Publications

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 October	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 arXiv preprint arXiv:2410.08507 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 June	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	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	Linearization for Quadrotors with a Learned Acceleration Error Mode Alex Spitzer and Nathan Michael arXiv preprint arXiv: 2105.13527 Bibtex
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
2021 March	Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments Micah Corah and Nathan Michael arXiv preprint arXiv: 2103.11625 Bibtex
2020 October	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	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	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	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	Efficient Parametric Multi-Fidelity Surface Mapping Aditya Dhawale and Nathan Michael Robotics: Science and Systems Bibtex DOI Video
2020 May	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	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	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	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	Inverting Learned Dynamics Models for Multirotor Control Alex Spitzer and Nathan Michael Robotics: Science and Systems Bibtex DOI Video
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 May	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	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	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	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	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	Online adaptive teleoperation via motion primitives for mobile robots Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael Autonomous Robots Bibtex DOI
2019 February	Efficient, Multifidelity Perceptual Representations via Hierarchical Gaussian Mixture Models Shobhit Srivastava and Nathan Michael IEEE Transactions on Robotics Bibtex DOI
2019 February	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	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	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	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	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	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	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	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	Environment model adaptation for mobile robot exploration Erik Nelson, Micah Corah, and Nathan Michael Autonomous Robots Bibtex DOI
2018 January	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	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	Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment. Micah Corah and Nathan Michael Robotics: Science and Systems Bibtex
2017 May	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	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	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	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