Publications




LiDAR SLAM with Plane Adjustment for Indoor Environment
Lipu Zhou, Daniel Koppel, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7073 - 7080, October, 2021
Safe Planning and Control under Uncertainty for Self-Driving
Shivesh Khaitan, Qin Lin, and John Dolan
Journal Article, IEEE Transactions on Vehicular Technology, Vol. 70, No. 10, pp. 9826-9837, October, 2021
Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7153 - 7160, October, 2021
Using perception cues for context-aware navigation in dynamic outdoor environments
Maggie Wigness, John G. Rogers III, Chieh-En Tsai, Christoph Mertz, Luis Navarro-Serment, and Jean Oh
Journal Article, Field Robotics, Vol. 1, No. 1, pp. 1 - 33, October, 2021
Heuristics for routing and scheduling of spatio-temporal type problems in industrial environments
Jayanth Krishna Mogali
PhD Thesis, Tech. Report, CMU-RI-TR-21-69, Robotics Institute, Carnegie Mellon University, September, 2021
Inferring Goals with Gaze during Teleoperated Manipulation
Reuben M. Aronson, Nadia AlMutlak, and Henny Admoni
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9714 - 9719, September, 2021
Map Compressibility Assessment for LiDAR Registration
Ming-Fang Chang, W. Dong, Joshua G. Mangelson, Michael Kaess, and Simon Lucey
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5560 - 5567, September, 2021
Stereo Perception in the Dark using Uncalibrated Line Laser
Srinivasan Vijayarangan and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Bayesian Models for Science-Driven Robotic Exploration
Alberto Candela Garza
PhD Thesis, Tech. Report, CMU-RI-TR-21-68, Robotics Institute, Carnegie Mellon University, September, 2021
A Simulation-Based Benchmark for Behavioral Anomaly Detection in Autonomous Vehicles
Tarang Shah, John R. Lepird, Andrew T. Hartnett, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '21), pp. 2074 - 2081, September, 2021
Self-Calibration of Multiple LiDARs for Autonomous Vehicles
Zherui Zhang, Chen Fu, Chiyu Dong, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 2897 - 2902, September, 2021
Using Remote Sensing and in situ Measurements for Efficient Mapping and Optimal Sampling of Coral Reefs
Alberto Candela, Kevin Edelson, Michelle M. Gierach, David R. Thompson, Gail Woodward, and David Wettergreen
Journal Article, Frontiers in Marine Science, September, 2021
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
Cherie Ho, Andrew Jong, Harry Freeman, Rohan Rao, Rogerio Bonatti, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
A Robust Illumination-Invariant Camera System for Agricultural Applications
Abhisesh Silwal, Tanvir Parhar, Francisco Yandun, Harjatin Baweja, and George Kantor
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
CARLA Simulated Data for Rare Road Object Detection
Tom Bu, Xinhe Zhang, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 2794 - 2801, September, 2021
Detection of Lymph Nodes in T2 MRI Using Neural Network Ensembles
Tejas Sudharshan Mathai, Sungwon Lee, Daniel C. Elton, Thomas C. Shen, Yifan Peng, Zhiyong Lu, and Ronald M. Summers
Workshop Paper, International Workshop on Machine Learning in Medical Imaging (MLMI '21), pp. 682 - 691, September, 2021
Ground Encoding: Learned Factor Graph-Based Models for Localizing Ground Penetrating Radar
Alexander Baikovitz, Paloma Sodhi, Michael Dille, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning
Kaleb Ben Naveed, Zhiqian Qiao, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 601 - 606, September, 2021
Introducer Design Concepts for an Epicardial Parallel Wire Robot
Aman Ladak, Deepika Dixit, Michael S. Halbreiner, Michael J. Passineau, Srinivas Murali, and Cameron N. Riviere
Journal Article, Robotic Surgery: Research and Reviews, Vol. 8, pp. 21 - 38, September, 2021
Robotic Vision for 3D Modeling and Sizing in Agriculture
Mohamad Qadri
Master's Thesis, Tech. Report, CMU-RI-TR-21-43, Robotics Institute, Carnegie Mellon University, August, 2021
Planning to Optimize and Learn Reward in Navigation Tasks in Structured Environments with Time Constraints
Max Korein
PhD Thesis, Tech. Report, CMU-RI-TR-21-53, Robotics Institute, Carnegie Mellon University, August, 2021
Robust and Scalable Perception For Autonomy
Peiyun Hu
PhD Thesis, Tech. Report, CMU-RI-TR-21-67, Robotics Institute, Carnegie Mellon University, August, 2021
Decentralized Navigation of Quadrotor Teams in Uncertain Workspaces
Arjav Ashesh Desai
PhD Thesis, Tech. Report, CMU-RI-TR-21-57, Robotics Institute, Carnegie Mellon University, August, 2021
Robot Planning for Achieving Multiple Independent Tasks with Discrepancies through Model Decomposition and Augmentation
Anahita Mohseni-Kabir
PhD Thesis, Tech. Report, CMU-RI-TR-21-66, Robotics Institute, Carnegie Mellon University, August, 2021
End-to-End Deep Stereo Layout Estimation
Divam Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-21-29, Robotics Institute, Carnegie Mellon University, August, 2021
Coordinated Aerial Exploration of Subterranean Voids
Rohit Garg
Master's Thesis, Tech. Report, CMU-RI-TR-21-44, Robotics Institute, Carnegie Mellon University, August, 2021
Design and Analysis of a Estimation and Control Pipeline for a Robot Manipulator in Space
Daniel Vedova
Master's Thesis, Tech. Report, CMU-RI-TR-21-63, Robotics Institute, Carnegie Mellon University, August, 2021
Detecting Invisible People
Tarasha Khurana
Master's Thesis, Tech. Report, CMU-RI-TR-21-24, Robotics Institute, Carnegie Mellon University, August, 2021
End-to-end Methods for Autonomous Driving in Simulation
Aaron Huang
Master's Thesis, Tech. Report, CMU-RI-TR-21-65, Robotics Institute, Carnegie Mellon University, August, 2021
Flow Control of Wireless Mesh Networks Using LQR and Factor Graphs
Ryan Darnley and Matthew Travers
Master's Thesis, Tech. Report, CMU-RI-TR-21-58, Robotics Institute, Carnegie Mellon University, August, 2021
Learning to Imitate, Adapt and Communicate
Siddharth Agrawal
Master's Thesis, Tech. Report, CMU-RI-TR-21-38, Robotics Institute, Carnegie Mellon University, August, 2021
Physics-based object-aware ego-centric human pose estimation
Zhengyi Luo
Master's Thesis, Tech. Report, CMU-RI-TR-21-59, Robotics Institute, Carnegie Mellon University, August, 2021
Rapid Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel
Master's Thesis, Tech. Report, CMU-RI-TR-21-23, Robotics Institute, Carnegie Mellon University, August, 2021
Robust 3D reconstruction in noisy environments
Shirsendu Sukanta Halder
Master's Thesis, Tech. Report, CMU-RI-TR-21-40, Robotics Institute, Carnegie Mellon University, August, 2021
SLAM with Laser Profilers for High Definition Mapping in Confined Spaces
Daqian Cheng
Master's Thesis, Tech. Report, CMU-RI-TR-21-37, Robotics Institute, Carnegie Mellon University, August, 2021
T-HTN: Timeline based HTN Planning for Multi-Agent Systems
Viraj Parimi
Master's Thesis, Tech. Report, CMU-RI-TR-21-64, Robotics Institute, Carnegie Mellon University, August, 2021
The design of a compact laser scanner and an integrated simulation environment for smart manufacturing
Haowen Shi
Master's Thesis, Tech. Report, CMU-RI-TR-21-45, Robotics Institute, Carnegie Mellon University, August, 2021
Turning Behavior of Running Systems induced by Leg Placement
Aditya Sripada
Master's Thesis, Tech. Report, CMU-RI-TR-21-54, Robotics Institute, Carnegie Mellon University, August, 2021
Underground Representations for Robot Localization and Mapping
Alexander Baikovitz
Master's Thesis, Tech. Report, CMU-RI-TR-21-42, Robotics Institute, Carnegie Mellon University, August, 2021
Wind Farm Yaw Optimization and Real-Time Control Using Graph Neural Networks
Rockey Abram Hester V
Master's Thesis, Tech. Report, CMU-RI-TR-21-49, Robotics Institute, Carnegie Mellon University, August, 2021
Point Cloud Registration as a Classification Problem
Tejas Zodage
Master's Thesis, Tech. Report, CMU-RI-TR-21-47, Robotics Institute, Carnegie Mellon University, August, 2021
Towards Practical Ultrasound AI Across Real-World Patient Diversity
Edward Chen
Master's Thesis, Tech. Report, CMU-RI-TR-21-60, Robotics Institute, Carnegie Mellon University, August, 2021
Trust-Aware Behavior Reflection for Robot Swarm Self-Healing
Fan Jia
Master's Thesis, Tech. Report, CMU-RI-TR-21-41, Robotics Institute, Carnegie Mellon University, August, 2021
Ultrasound-based Needle Tracking and Lateral Manipulation Planning for Common Needle Steering
Wanwen Chen
Master's Thesis, Tech. Report, CMU-RI-TR-21-36, Robotics Institute, Carnegie Mellon University, August, 2021
Design of a Multimodal System for Social Emotional Learning in Early Childhood Classrooms
Michael Tasota
Master's Thesis, Tech. Report, CMU-RI-TR-21-50, Robotics Institute, Carnegie Mellon University, August, 2021
Exemplar-Free Video Retrieval
Phani Krishna Uppala
Master's Thesis, Tech. Report, CMU-RI-TR-21-56, Robotics Institute, Carnegie Mellon University, August, 2021
Towards Self-supervised Object Discovery and Tracking
Yiming Zuo
Master's Thesis, Tech. Report, CMU-RI-TR-21-28, Robotics Institute, Carnegie Mellon University, August, 2021
Adaptive and Efficient Models for Intent Recognition
Tejus Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-21-51, Robotics Institute, Carnegie Mellon University, August, 2021
On Visual-Aided LiDAR-Inertial Odometry System in Challenging Subterranean Environments
Hengrui Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-21-35, Robotics Institute, Carnegie Mellon University, August, 2021