Publications




ALITA: A large-scale incremental dataset for long-term autonomy
Yin P, Zhao S, Ge R, Cisneros I, Fu R, Zhang J, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2205. 10737, 2022
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
Cisneros I, Yin P, Zhang J, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2207. 12317, 2022
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
Patrikar J, Dantas JP, Ghosh S, Kapoor P, Higgins I, Aloor JJ, Navarro I, Sun J, Stoler B, Hamidi M, Baijal R, Moon B, Oh J, and Scherer S
Journal Article, arXiv preprint arXiv:2211. 06932, 2022
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure
Mousaei M, Geng J, Keipour A, Bai D, and Scherer S
Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4310-4317, 2022
Detection and Physical Interaction with Deformable Linear Objects
Keipour A, Mousaei M, Bandari M, Schaal S, and Scherer S
Conference Paper, Proceedings of ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, 2022
Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery
Rodrigues TA, Patrikar J, Oliveira NL, Matthews HS, Scherer S, and Samaras C
Journal Article, Patterns, Vol. 3, No. 8, pp. 100569, 2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Yin P, Zhao S, Cisneros I, Abuduweili A, Huang G, Milford M, Liu C, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2209. 04497, 2022
I2D-Loc: Camera localization via image to LiDAR depth flow
Chen K, Yu H, Yang W, Yu L, Scherer S, and Xia GS
Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 194, pp. 209-221, 2022
On Performance Impacts of Coordination via Submodular Maximization for Multi-Robot Perception Planning and the Dynamics of Target Coverage and Cinematography
Corah M and Scherer S
Conference Paper, Proceedings of RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation, 2022
Predicting Like a Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Patrikar J, Moon B, Oh J, and Scherer S
Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2022
Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots
Best G, Garg R, Keller J, Hollinger GA, and Scherer S
Conference Paper, Proceedings of Robotics: Science and Systems, 2022
Robust Modeling and Controls for Racing on the Edge
Spisak J, Saba A, Suvarna N, Mao B, Zhang CT, Chang C, Scherer S, and Ramanan D
Conference Paper, Proceedings of arXiv preprint arXiv:2205.10841, 2022
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning
Wang SJ, Triest S, Wang W, Scherer S, and Johnson A
Conference Paper, Proceedings of the 5th Conference on Robot Learning, Vol. 164, pp. 224-233, 2022
SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor
Zhao S, Yin P, Yi G, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 1, pp. 256-263, 2022
Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments
Fu T, Yu H, Yang W, Hu Y, and Scherer S
Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 71, pp. 1-11, 2022
TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
Duisterhof BP, Hu Y, Teng SH, Kaess M, and Scherer S
Journal Article, arXiv preprint arXiv:2210. 02511, 2022
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
Triest S, Sivaprakasam M, Wang SJ, Wang W, Johnson AM, and Scherer S
Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning
Moon B, Chatterjee S, and Scherer S
Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras
He Y, Yu H, Yang W, and Scherer S
Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9452-9458, 2022
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Zhen W, Yu H, Hu Y, and Scherer S
Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022
Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle
Keipour A, Pereira GA, Bonatti R, Garg R, Rastogi P, Dubey G, and Scherer S
Journal Article, Sensors, Vol. 22, No. 17, pp. 6549, 2022
VTOL failure detection and recovery by utilizing redundancy
Mousaei M, Keipour A, Geng J, and Scherer S
Journal Article, arXiv preprint arXiv:2206. 00588, 2022
Automated Assessment of Cardiovascular Sufficiency Using Non-Invasive Physiological Data
Xinyu Li, Michael R. Pinsky, and Artur Dubrawski
Journal Article, Sensors, Vol. 22, No. 3, 2022
Multi-Objective Path-Based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, 2022
Robust Quantum Optimal Control with Trajectory Optimization
Thomas Propson, Brian E. Jackson, Jens Koch, Zachary Manchester, and David I. Schuster
Journal Article, Physical Review Applied, Vol. 17, No. 1, 2022
Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling
Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, December, 2021
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models
Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, and Dieter Fox
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, December, 2021
Kinematic Analysis of 3D-printed Flexible Delta Robots
Avi Rudich
Master's Thesis, Tech. Report, CMU-RI-TR-21-70, Robotics Institute, Carnegie Mellon University, December, 2021
BATS: Best Action Trajectory Stitching
Ian Char, Viraj Mehta, Adam Villaflor, John M. Dolan, and Jeff Schneider
Workshop Paper, Offline Reinforcement Learning, December, 2021
SEAL: Self-supervised Embodied Active Learning using Exploration and 3D Consistency
Devendra Chaplot, Murtaza Dalal, Saurabh Gupta, Jitendra Malik, and Ruslan Salakhutdinov
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2021
Dynamical Model Learning and Inversion for Aggressive Quadrotor Flight
Alexander Spitzer
PhD Thesis, Tech. Report, CMU-RI-TR-22-03, Robotics Institute, Carnegie Mellon University, December, 2021
HARMONIC: A Multimodal Data Set of Assistive Human-robot Collaboration
Benjamin A. Newman, Reuben M. Aronson, Siddhartha S. Srinivasa, Kris Kitani, and Henny Admoni
Journal Article, International Journal of Robotics Research, December, 2021
Parametric-Control Barrier Function-Based Adaptive Safe Merging Control for Heterogeneous Vehicles
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Workshop Paper, NeurIPS Workshop on Safe and Robust Control of Uncertain Systems, December, 2021
Facial Action Units and Head Dynamics in Longitudinal Interviews Reveal OCD and Depression severity and DBS Energy
Ali Darzi, Nicole R. Provenza, Laszlo A. Jeni, David A. Borton, Sameer A. Sheth, Wayne K. Goodman, and Jeffrey F. Cohn
Conference Paper, Proceedings of 16th IEEE International Conference on Automatic Face and Gesture Recognition (FG '21), December, 2021
High Fidelity 3D Reconstructions with Limited Physical Views
Mosam Dabhi, Chaoyang Wang, Kunal Saluja, Laszlo A. Jeni, Ian Fasel, and Simon Lucey
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '21), pp. 1301 - 1311, December, 2021
L-Shape Fitting-based Vehicle Pose Estimation and Tracking Using 3D-LiDAR
Chengfeng Zhao, Chen Fu, John M. Dolan, and Jun Wang
Journal Article, IEEE Transactions on Intelligent Vehicles (ITIV '22), Vol. 6, No. 4, pp. 787 - 798, December, 2021
Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Graeme Gange, and Sven Koenig
Journal Article, Artificial Intelligence, Vol. 301, December, 2021
Self-Supervised Point Cloud Completion via Inpainting
Himangi Mittal, Brian Okorn, Arpit Jangid, and David Held
Conference Paper, Proceedings of British Machine Vision Conference (BMVC '21), November, 2021
Unsupervised Online Learning for Robotic Interestingness with Visual Memory
Chen Wang, Yuheng Qiu, Wenshan Wang, Yafei Hu, Seungchan Kim, and Sebastian Scherer
Journal Article, IEEE Transactions on Robotics, November, 2021
Computer Mediated Automatic Detection of Pain-Related Behavior: Prospect, Progress, Perils
Kenneth Prkachin and Zakia Hammal
Journal Article, Frontiers in Pain Research, section Pain Research Methods, November, 2021
The Role of Pleura and Adipose in Lung Ultrasound AI
Gautam Rajendrakumar Gare, Wanwen Chen, Alex Ling Yu Hung, Edward Chen, Hai V. Tran, Tom Fox, Peter Lowery, Kevin Zamora, Bennett P. DeBoisblanc, Ricardo Luis Rodriguez, and John Michael Galeotti
Workshop Paper, MICCAI '21 Workshop on Lessons learned from the development and application of medical imaging-based AI technologies for combating COVID-19, November, 2021
FarOut Touch: Extending the Range of ad hoc Touch Sensing with Depth Cameras
Vivian Shen, James Spann, and Chris Harrison
Conference Paper, Proceedings of ACM Spatial User Interaction, November, 2021
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Mustafa Mukadam, Stuart Anderson, and Michael Kaess
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021
ReSkin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, and Abhinav Gupta
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021
Safe and Resilient Practical Waypoint-Following for Autonomous Vehicles
Qin Lin, Stefan Mitsch, André Platzer, and John M. Dolan
Journal Article, IEEE Control Systems Letters, Vol. 6, pp. 1574 - 1579, November, 2021
Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators
Pragna Mannam, Oliver Kroemer, and F. Zeynep Temel
Conference Paper, Proceedings of 17th International Symposium on Experimental Robotics (ISER '20), November, 2021
Multi-class Generative Adversarial Networks: Improving One-class Classification of Pneumonia Using Limited Labeled Data
Saman Motamed and Farzad Khalvati
Conference Paper, Proceedings of 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC '21), pp. 3817 - 3822, November, 2021
Parameter Identification for Multirobot Systems Using Optimization-based Controllers
Jaskaran Grover, Changliu Liu, and Katia Sycara
Conference Paper, Proceedings of International Symposium on Multi-Robot and Multi-Agent Systems (MRS '21), pp. 173 - 180, November, 2021
Playing with Food: Learning Food Item Representations through Interactive Exploration
Amrita Sawhney, Steven Lee, Kevin Zhang, Manuela Veloso, and Oliver Kroemer
Conference Paper, Proceedings of 17th International Symposium on Experimental Robotics (ISER '20), November, 2021
Learning Model Preconditions for Planning with Multiple Models
Alex LaGrassa and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021