

ASCE Journal of Aerospace Engineering, Vol. 10, No. 4, October, 1997

Recent progress in the grading of vegetative cuttings
Sanjiv Singh and Michael Montemerlo

Proceedings IROS 97, September, 1997

Search in the context of complex robot-world interaction
Sanjiv Singh

Proceedings, AAAI workshop on On-line search, July, 1997

Progress in the Grading of Vegetative Cuttings Using Computer Vision
Sanjiv Singh and Michael Montemerlo

CMU-RI-TR-97-05, Robotics Institute, Carnegie Mellon University, January, 1997

Automated visual grading of vegetative cuttings
Qiang Ji and Sanjiv Singh

Proc. SPIE East 96 Symposium: Optics in Agriculture, Forestry, and Biological Processing II, November, 1996

A Survey of Automation in Excavation
Sanjiv Singh

Journal of Mining and Material Processing Institute of Japan, August, 1996

Early Results in the Grading of Vegetative Cuttings Using Computer Vision
Qiang Ji and Sanjiv Singh

CMU-RI-TR-96-22, Robotics Institute, Carnegie Mellon University, May, 1996

Robot Planning in the Space of Feasible Actions: Two Examples
Sanjiv Singh and Alonzo Kelly

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, pp. 3309 - 3316, April, 1996

Learning to Predict Resistive Forces During Robotic Excavation
Sanjiv Singh

Proc. Int'l Conference on Robotics and Automation, May, 1995

First Results in the Autonomous Retrieval of Buried Objects
Sanjiv Singh and Herman Herman

Automation in Construction, January, 1995

Synthesis of Tactical Plans For Robotic Excavation
Sanjiv Singh

CMU-RI-TR-95-27, Robotics Institute, Carnegie Mellon University, January, 1995

First Results in the Autonomous Retrieval of Buried Objects
Sanjiv Singh and Herman Herman

Proc. IEEE Conference on Robotics and Automation, May, 1994

Developing Plans for Robotic Excavators
Sanjiv Singh

Proc. ASCE Conference on Robotics for Challenging Environments, February, 1994

Task Planning for Robotic Excavation
Sanjiv Singh and Reid Simmons

Proc. IEEE/RSJ International Conference on Intelligent Robot Systems, July, 1992

Explicit Path Tracking by Autonomous Vehicles
Dong Hun Shin and Sanjiv Singh

Robotica, Vol. 10, pp. 539 - 554, January, 1992

A System for Fast Navigation of Autonomous Vehicles
Sanjiv Singh, D. Feng, P. Keller, Gary Shaffer, Wenfan Shi, Dong Hun Shin, J. West and B. X. Wu

CMU-RI-TR-91-20, Robotics Institute, Carnegie Mellon University, September, 1991

Cyclone: A Laser Scanner for Mobile Robot Navigation
Sanjiv Singh and Jay West

CMU-RI-TR-91-18, Robotics Institute, Carnegie Mellon University, September, 1991

A Partitioned Control Scheme for Mobile Robot Navigation
Dong Hun Shin and Sanjiv Singh

Proc. IEEE International Conference on Systems Engineering, pp. 338 - 342, August, 1991

An Operation Space Approach to Robotic Excavation
Sanjiv Singh

Proc. IEEE Symposium on Intelligent Control, August, 1991

Obstacle Detection for High Speed Navigation
Sanjiv Singh and P. Keller

Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1991

Path Generation for Robot Vehicles Using Composite Clothoid Segments
Dong Hun Shin and Sanjiv Singh

CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990

Real-Time Vision for Robot Swat-Juggling
Sanjiv Singh

CMU-RI-TR-90-27, Robotics Institute, Carnegie Mellon University, December, 1990

Implementation of Dynamic Obstacle Avoidance on the CMU NavLab
D. Feng, Sanjiv Singh and Bruce Krogh

Proc. IEEE International Conference on Systems Engineering, August, 1990

Vehicle and Path Models for Autonomous Navigation
Sanjiv Singh and Dong Hun Shin

Vision and Navigation: The CMU Navlab, April, 1990

Position Based Path Tracking for Wheeled Mobile Robots
Sanjiv Singh and Dong Hun Shin

Proc. IEEE Conference on Intelligent Robot Systems, pp. 386 - 391, September, 1989

NAVLAB: An Autonomous Navigation Testbed
Kevin Dowling, R. Guzikowski, J. Ladd, Henning Pangels, Sanjiv Singh and William (Red) L. Whittaker

CMU-RI-TR-87-24, Robotics Institute, Carnegie Mellon University, November, 1987

Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation
Sanjiv Singh and M. D. Wagh

IEEE Journal of Robotics and Automation, April, 1987

Robot Path Planning Using Intersecting Convex Shapes
Sanjiv Singh and M. D Wagh

Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1986

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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