Publications

2025 July	Decentralized Uncertainty-Aware Active Search with a Team of Aerial Robots Wennie Tabib, John Stecklein, McDowell Caleb, Goel Kshitij, Felix Jonathan, Abhishek Rathod, Meghan Kokoski, Edsel Burkholder, Brian Wallace, Luis Ernesto Navarro-Serment, Nikhil Angad Bakshi, Gupta, Norman Papernick, David Guttendorf, Erik E. Kahn, Jessica Kasemer, Jesse Holdaway, and Jeff Schneider IEEE International Symposium on Experimental Robotics (To Appear) Bibtex DOI Video
2024 November	Rapid Quadrotor Navigation in Diverse Environments using an Onboard Depth Camera Jonathan Lee, Abhishek Rathod, Kshitij Goel, John Stecklein, and Wennie Tabib IEEE International Symposium on Safety, Security, and Rescue Robotics Winner - Best Paper Award Bibtex DOI Video
2024 January	Distance and Collision Probability Estimation from Gaussian Surface Models Kshitij Goel and Wennie Tabib arXiv preprint arXiv.2402.00186 Bibtex DOI Video
2023 October	Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models Kshitij Goel and Wennie Tabib IEEE Robotics and Automation Letters Bibtex DOI Video
2023 June	GIRA: Gaussian Mixture Models for Inference and Robot Autonomy Kshitij Goel and Wennie Tabib IEEE International Conference on Robotics and Automation Bibtex DOI Video
2023 May	Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models Kshitij Goel, Nathan Michael, and Wennie Tabib IEEE Robotics and Automation Letters Bibtex DOI Video
2022 November	Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation Kshitij Goel, Yves Georgy Daoud, Nathan Michael, and Wennie Tabib IEEE International Symposium on Safety, Security, and Rescue Robotics Winner - Best Paper Award Bibtex DOI Video
2022 November	Collaborative Human-Robot Exploration via Implicit Coordination Yves Georgy Daoud, Kshitij Goel, Nathan Michael, and Wennie Tabib IEEE International Symposium on Safety, Security, and Rescue Robotics Bibtex DOI Video
2021 September	Autonomous Cave Surveying with an Aerial Robot Wennie Tabib, Kshitij Goel, John Yao, Curtis Boirum, and Nathan Michael IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award Honorable Mention Bibtex DOI Video
2021 March	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
2019 August	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 June	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 April	Variable Resolution Occupancy Mapping using Gaussian Mixture Models Cormac O'Meadhra, Wennie Tabib, and Nathan Michael IEEE Robotics and Automation Letters Bibtex DOI
2018 October	On-manifold gmm registration Wennie Tabib, Cormac O'Meadhra, and Nathan Michael IEEE Robotics and Automation Letters Bibtex DOI