Publications

2021
September
PDF Autonomous Cave Surveying with an Aerial Robot
Wennie Tabib, Kshitij Goel, John Yao, Curtis Boirum, and Nathan Michael
IEEE Transactions on Robotics
Bibtex DOI Video
2021
June
PDF Decentralized Multi-Robot Planning in Dynamic 3D Workspaces
Arjav Desai and Nathan Michael
International Symposium on Distributed Autonomous Systems
Finalist - Best Paper Award
Bibtex
2021
May
PDF An Intention Guided Hierarchical Framework for Trajectory-based Teleoperation of Mobile Robots
Xuning Yang, Jasmine Cheng, and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex
2021
May
PDF Linearization for Quadrotors with a Learned Acceleration Error Mode
Alex Spitzer and Nathan Michael
arXiv preprint arXiv: 2105.13527
Bibtex
2021
March
PDF Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel, Wennie Tabib, and Nathan Michael
International Symposium on Experimental Robotics
Bibtex DOI Video
2021
March
PDF Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments
Micah Corah and Nathan Michael
arXiv preprint arXiv: 2103.11625
Bibtex
2020
October
PDF Assisted Mobile Robot Teleoperation with Intent-aligned Trajectories via Biased Incremental Action Sampling
Xuning Yang and Nathan Michael
IEEE/RSJ International Conference on Intelligent Robots and Systems
Bibtex DOI Video
2020
October
PDF Data Driven Online Multi-Robot Formation Planning
Ellen A. Cappo, Arjav Desai, and Nathan Michael
IEEE/RSJ International Conference on Intelligent Robots and Systems
Bibtex DOI
2020
October
PDF Allocating Limited Sensing Resources to Accurately Map Dynamic Environments
Derek Mitchell and Nathan Michael
IEEE/RSJ International Conference on Intelligent Robots and Systems
Bibtex DOI
2020
July
PDF MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Kumar Shaurya Shankar and Nathan Michael
Robotics: Science and Systems
Bibtex DOI Video
2020
July
PDF Efficient Parametric Multi-Fidelity Surface Mapping
Aditya Dhawale and Nathan Michael
Robotics: Science and Systems
Bibtex DOI Video
2020
May
PDF Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees
Arjav Desai and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex DOI
2020
May
PDF Efficient Planning for High-Speed MAV Flight in Unknown Environments Using Online Sparse Topological Graphs
Matthew Collins and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex DOI
2019
August
PDF Simultaneous localization and mapping of subterranean voids with Gaussian Mixture Models
Wennie Tabib and Nathan Michael
Conference on Field and Service Robotics
Bibtex DOI
2019
August
PDF Fast exploration using multirotors: Analysis, planning, and experimentation
Kshitij Goel, Micah Corah, Curtis Boirum, and Nathan Michael
Conference on Field and Service Robotics
Bibtex DOI Video
2019
June
PDF Inverting Learned Dynamics Models for Multirotor Control
Alex Spitzer and Nathan Michael
Robotics: Science and Systems
Bibtex DOI Video
2019
June
PDF Real-time Information-Theoretic Exploration with Gaussian Mixture Model Maps
Wennie Tabib, Kshitij Goel, John Yao, Curtis Boirum, and Nathan Michael
Robotics: Science and Systems
Bibtex DOI Video
2019
May
PDF Efficient Kinodynamic Multi-Robot Replanning in Known Workspaces
Arjav Desai, Matthew Collins, and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex DOI Video
2019
May
PDF Persistent Multi-Robot Mapping in an Uncertain Environment
Derek Mitchell and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex DOI Video
2019
May
PDF RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry
Bo Fu, Kumar Shaurya Shankar, and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex DOI Video
2019
April
PDF Variable Resolution Occupancy Mapping using Gaussian Mixture Models
Cormac O'Meadhra, Wennie Tabib, and Nathan Michael
IEEE Robotics and Automation Letters
Bibtex DOI
2019
April
PDF Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments
Micah Corah, Cormac O'Meadhra, Kshitij Goel, and Nathan Michael
IEEE Robotics and Automation Letters
Bibtex DOI Video
2019
April
PDF Online adaptive teleoperation via motion primitives for mobile robots
Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael
Autonomous Robots
Bibtex DOI
2019
February
PDF Efficient, Multifidelity Perceptual Representations via Hierarchical Gaussian Mixture Models
Shobhit Srivastava and Nathan Michael
IEEE Transactions on Robotics
Bibtex DOI
2019
February
PDF Distributed matroid-constrained submodular maximization for multi-robot exploration: theory and practice
Micah Corah and Nathan Michael
Autonomous Robots
Bibtex DOI
2018
December
Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements
Moses Bangura, Xiaolei Hou, Guillaume Allibert, Robert Mahony, and Nathan Michael
IEEE Transactions on Robotics
Bibtex DOI
2018
December
PDF Leveraging experience for robust, adaptive nonlinear MPC on computationally constrained systems with time-varying state uncertainty
Vishnu R Desaraju, Alexander E Spitzer, Cormac O'Meadhra, Lauren Lieu, and Nathan Michael
The International Journal of Robotics Research
Bibtex DOI
2018
December
PDF Online planning for human--multi-robot interactive theatrical performance
Ellen A Cappo, Arjav Desai, Matthew Collins, and Nathan Michael
Autonomous Robots
Bibtex DOI Video
2018
December
PDF Distributed submodular maximization on partition matroids for planning on large sensor networks
Micah Corah and Nathan Michael
2018 IEEE Conference on Decision and Control (CDC)
Bibtex DOI
2018
November
PDF Fast and agile vision-based flight with teleoperation and collision avoidance on a multirotor
Alex Spitzer, Xuning Yang, John Yao, Aditya Dhawale, Kshitij Goel, Mosam Dabhi, Matt Collins, Curtis Boirum, and Nathan Michael
International Symposium on Experimental Robotics
Bibtex DOI Video
2018
October
PDF On-manifold gmm registration
Wennie Tabib, Cormac O'Meadhra, and Nathan Michael
IEEE Robotics and Automation Letters
Bibtex DOI
2018
October
Active range and bearing-based radiation source localization
Michael S Lee, Daniel Shy, William Red Whittaker, and Nathan Michael
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Bibtex DOI
2018
October
PDF Reactive collision avoidance using real-time local gaussian mixture model maps
Aditya Dhawale, Xuning Yang, and Nathan Michael
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Bibtex DOI Video
2018
September
State estimation and localization for ROV-based reactor pressure vessel inspection
Timothy E Lee and Nathan Michael
Field and Service Robotics
Bibtex DOI
2018
June
PDF Fast monte-carlo localization on aerial vehicles using approximate continuous belief representations
Aditya Dhawale, Kumar Shaurya Shankar, and Nathan Michael
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition
Bibtex DOI Video
2018
February
PDF Environment model adaptation for mobile robot exploration
Erik Nelson, Micah Corah, and Nathan Michael
Autonomous Robots
Bibtex DOI
2018
January
PDF Efficient prioritization in explicit adaptive NMPC through reachable-space search
Vishnu R Desaraju and Nathan Michael
2018 AIAA Guidance, Navigation, and Control Conference
Winner - Best Paper Award
Bibtex DOI
2017
July
PDF Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty.
Vishnu R Desaraju, Alexander Spitzer, and Nathan Michael
Robotics: Science and Systems
Bibtex
2017
July
PDF Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment.
Micah Corah and Nathan Michael
Robotics: Science and Systems
Bibtex
2017
May
PDF Leveraging experience for computationally efficient adaptive nonlinear model predictive control
Vishnu R Desaraju and Nathan Michael
2017 IEEE International Conference on Robotics and Automation (ICRA)
Bibtex DOI
2017
May
PDF A framework for efficient teleoperation via online adaptation
Xuning Yang, Koushil Sreenath, and Nathan Michael
2017 IEEE International Conference on Robotics and Automation (ICRA)
Bibtex DOI Video
2017
May
PDF Active estimation of mass properties for safe cooperative lifting
Micah Corah and Nathan Michael
2017 IEEE International Conference on Robotics and Automation (ICRA)
Bibtex DOI
2017
March
PDF Online Adaptive Teleoperation via Incremental Intent Modeling
Xuning Yang, Koushil Sreenath, and Nathan Michael
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
Bibtex DOI
2017
January
Anticipating Degradation in State Estimation Accuracy via Online Nonlinear Observability Analysis
Zheng Rong, Nathan Michael, and others
JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY 26(3)
Bibtex DOI
2017
January
Online Detection of State Estimator Performance Degradation via Efficient Numerical Observability Analysis
Zheng Rong, Nathan Michael, and others
JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY 26(2)
Bibtex DOI