2024
January
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Distance and Collision Probability Estimation from Gaussian Surface Models
Kshitij Goel and Wennie Tabib
arXiv preprint arXiv.2402.00186
Bibtex
DOI
Video
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2023
October
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Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models
Kshitij Goel and Wennie Tabib
IEEE Robotics and Automation Letters
Bibtex
DOI
Video
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2023
June
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GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel and Wennie Tabib
IEEE International Conference on Robotics and Automation
Bibtex
DOI
Video
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2023
May
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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
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2022
November
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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
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2022
November
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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
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2021
September
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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
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2021
June
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Decentralized Multi-Robot Planning in Dynamic 3D Workspaces
Arjav Desai and Nathan Michael
International Symposium on Distributed Autonomous Systems
Finalist - Best Paper Award
Bibtex
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2021
May
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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
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2021
May
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Linearization for Quadrotors with a Learned Acceleration Error Mode
Alex Spitzer and Nathan Michael
arXiv preprint arXiv: 2105.13527
Bibtex
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2021
March
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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
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2021
March
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Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments
Micah Corah and Nathan Michael
arXiv preprint arXiv: 2103.11625
Bibtex
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2020
October
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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
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2020
October
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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
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2020
October
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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
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2020
July
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MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Kumar Shaurya Shankar and Nathan Michael
Robotics: Science and Systems
Bibtex
DOI
Video
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2020
July
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Efficient Parametric Multi-Fidelity Surface Mapping
Aditya Dhawale and Nathan Michael
Robotics: Science and Systems
Bibtex
DOI
Video
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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
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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
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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
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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
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2019
June
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Inverting Learned Dynamics Models for Multirotor Control
Alex Spitzer and Nathan Michael
Robotics: Science and Systems
Bibtex
DOI
Video
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2019
June
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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
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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
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2019
May
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Persistent Multi-Robot Mapping in an Uncertain Environment
Derek Mitchell and Nathan Michael
IEEE International Conference on Robotics and Automation
Bibtex
DOI
Video
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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
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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
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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
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2019
April
|
Online adaptive teleoperation via motion primitives for mobile robots
Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael
Autonomous Robots
Bibtex
DOI
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2019
February
|
Efficient, Multifidelity Perceptual Representations via Hierarchical Gaussian Mixture Models
Shobhit Srivastava and Nathan Michael
IEEE Transactions on Robotics
Bibtex
DOI
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2019
February
|
Distributed matroid-constrained submodular maximization for multi-robot exploration: theory and practice
Micah Corah and Nathan Michael
Autonomous Robots
Bibtex
DOI
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2018
December
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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
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2018
December
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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
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2018
December
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Online planning for human--multi-robot interactive theatrical performance
Ellen A Cappo, Arjav Desai, Matthew Collins, and Nathan Michael
Autonomous Robots
Bibtex
DOI
Video
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2018
December
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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
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2018
November
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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
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2018
October
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On-manifold gmm registration
Wennie Tabib, Cormac O'Meadhra, and Nathan Michael
IEEE Robotics and Automation Letters
Bibtex
DOI
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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
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2018
October
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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
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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
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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
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2018
February
|
Environment model adaptation for mobile robot exploration
Erik Nelson, Micah Corah, and Nathan Michael
Autonomous Robots
Bibtex
DOI
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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
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2017
July
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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
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2017
July
|
Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment.
Micah Corah and Nathan Michael
Robotics: Science and Systems
Bibtex
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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
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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
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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
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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
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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
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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
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