Publications

@article{9695258,

title = {Learning Connectivity-Maximizing Network Configurations},

author = {Daniel Mox and Vijay Kumar and Alejandro Ribeiro},

doi = {10.1109/LRA.2022.3146524},

year  = {2022},

date = {2022-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {7},

number = {2},

pages = {5552-5559},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9726858,

title = {Adaptive and Risk-Aware Target Tracking for Robot Teams With Heterogeneous Sensors},

author = {Siddharth Mayya and Ragesh K. Ramachandran and Lifeng Zhou and Vinay Senthil and Dinesh Thakur and Gaurav S. Sukhatme and Vijay Kumar},

doi = {10.1109/LRA.2022.3155805},

year  = {2022},

date = {2022-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {7},

number = {2},

pages = {5615-5622},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{XL:GN:FC:22,

title = {Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy},

author = {Xu Liu and Guilherme V. Nardari and Fernando Cladera Ojeda and Yuezhan Tao and Alex Zhou and Thomas Donnelly and Chao Qu and Steven W. Chen and Roseli A. F. Romero and Camillo J. Taylor and Vijay Kumar},

doi = {10.1109/LRA.2022.3154047},

year  = {2022},

date = {2022-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {7},

number = {2},

pages = {5512-5519},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{DM:AR:22,

title = {Learning Connectivity-Maximizing Network Configurations},

author = {Daniel Mox and Vijay Kumar and Alejandro Ribeiro},

doi = {10.1109/LRA.2022.3146524},

year  = {2022},

date = {2022-01-01},

journal = {IEEE Robotics and Automation Letters},

pages = {1-1},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9705188,

title = {Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture},

author = {Xu Liu and Steven W. Chen and Guilherme V. Nardari and Chao Qu and Fernando Cladera Ojeda and Camillo J. Taylor and Vijay Kumar},

doi = {10.1109/MM.2021.3134744},

year  = {2022},

date = {2022-01-01},

journal = {IEEE Micro},

volume = {42},

number = {1},

pages = {61-68},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{chen2022large,

title = {Large scale model predictive control with neural networks and primal active sets},

author = {Steven W Chen and Tianyu Wang and Nikolay Atanasov and Vijay Kumar and Manfred Morari},

year  = {2022},

date = {2022-01-01},

journal = {Automatica},

volume = {135},

pages = {109947},

publisher = {Pergamon},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{JW:JP:21,

title = {Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators},

author = {J. Welde and J. Paulos and V. Kumar},

doi = {10.1109/LRA.2021.3051572},

issn = {2377-3766},

year  = {2021},

date = {2021-04-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {3232-3239},

abstract = {In this work, we address the problem of planning dynamically feasible trajectories for underactuated aerial manipulators to achieve a desired trajectory for the end effector. We consider a quadrotor equipped with an arbitrary n-joint articulated arm. We show that the combined underactuated system is differentially flat, however the flat outputs do not correspond directly to the motion of the end effector. We therefore develop a method which determines the family of flat output trajectories which will exactly produce any desired task trajectory, even in the case of dynamic maneuvers. We also give criteria on the manipulator geometry which will ensure certain important stability properties, informing hardware design. The entire approach is demonstrated in simulation for systems of varying geometry and number of joints. The simultaneous resolution of the kinematic and dynamic constraints allows these tasks to be performed dynamically without sacrificing accuracy.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{MM:GP:AP:2021,

title = {Fair Robust Assignment Using Redundancy},

author = {M. Malencia and V. Kumar and G. Pappas and A. Prorok},

doi = {10.1109/LRA.2021.3067283},

issn = {2377-3766},

year  = {2021},

date = {2021-04-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {4217-4224},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9359470,

title = {Belief Space Planning for Mobile Robots With Range Sensors Using iLQG},

author = {Ke Sun and Vijay Kumar},

doi = {10.1109/LRA.2021.3060716},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {1902-1909},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9306897,

title = {Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements},

author = {Ke Sun and Brent Schlotfeldt and George J. Pappas and Vijay Kumar},

doi = {10.1109/TRO.2020.3042129},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Transactions on Robotics},

volume = {37},

number = {3},

pages = {979-995},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{saldana2021estimating,

title = {Estimating boundary dynamics using robotic sensor networks with pointwise measurements},

author = {David Saldana and Renato Assunçao and M Ani Hsieh and Mario FM Campos and Vijay Kumar},

year  = {2021},

date = {2021-01-01},

journal = {Autonomous Robots},

volume = {45},

number = {2},

pages = {193--208},

publisher = {Springer US},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{nguyen2021pennsyn2real,

title = {PennSyn2Real: Training Object Recognition Models without Human Labeling},

author = {Ty Nguyen and Ian D Miller and Avi Cohen and Dinesh Thakur and Arjun Guru and Shashank Prasad and Camillo J Taylor and Pratik Chaudhari and Vijay Kumar},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {3},

pages = {5032--5039},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Calvo-Fullana-Mox2021,

title = {ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators},

author = {M Calvo-Fullana and D Mox and A Pyattaev and J Fink and V Kumar and A Ribeiro},

doi = {10.1109/LRA.2021.3056347},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {1120-1127},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{GN:SC:XL:VK:21,

title = {Place Recognition in Forests With Urquhart Tessellations},

author = {G V Nardari and A Cohen and S W Chen and X Liu and V Arcot and R A F Romero and V Kumar},

doi = {10.1109/LRA.2020.3039217},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {279-286},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{IM:AC:SS:21,

title = {Any Way You Look at It: Semantic Crossview Localization and Mapping With LiDAR},

author = {I D Miller and A Cowley and R Konkimalla and S S Shivakumar and T Nguyen and T Smith and C J Taylor and V Kumar},

doi = {10.1109/LRA.2021.3061332},

year  = {2021},

date = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {2397-2404},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{liu2020tlio,

title = {TLIO: Tight Learned Inertial Odometry},

author = {Wenxin Liu and David Caruso and Eddy Ilg and Jing Dong and Anastasios I Mourikis and Kostas Daniilidis and Vijay Kumar and Jakob Engel},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {4},

pages = {5653--5660},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{svacha2020imu,

title = {IMU-Based Inertia Estimation for a Quadrotor Using Newton-Euler Dynamics},

author = {James Svacha and James Paulos and Giuseppe Loianno and Vijay Kumar},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {3},

pages = {3861--3867},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{lee2020experimental,

title = {Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping},

author = {Elijah S Lee and Giuseppe Loianno and Dinesh Thakur and Vijay Kumar},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {3259--3266},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{shishika2020cooperative,

title = {Cooperative team strategies for multi-player perimeter-defense games},

author = {Daigo Shishika and James Paulos and Vijay Kumar},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {2738--2745},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{miller2020mine,

title = {Mine Tunnel Exploration Using Multiple Quadrupedal Robots},

author = {Ian D Miller and Fernando Cladera and Anthony Cowley and Shreyas S Shivakumar and Elijah S Lee and Laura Jarin-Lipschitz and Akhilesh Bhat and Neil Rodrigues and Alex Zhou and Avraham Cohen and others},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {2840--2847},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{watterson2020trajectory,

title = {Trajectory optimization on manifolds with applications to quadrotor systems},

author = {Michael Watterson and Sikang Liu and Ke Sun and Trey Smith and Vijay Kumar},

year  = {2020},

date = {2020-01-01},

journal = {The International Journal of Robotics Research},

volume = {39},

number = {2-3},

pages = {303--320},

publisher = {SAGE Publications Sage UK: London, England},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{chen2020sloam,

title = {SLOAM: Semantic lidar odometry and mapping for forest inventory},

author = {Steven W Chen and Guilherme V Nardari and Elijah S Lee and Chao Qu and Xu Liu and Roseli Ap Francelin Romero and Vijay Kumar},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {612--619},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{gandhi2020self,

title = {Self-Reconfiguration in Response to Faults in Modular Aerial Systems},

author = {Neeraj Gandhi and David Salda{~n}a and Vijay Kumar and Linh Thi Xuan Phan},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {2522--2529},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{das2019cellular,

title = {Cellular expression through morphogen delivery by light activated magnetic microrobots},

author = {Sambeeta Das and Elizabeth E Hunter and Nicholas A DeLateur and Edward B Steager and Ron Weiss and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {Journal of Micro-Bio Robotics},

volume = {15},

number = {2},

pages = {79--90},

publisher = {Springer Berlin Heidelberg},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{saldana2019design,

title = {Design and control of aerial modules for inflight self-disassembly},

author = {David Saldana and Parakh M Gupta and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {4},

pages = {3410--3417},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{nguyen2019mavnet,

title = {Mavnet: An effective semantic segmentation micro-network for MAV-based tasks},

author = {Ty Nguyen and Shreyas S Shivakumar and Ian D Miller and James Keller and Elijah S Lee and Alex Zhou and Tolga Özaslan and Giuseppe Loianno and Joseph H Harwood and Jennifer Wozencraft and others},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {4},

pages = {3908--3915},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{guerrero2019realization,

title = {Realization of $ r $-Robust Formations in the Plane Using Control Barrier Functions},

author = {Luis Guerrero-Bonilla and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Control Systems Letters},

volume = {4},

number = {2},

pages = {343--348},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{panagou2019decentralized,

title = {Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions},

author = {Dimitra Panagou and Matthew Turpin and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Transactions on Automatic Control},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{hunter2019nanoliter,

title = {Nanoliter fluid handling for microbiology via levitated magnetic microrobots},

author = {Elizabeth E Hunter and Edward B Steager and Allen Hsu and Annjoe Wong-Foy and Ron Pelrine and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {2},

pages = {997--1004},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{kan2019analysis,

title = {Analysis of ground effect for small-scale UAVs in forward flight},

author = {Xinyue Kan and Justin Thomas and Hanzhe Teng and Herbert G Tanner and Vijay Kumar and Konstantinos Karydis},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {4},

pages = {3860--3867},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{hwang2019catalytic,

title = {Catalytic antimicrobial robots for biofilm eradication},

author = {Geelsu Hwang and Amauri J Paula and Elizabeth E Hunter and Yuan Liu and Alaa Babeer and Bekir Karabucak and Kathleen Stebe and Vijay Kumar and Edward Steager and Hyun Koo},

year  = {2019},

date = {2019-01-01},

journal = {Science robotics},

volume = {4},

number = {29},

publisher = {Science Robotics},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{svacha2019inertial,

title = {Inertial yaw-independent velocity and attitude estimation for high-speed quadrotor flight},

author = {James Svacha and Giuseppe Loianno and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {2},

pages = {1109--1116},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{baca2019autonomous,

title = {Autonomous landing on a moving vehicle with an unmanned aerial vehicle},

author = {Tomas Baca and Petr Stepan and Vojtech Spurny and Daniel Hert and Robert Penicka and Martin Saska and Justin Thomas and Giuseppe Loianno and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {Journal of Field Robotics},

volume = {36},

number = {5},

pages = {874--891},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{liu2019monocular,

title = {Monocular camera based fruit counting and mapping with semantic data association},

author = {Xu Liu and Steven W Chen and Chenhao Liu and Shreyas S Shivakumar and Jnaneshwar Das and Camillo J Taylor and James Underwood and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {3},

pages = {2296--2303},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{kennedy2019autonomous,

title = {Autonomous precision pouring from unknown containers},

author = {Monroe Kennedy and Karl Schmeckpeper and Dinesh Thakur and Chenfanfu Jiang and Vijay Kumar and Kostas Daniilidis},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {3},

pages = {2317--2324},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{spurny2019cooperative,

title = {Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles},

author = {Vojt{ě}ch Spurn{`y} and Tomáš Bá{č}a and Martin Saska and Robert P{ě}ni{č}ka and Tomáš Krajn{'i}k and Justin Thomas and Dinesh Thakur and Giuseppe Loianno and Vijay Kumar},

year  = {2019},

date = {2019-01-01},

journal = {Journal of Field Robotics},

volume = {36},

number = {1},

pages = {125--148},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{weinstein2018visual,

title = {Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors},

author = {Aaron Weinstein and Adam Cho and Giuseppe Loianno and Vijay Kumar},

year  = {2018},

date = {2018-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {3},

number = {3},

pages = {1801--1807},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}