publications

2024

1. AR

   Open-Set 3D Semantic Instance Maps for Vision Language Navigation — O3D-SIM

   Laksh Nanwani, Kumaraditya Gupta, Aditya Mathur, and 3 more authors

   AR, 2024
2. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics Automation Lett.

   AnyLoc: Towards Universal Visual Place Recognition

   Nikhil Varma Keetha, Avneesh Mishra, Jay Karhade, and 4 more authors

   RA-L, 2024
3. ECCV

   Revisit Anything: Visual Place Recognition via Image Segment Retrieval

   Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, and 2 more authors

   European Conference on Computer Vision (ECCV), 2024
4. ICRA

   Leveraging Cycle-Consistent Anchor Points for Self-Supervised RGB-D Registration

   Siddharth Tourani, Jayaram Reddy, Sarvesh Thakur, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024
5. IROS

   QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding

   Yash Mehan, Kumaraditya Gupta, Rohit Jayanti, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
6. IROS

   DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions

   Sanket Kalwar, Mihir Ungarala, Shruti Jain, and 4 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
7. IROS

   Imagine2Servo: Intelligent Visual Servoing with Diffusion-Driven Goal Generation for Robotic Tasks

   Pranjali Pathre, Gunjan Gupta, M. Nomaan Qureshi, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
8. IROS

   Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model

   Amith Manoharan, Aditya Sharma, Himani Belsare, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
9. IROS

   LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving

   Pranjal Paul, Anant Garg, Tushar Choudhary, and 2 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
10. IROS

    Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation

    Gaurav Singh, Sanket Kalwar, Md Faizal Karim, and 4 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
11. ICRA

    Talk2BEV: Language-enhanced Bird’s-eye View Maps for Autonomous Driving

    Vikrant Dewangan, Tushar Choudhary, Shivam Chandhok, and 6 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024
12. ICRA

    ATPPNet: Attention based Temporal Point Cloud Prediction Network

    Kaustab Pal, Aditya Sharma, Avinash Sharma, and 1 more author

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024
13. ICRA

    Anticipate & Act: Integrating LLMs and Classical Planning for Efficient Task Execution in Household Environments

    Raghav Arora, Shivam Singh, Karthik Swaminathan, and 6 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024
14. WACV

    LIP-Loc: LiDAR Image Pretraining for Cross-Modal Localization

    Sai Shubodh, Mohammad Omama, Husain Zaidi, and 2 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Winter Conference on Applications of Computer Vision (WACV), 2024
15. ICRA

    EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning

    Kallol Saha, Vishal Mandadi, Jayaram Reddy, and 5 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024
16. WACV

    FinderNet: A Data Augmentation Free Canonicalization Aided Loop Detection and Closure Technique for Point Clouds in 6-DOF Separation

    Sudarshan S, Harithas Gurkirat, Singh Aneesh Chavan, and 4 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Winter Conference on Applications of Computer Vision (WACV), 2024
17. ICRA

    AnyLoc: Towards Universal Visual Place Recognition

    Nikhil Keetha, Avneesh Mishra, Jay Karhade, and 4 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2024

2023

1. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/ASME Trans. on Mechatronics

   A Novel Hybrid Gripper Capable of Grasping and Throwing Manipulation

   Nagamanikandan Govindan, Bharadhwaj Ramachandran, Pasala Haasith Venkata Sai, and 1 more author

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/ASME Transactions on Mechatronics, 2023
2. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Conf. on Automation Sci. & Eng. (CASE)

   Disentangling Planning and Control for Non-prehensile Tabletop Manipulation

   Vishal Reddy Mandadi, Kallol Saha, Dipanwita Guhathakurta, and 7 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Automation Science and Engineering (CASE), 2023
3. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) RO-MAN

   CLIPGraphs: Multimodal Graph Networks to Infer Object-Room Affinities

   Ayush Agrawal, Raghav Arora, Ahana Datta, and 5 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) RO-MAN, 2023
4. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) RO-MAN

   Instance-Level Semantic Maps for Vision Language Navigation

   Laksh Nanwani, Anmol Agarwal, Kanishk Jain, and 7 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) RO-MAN, 2023
5. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) ACC

   UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps

   Sudarshan S Harithas, Ayyappa Swamy Thatavarthy, Gurkirat Singh, and 2 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) American Control Conference (ACC), 2023
6. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Joint Conf. on Neural Networks (IJCNN)

   Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution

   Prajwal Thakur, M. Nomaan Qureshi, Arun Kumar Singh, and 5 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Joint Conference on Neural Networks (IJCNN), 2023
7. Neural Information Proc. Syst. (NeurIPS)

   HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork

   Bipasha Sen, Gaurav Singh, Aditya Agarwal, and 3 more authors

   Neural Information Processing Systems (NeurIPS), 2023
8. Robotics: Sci. & Syst. (RSS)

   Conceptfusion: Open-set multimodal 3D mapping

   Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, and 13 more authors

   Robotics: Science and Systems (RSS), 2023
9. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/CVF Conf. on Computer Vision & Pattern Recognition (CVPR)

   Canonical Fields: Self-Supervised Learning of Pose-Canonicalized Neural Fields

   Rohith Agaram, Shaurya Dewan, Rahul Sajnani, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023
10. ICRA

    Ground then Navigate: Language-guided Navigation in Dynamic Scenes

    Kanishk Jain, Varun Chhangani, Amogh Tiwari, and 2 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2023
11. ICRA

    Sequence-Agnostic Multi-Object Navigation

    Nandiraju Gireesh, Ayush Agrawal, Ahana Datta, and 4 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2023
12. ICRA

    SCARP: 3D Shape Completion in Arbitrary Poses for Improved Grasping

    Bipasha Sen, Aditya Agarwal, Gaurav Singh, and 3 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2023
13. ICRA

    GDIP: Object-Detection in Adverse Weather Conditions Using Gated Differentiable Image Processing

    S Sanket Kalwar, Dhruv Patel, Aakash Aanegola, and 3 more authors

    ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), 2023
14. arXiv

    

    Conceptfusion: Open-set multimodal 3d mapping

    Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, and 13 more authors

    In RSS 2023, Feb 2023

    Abs DOI HTML PDF Video

    

    Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting: they can only reason about a finite set of concepts, pre-defined at training time. Further, these maps can only be queried using class labels, or in more recent work, using text prompts. We address both these issues with ConceptFusion, a scene representation that is: (i) fundamentally open-set, enabling rea- soning beyond a closed set of concepts (ii) inherently multi- modal, enabling a diverse range of possible queries to the 3D map, from language, to images, to audio, to 3D geometry, all working in concert. ConceptFusion leverages the open-set capabilities of today’s foundation models that have been pre- trained on internet-scale data to reason about concepts across modalities such as natural language, images, and audio. We demonstrate that pixel-aligned open-set features can be fused into 3D maps via traditional SLAM and multi-view fusion approaches. This enables effective zero-shot spatial reasoning, not needing any additional training or finetuning, and retains long-tailed concepts better than supervised approaches, outperforming them by more than 40% margin on 3D IoU. We extensively evaluate ConceptFusion on a number of real-world datasets, simulated home environments, a real-world tabletop manipulation task, and an autonomous driving platform. We showcase new avenues for blending foundation models with 3D open-set multimodal mapping. We encourage the reader to view the demos on our project page: https://concept-fusion.github.io

2022

1. Sensors

   Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution

   Shashank Srikanth, Mithun Babu, Houman Masnavi, and 3 more authors

   Sensors, Feb 2022
2. Frontiers Robotics AI

   Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems

   Dipanwita Guhathakurta, Fatemeh Rastgar, Aditya Sharma, and 2 more authors

   Frontiers Robotics AI, Feb 2022
3. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics Autom. Lett.

   Multi-Modal Model Predictive Control Through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving

   Vivek K. Adajania, Aditya Sharma, Anish Gupta, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics Autom. Lett., Feb 2022
4. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Trans. Control. Syst. Technol.

   Solving Chance-Constrained Optimization Under Nonparametric Uncertainty Through Hilbert Space Embedding

   Bharath Gopalakrishnan, Arun Kumar Singh, K. Madhava Krishna, and 1 more author

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Trans. Control. Syst. Technol., Feb 2022
5. ICRA

   CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning

   Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh, and 2 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2022
6. arXiv, submitted to ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)-IROS

   ReF – Rotation Equivariant Features for Local Feature Matching

   Abhishek Peri, Kinal Mehta, Avneesh Mishra, and 3 more authors

   arXiv, submitted to ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)-IROS, Feb 2022
7. ACC

   Learning Actions for Drift-Free Navigation in Highly Dynamic Scenes

   Mohd Omama, Sundar V. S. Sripada, Sandeep Chinchali, and 1 more author

   In American Control Conference (ACC), Feb 2022

2021

1. ICRA

   DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects

   Rahul Sajnani, Aadil Mehdi Sanchawala, Krishna Murthy Jatavallabhula, and 2 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2021
2. IROS

   RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing

   Mohammad Nomaan Qureshi, Pushkal Katara, Abhinav Gupta, and 6 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2021
3. IROS

   Modular Pipe Climber III with Three-Output Open Differential

   Rama Vadapalli, Saharsh Agarwal, Vishnu Kumar, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2021
4. IROS

   RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching

   Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, and 4 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2021
5. IROS

   Grounding Linguistic Commands to Navigable Regions

   Nivedita Rufus, Kanishk Jain, Unni Krishnan R Nair, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2021
6. IROS

   RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments

   Karnik Ram, Chaitanya Kharyal, Sudarshan S. Harithas, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2021
7. ACM ICVGIP

   RackLay: Monocular Multi-Layered Layout Estimation for Warehouses with Sim2Real Transfer

   Meher Shashwat Nigam, Avinash Prabhu, Anurag Sahu, and 5 more authors

   In ACM ICVGIP, Feb 2021
8. ECC

   Probabilistic Inverse Velocity Obstacle for Free Flying Quadrotors

   Ishaan Khare, Jyotish Poonganam, Bharath Gopalakrishnan, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) European Control Conference (ECC), Feb 2021
9. ECC

   Non-Holonomic Collision Avoidance under Non-Parametric Uncertainty: A Hilbert Space Approach

   Unni Krishnan R Nair, Anish Gupta, D. A. Sasi Kiran, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) European Control Conference (ECC), Feb 2021
10. ECC

    Incorporating Prediction in Control Barrier Function Based Distributive Multi-Robot Collision Avoidance

    Pravin Mali, K. Harikumar, Arun Kumar Singh, and 2 more authors

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) European Control Conference (ECC), Feb 2021
11. VISAPP

    Multi-View Planarity Constraints for Skyline Estimation from UAV Images in City Scale Urban Environments

    Ayyappa Swamy Thatavarthy, Tanu Sharma, Harshit Sankhla, and 2 more authors

    In International Conference on Computer Vision Theory and Applications (VISAPP), Feb 2021
12. VISAPP

    Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments

    Satyajit Tourani, Dhagash Desai, Udit Singh Parihar, and 4 more authors

    In International Conference on Computer Vision Theory and Applications (VISAPP), Feb 2021
13. VISAPP

    BirdSLAM: Monocular Multibody SLAM in Bird’s-Eye View

    Swapnil Daga, Gokul B. Nair, Anirudha Ramesh, and 3 more authors

    In International Conference on Computer Vision Theory and Applications (VISAPP), Feb 2021
14. CRV

    A new geometric approach for three view line reconstruction and motion estimation in Manhattan Scenes

    Ayyappa Swamy Thatavarthy, Tanu Sharma, and K. Madhava Krishna

    In Conference on Robots and Vision (CRV), Feb 2021
15. CRV

    Building Facades to Normal Maps: Adversarial Learning from Single View Images

    Mukul Khanna, Tanu Sharma, Ayyappa Swamy Thatavarthy, and 1 more author

    In Conference on Robots and Vision (CRV), Feb 2021
16. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)

    Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism

    Vishnu Kumar, Saharsh Agarwal, Rama Vadapalli, and 2 more authors

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Feb 2021

2020

1. ICRA

   Bi-Convex Approximation of Non-Holonomic Trajectory Optimization

   Arun Kumar Singh, Raghu Ram Theerthala, Mithun Babu, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2020
2. ICRA

   Omnidirectional Tractable Three Module Robot

   Kartik Suryavanshi, Rama Vadapalli, Ruchitha Vucha, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2020
3. ICRA

   DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing

   Y V S Harish, Harit Pandya, Ayush Gaud, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2020
4. ICRA

   Topological Mapping for Manhattan-like Repetitive Environments

   Sai Shubodh Puligilla, Satyajit Tourani, Tushar Vaidya, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2020
5. RAL+ICRA

   Reactive Navigation under Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles

   SriSai Naga Jyotish Poonganam, Bharath Gopalakrishnan, Venkata Seetharama Sai Bhargav Kumar Avula, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics and Automation Letters (RAL) + ICRA, Feb 2020
6. WACV

   MonoLayout: Amodal scene layout from a single image

   Kaustubh Mani, Swapnil Daga, Shubhika Garg, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Winter Conference on Applications of Computer Vision (WACV), Feb 2020

2019

1. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics & Automation Lett.

   Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles

   SriSai Naga Jyotish Poonganam, Bharath Gopalakrishnan, Venkata Seetharama Sai Bhargav Kumar Avula, and 3 more authors

   ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Robotics and Automation Letters, Feb 2019
2. Robotica

   Design of a Robust Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs

   Ajinkya Bhole, Sri Harsha Turlapati, Rajashekhar V.S Jay Dixit, and 2 more authors

   Robotica, Feb 2019
3. J. Field Robotics

   Instance Invariant Visual Servoing Framework for Part-Aware Autonomous Vehicle Inspection using MAVs

   Harit Pandya, Ayush Gaud, Gourav Kumar, and 1 more author

   Journal of Field Robotics, Feb 2019
4. IROS

   INFER: INtermediate representations for FuturE pRediciton

   Shashank Srinkanth, Junaid Ahmed Ansari, R. Karnik Ram, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2019
5. IROS

   Talk to the Vehicle: Language Conditioned Autonomous Navigation of Self Driving Cars

   Sriram N. N., Tirth Maniar, Jayaganesh Kalyanasundaram, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2019

2018

1. ICRA

   MergeNet: A Deep Net Architecture for Small Obstacle Discovery

   Krishnam Gupta, Syed Ashar Javed, Vineet Gandhi, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2018
2. ICRA

   

   Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking

   Sarthak Sharma, Junaid Ahmed Ansari, J. Krishna Murthy, and 1 more author

   In 2018 IEEE International Conference on Robotics and Automation (ICRA), Feb 2018

   Abs DOI HTML PDF Video

   

   This paper introduces geometry and object shape and pose costs for multi-object tracking in urban driving scenarios. Using images from a monocular camera alone, we devise pairwise costs for object tracks, based on several 3D cues such as object pose, shape, and motion. The proposed costs are agnostic to the data association method and can be incorporated into any optimization framework to output the pairwise data associations. These costs are easy to implement, can be computed in real-time, and complement each other to account for possible errors in a tracking-by-detection framework. We perform an extensive analysis of the designed costs and empirically demonstrate consistent improvement over the state-of-the-art under varying conditions that employ a range of object detectors, exhibit a variety in camera and object motions, and, more importantly, are not reliant on the choice of the association framework. We also show that, by using the simplest of associations frameworks (two-frame Hungarian assignment), we surpass the state-of-the-art in multi-object-tracking on road scenes. More qualitative and quantitative results can be found at https://junaidcs032.github.io/Geometry_ObjectShape_MOT/.

3. ICRA

   Constructing Category-Specific Models for Monocular Object-SLAM

   Parv Parkhiya, Rishabh Khawad, J. Krishna Murthy, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2018
4. IROS

   Towards View-Invariant Intersection Recognition from Videos using Deep Network Ensembles

   Abhijeet Kumar, Gunshi Gupta, Avinash Sharma, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2018
5. IROS

   The Earth ain’t Flat: Monocular Reconstruction of Vehicles on Steep and Graded Roads from a Moving Camera

   Junaid Ahmed Ansari, Sarthak Sharma, Anshuman Majumdar, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2018
6. IROS

   Image Based Visual Servoing for Tumbling Objects

   Mithun P, Harit Pandya, Ayush Gaud, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2018
7. IV

   Overtaking Maneuvers in Simulated Highway Driving using Deep Reinforcement Learning

   Meha Kaushik, Vignesh Prasad, K. Madhava Krishna, and 1 more author

   In IV, Feb 2018
8. IV

   Fast Multi Model Motion Segmentation on Road Scenes

   Mahtab Sandhu, Nazrul Haque, Avinash Sharma, and 2 more authors

   In IV, Feb 2018
9. IV

   A Novel Lane Merging Framework with Probabilistic Risk based Lane Selection using Time Scaled Collision Cone

   A. V. S. Sai Bhargav Kumar, Adarsh Modh, Mithun Babu, and 2 more authors

   In IV, Feb 2018
10. ECC

    Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone

    Mithun Babu, Yash Oza, Arun Kumar Singh, and 1 more author

    In ECC, Feb 2018
11. ISR

    Learning Multi-Goal Inverse Kinematics in Humanoid Robot

    S Phaniteja, Parijat Dewangan, Abhishek Sarkar, and 1 more author

    In ISR, Feb 2018

2017

1. Robotics & Autonomous Syst.

   Reactionless visual servoing of a multi-arm space robot combined with other manipulation tasks

   AH Abdul Hafez, Mithun P, Suril V Shah, and 1 more author

   Robotics and Autonomous Systems, Feb 2017
2. J. Guidance, Control, & Dynamics

   Reactionless Maneuvering of a Space Robot in Precapture Phase

   F James, SV Shah, AK Singh, and 2 more authors

   Journal of Guidance, Control, and Dynamics, Feb 2017
3. ICRA

   Detecting, Localizing, and Recognizing Trees with a Monocular MAV: Towards Preventing Deforestation

   Utsav Shah, Rishabh Khawad, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2017
4. ICRA

   Reconstructing Vehicles from a Single Image: Shape Priors for Road Scene Understanding

   J Krishna Murthy, G Sai Krishna, Falak Chaya, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2017
5. ICRA

   Detachable Modular Robot capable of Cooperative Climbing and Multi Agent Exploration

   Sri Harsha, Ankur Srivastava, Suril Shah, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2017
6. ICRA

   Exploring Convolutional Networks for End-to-End Visual Servoing

   Harit Pandya, Aseem Saxena, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2017
7. IROS

   Shape Priors for Real-Time Monocular Object Localization in Dynamic Environments

   J. Krishna Murthy, Sarthak Sharma, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017
8. IROS

   PRVO: Probabilistic Reciprocal Velocity Obstacle for Multi Robot Navigation under Uncertainty

   Bharath Gopalakrishnan, Arun Kumar Singh, Meha Kaushik, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017
9. IROS

   Pose Induction for Visual Servoing to a Novel Object Instance

   Gourav Kumar, Harit Pandya, Ayush Gaud, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017
10. IROS

    Multi-trajectory Pose Correspondences using Scale-dependent Topological Analysis of Pose-Graphs

    Sayantan Datta, Avinash Sharma, and K Madhava Krishna

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017
11. IROS

    Have I Reached the Intersection

    Danish Sodhi, Dhaivat Bhatt, Arghya Pal, and 2 more authors

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017
12. IROS

    COCrIP: Compliant OmniCrawler In-pipeline Robot

    Akash Singh, Enna Sachdeva, Abhishek Sarkar, and 1 more author

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2017

2016

1. Robotica

   An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization

   Avinash Siravuru, Suril V Shah, and K. Madhava Krishna

   Robotica, Feb 2016
2. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Conf. on Decision & Contr. (CDC)

   SLAM Pose-graph Robustification via Multi-scale Heat-Kernel Analysis

   Sayantan Datta, Avinash Sharma, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Conference on Decision and Control (CDC), Feb 2016
3. ICRA

   Rolling Shutter and Motion Blur Removal for Depth Cameras

   Siddharth Tourani, Sudhanshu Mittal, Akhil Nagariya, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2016
4. ICRA

   Plantation Monitoring and Yield Estimation using Autonomous Quadcopter for Precision Agriculture

   Vishakh Duggal, Mohak Sukhwani, Kumar Bipin, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2016
5. ICRA

   Monocular Reconstruction of Vehicles: Combining SLAM with Shape Priors

   Falak Chhaya, Dinesh Reddy, Sarthak Upadhyay, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2016
6. ICRA

   Discriminative Learning based Visual Servoing across Object Instances

   Harit Pandya, K. Madhava Krishna, and C. V. Jawahar

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2016
7. ICVGIP

   DeepFly: Towards Complete Autonomous Navigation of MAVs with Monocular Camera

   Utsav Shah, Rishabh Khawad, and K. Madhava Krishna

   In ICVGIP, Feb 2016
8. ICVGIP

   Hierarchical Structured Learning for Indoor Autonomous Navigation of Quadcopter

   Vishakh Duggal, Kumar Bipin, Utsav Shah, and 1 more author

   In ICVGIP, Feb 2016
9. ICVGIP

   Fast Frontier Detection for Monocular SLAM

   Sarthak Upadhyay, K. Madhava Krishna, and Swagat Kumar

   In ICVGIP, Feb 2016
10. ICVGIP

    CRF based method for Curb Detection using semantic cues and stereo depth

    Danish Sodhi, Dhaivat Bhat, Sarthak Upadhyay, and 1 more author

    In ICVGIP, Feb 2016

2015

1. J. Intelligent & Robotic Syst.

   Using In-Frame Shear Constraints for Monocular Motion Segmentation Of Rigid Bodies

   Siddharth Tourani, and K Madhava Krishna

   Journal of Intelligent and Robotic Systems, Feb 2015
2. RAS

   Feasible acceleration count: A novel dynamic stability metric and its use in incremental motion planning on uneven terrain

   Arun Kumar Singh, and K. Madhava Krishna

   RAS, Feb 2015
3. Autonomous Robots

   Planning non-holonomic stable trajectories on uneven terrain through non-linear time scaling

   Arun Kumar Singh, K. Madhava Krishna, and Srikanth Saripalli

   Autonomous Robots, Feb 2015
4. IROS

   Dynamic Body VSLAM with Semantic Constraints

   Dinesh Reddy Narapureddy, Prateek Singhal, Visesh Chari, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2015
5. IROS

   Closed Form Characterization of Collision Free Velocities and Confidence Bounds for Non-holonomic robots in Uncertain Dynamic Environments

   Arun Kumar Singh, Bharath Gopalakrishnan, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2015
6. IROS

   A Class of Non-Linear Time Scaling Functions For Smooth Time Optimal Control Along Specified Paths

   Arun Kumar Singh, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2015
7. IROS

   Stair Climbing Using a Compliant Modular Robot

   Sri Harsha Turlapati, Mihir Shah, Phani Teja Singamaneni, and 3 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2015
8. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Conf. on Decision & Contr. (CDC)

   Mobile robot navigation amidst humans with intents and uncertainties: A time scaled collision cone approach

   Akhil Nagariya, Bharath Gopalakrishnan, Arun Kumar Singh, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Conference on Decision and Control (CDC), Feb 2015
9. ICRA

   Servoing Across Object Instances: Visual Servoing for Object Category

   Harit Pandya, K. Madhava Krishna, and C. V. Jawahar

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2015
10. ICRA

    Autonomous Navigation of Generic Monocular Quadcopter in Natural Environment

    Kumar Bipin, Vishakh Duggal, and K. Madhava Krishna

    In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2015

2014

1. ICRA

   A Compliant Multi-module Robot for Climbing Big Step-like Obstacle

   S. Avinash, A. Srivastava, A. Purohit, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2014
2. ICRA

   Posture Control of a Three-Segmented Tracked Robot with Torque Minimization During Step Climbing

   Sartaj Singh, Babu D Jadhav, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2014
3. IROS

   Time Scaled Collision Cone based Trajectory Optimization Approach for Reactive Planning in Dynamic Environments

   Bharath Gopalakrishnan, Arun Kumar Singh, and Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2014
4. ICRA

   Reactionless Visual Servoing of a Dual-Arm Space Robot

   H. Abdul Hafez, V. V. Anurag, S. V. Shah, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2014
5. ICRA

   Markov Random Field based Small Obstacle Discovery over Images

   Suryansh Kumar, M. Siva Karthik, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2014
6. ICVGIP

   CRF Based Frontier Detection using Monocular Camera

   Sarthak Upadhyay, Suryansh Kumar, and K. Madhava Krishna

   In ICVGIP, Feb 2014
7. ICVGIP

   Guess from Far, Recognize when Near: Searching the Floor for Small Objects

   M. Siva Karthik, Sudhanshu Mittal, and K. Madhava Krishna

   In ICVGIP, Feb 2014
8. ICVGIP

   Semantic Motion Segmentation Using Dense CRF Formulation

   N. Dinesh Reddy, Prateek Singhal, and K. Madhava Krishna

   In ICVGIP, Feb 2014
9. ICVGIP

   Top Down Approach to Detect Multiple Planes from Pair of Images

   Prateek Singhal, Aditya Deshpande, Harit Pandya, and 2 more authors

   In ICVGIP, Feb 2014
10. ICPR

    Small Object Discovery and Recognition using Actively Guided Robot

    Sudhanshu Mittal, M. Siva Karthik, Suryansh Kumar, and 1 more author

    In ICPR, Feb 2014

2013

1. AR J.

   A Simulation Framework for Evolution on Uneven Terrains for Synchronous Drive Robot

   G Aditya, Vijay Eathakota, Arun K Singh, and 1 more author

   AR Journal, Feb 2013
2. ICRA

   Multibody VSLAM with Relative Scale Solution for Curvilinear Motion Reconstruction

   Rahul Namdev, K Madhava Krishna, and C V Jawahar

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2013
3. AAMAS

   Optimization Based Coordinated UGV-MAV Exploration for 2D Augmented Mapping

   Ayush Dewan, Aravindh Mahendran, Nikhil Soni, and 1 more author

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Feb 2013
4. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Conf. on Decision & Contr. (CDC)

   Reactive Collision Avoidance for Multiple Robots by Non Linear Time Scaling

   Arun K Singh, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Decision and Control (CDC), Feb 2013
5. IROS

   Coordinating Mobile Manipulator’s Motion to produce Stable Trajectories on Uneven Terrain based on Feasible Acceleration Count

   Arun K. Singh, and K. Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2013
6. IROS

   Heterogeneous UGV-MAV Exploration Using Integer Programming

   Ayush Dewan, Aravindh Mahendran, Nikhil Soni, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2013
7. IROS

   Visual Localization in Highly Crowded Urban Environment

   H. Abdul Hafez, Manpreet S. Arora, K. Madhava Krishna, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2013

2012

1. ICRA

   Motion Segmentation of Multiple Objects from a Freely Moving Monocular Camera

   Rahul Namdev, K Madhava Krishna, and C V Jawahar

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Feb 2012
2. IROS

   Planning Trajectories on Uneven Terrain using Optimization and Non-Linear time Scaling Techniques

   Arun Kumar Singh, K. Madhava Krishna, and Srikanth Saripalli

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2012
3. ICVGIP

   A Bayes Filter based Adaptive Floor Segmentation with Homography and Appearance Cues

   Suryansh Kumar, Ayush Dewan, and K. Madhava Krishna

   In ICVGIP, Feb 2012
4. ICVGIP

   Viewpoint based Mobile Robotic Exploration aiding Object Search in Indoor Environment

   Karthik Desingh, Akhil Nagariya, and K. Madhava Krishna

   In ICVGIP, Feb 2012
5. CASE

   Fast Randomized Planner for SLAM Automation

   Amey Parulkar, Piyush Shukla, and K. Madhava Krishna

   In CASE, Feb 2012
6. IROS

   Planning Trajectories on Uneven Terrain using Optimization and Non-Linear time Scaling Techniques

   Arun Kumar Singh, K. Madhava Krishna, and Srikanth Saripalli

   In IROS, Feb 2012
7. CASE

   Multi-Robot Exploration with Communication Requirement to a Moving Base Station

   Romit Pandey, Arun Kumar Singh, and K. Madhava Krishna

   In CASE, Feb 2012

2011

1. Acta Astronautica

   Two Models of Force Actuator based Active Suspension Mechanisms for Mobility on Uneven Terrain

   Vijay P Eathakota, A K Singh, and K Madhava Krishna

   Acta Astronautica, Feb 2011
2. Int. Conf. on Computer Vision (ICCV)

   Realtime Multibody Visual SLAM with a Smoothly Moving Monocular Camera

   Abhijit Kundu, K Madhava Krishna, and C V Jawahar

   In International Conference on Computer Vision (ICCV), Feb 2011

   Oral presentation
3. IROS

   Quasi-Static Motion Planning on Uneven Terrain for a wheeled mobile robot

   Vijay Eathakota, G Aditya, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2011
4. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Conf. on Decision & Contr.

   Planning Stable Trajectory on Uneven Terrain based on Feasible Acceleration Count

   Arun K Singh, K Madhava Krishna, and Vijay Eathakota

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Decision and Control, Feb 2011
5. IFTOMM World Congress

   Quasi-Static Simulation of a Wheeled Mobile Robot having a Passive Variable Camber

   Vijay Eathakota, G Aditya, and K. Madhava Krishna

   In IFTOMM World Congress, Feb 2011

2010

1. Robotics & Autonomous Syst.

   Motion in Ambiguity: Coordinated Active Global Localization for Multiple Robots

   Shivudu Bhuvanagiri, and K. Madhava Krishna

   Robotics and Autonomous Systems, Feb 2010
2. IROS

   A Two-Phase Recursive Tree Propagation based Framework for Multi-Robotic Exploration with Fixed Base Station Constraint

   Piyoosh Muhija, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2010
3. IROS

   An Adaptive Outdoor Terrain Classification Methodology using Monocular Camera

   Chetan Jakkoju, K Madhava Krishna, and C V Jawahar

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2010
4. IROS

   A Visual Exploration Algorithm using Semantic Cues that Constructs Image based Hybrid Maps

   Aravindhan Krishnan, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2010
5. IROS

   A Novel Compliant Rover for Rough Terrain Mobility

   A K Singh, Vijay P Eathakota, R K Namdev, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2010
6. AAMAS

   Autonomous Image Based Exploration for Indoor Environments using Local Features

   Aravindhan Krishnan, and K Madhava Krishna

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Feb 2010

   Short paper
7. AAMAS

   Multi Robotic Exploration with Communication Requirement to a Fixed Base Station

   Piyoosh Mukhija, Rahul Sawhney, and K Madhava Krishna

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Feb 2010

   Short paper

2009

1. Springer J. Intelligent Service Robotics

   Towards Load Balanced Decongested Multi Robotic Traffic Control at Intersections

   Karthikeya Viswanath, and K. Madhava Krishna

   Springer Journal of Intelligent Service Robotics, Mar 2009
2. IROS

   

   Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot

   Abhijit Kundu, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2009

   Abs DOI HTML PDF

   

   The ability to detect, and track multiple moving objects like person and other robots, is an important prerequisite for mobile robots working in dynamic indoor environments. We approach this problem by detecting independently moving objects in image sequence from a monocular camera mounted on a robot. We use multi-view geometric constraints to classify a pixel as moving or static. The first constraint, we use, is the epipolar constraint which requires images of static points to lie on the corresponding epipolar lines in subsequent images. In the second constraint, we use the knowledge of the robot motion to estimate a bound in the position of image pixel along the epipolar line. This is capable of detecting moving objects followed by a moving camera in the same direction, a so-called degenerate configuration where the epipolar constraint fails. To classify the moving pixels robustly, a Bayesian framework is used to assign a probability that the pixel is stationary or dynamic based on the above geometric properties and the probabilities are updated when the pixels are tracked in subsequent images. The same framework also accounts for the error in estimation of camera motion. Successful and repeatable detection and pursuit of people and other moving objects in realtime with a monocular camera mounted on the Pioneer 3DX, in a cluttered environment confirms the efficacy of the method.

3. AAMAS

   On Fast Exploration in 2D and 3D Terrains with Multiple robots

   Rahul Sawhney, and K Madhava Krishna

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Oct 2009
4. CASE

   MDP based Active Localization for multiple robots

   Jyotika Bahuguna, B Ravindran, and K. Madhava Krishna

   In CASE, Oct 2009

   to appear
5. ICAR

   On Measurement Models for Line Segments and Point Based SLAM

   Satish Pedduri, Gururaj Kosuru, K. Madhava Krishna, and 1 more author

   In ICAR, Oct 2009
6. ICAR

   Estimating Ground and Other Planes from a Single Tilted Laser Range Finder for On-Road Driving

   Yasovardhan E Reddy, Hemanth Korrapati, and K. Madhava Krishna

   In ICAR, Oct 2009

2008

1. AAMAS

   Reduced time fault tolerant paths for Multi-UAV coverage of 3D Terrains

   Rahul Sawhney, Mahesh Mohan, K Srinathan, and 1 more author

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Oct 2008
2. AAMAS

   Coordination in Ambiguity: Actively Localizing Multiple Robots

   Shivudu B, and K M Krishna

   In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Oct 2008
3. IROS

   Covering Hostile Terrains with Partial and Complete Visibilities: On Minimum Distance Paths

   Mahesh Mohan, Rahul Sawhney, K Madhava Krishna, and 2 more authors

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2008
4. IROS

   On-line Convex Optimization based Solution for Mapping in VSLAM

   H. Abdul Hafez, S Bhuvanagiri, K Madhava Krishna, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2008
5. IROS

   Coordinated Active Global Localization for Multiple Robots by Disambiguating Multiple Hypotheses

   S Bhuvanagiri, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2008
6. ROBIO

   Global Localization of Mobile Robots by Reverse Projection of Sensor Readings

   Hemanth Korrapati, K. Madhava Krishna, and Aditya Teja

   In ROBIO, Oct 2008
7. ROBIO

   A Mixed Autonomy Coordination Methodology For Multi-Robotic Traffic Control

   Aditya V Teja, D V Karthikeya Viswanath, and K. Madhava Krishna

   In ROBIO, Oct 2008
8. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ Int. Conf. on Robotics & Biomimetics (ROBIO)

   Sensor Based Localization for Mobile Robots by Exploration and Selection of Best Direction

   Rakesh Goyal, K. Madhava Krishna, and Shivudu Bhuvanagiri

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Robotics and Biomimetics (ROBIO), Oct 2008

   accepted
9. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ Int. Conf. on Robotics & Biomimetics (ROBIO)

   Multi-target Detection by Multi-sensor Systems: A Comparison of Systems

   Ganesh P Kumar, K. Madhava Krishna, and P Menezes

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Robotics and Biomimetics (ROBIO), Oct 2008

   accepted

2007

1. LNCIS

   Link Graph and Feature Chain based Robust Online SLAM for Fully Autonomous Mobile Robot Navigation System using Sonar Sensors

   A K Pandey, and K Madhava Krishna

   Oct 2007
2. Int. Joint Conf. on Artificial Intelligence (IJCAI)

   Integrating features onto an occupancy grid for sonar based safe mapping

   A K Pandey, and K Madhava Krishna

   In International Joint Conference on Artificial Intelligence (IJCAI), Oct 2007
3. Int. Joint Conf. on Artificial Intelligence (IJCAI)

   Optimal Multi Target Detection by Multiple Sensors by Moving to the Maximal Clique in a Covering Graph

   Ganesh P Kumar, and K Madhava Krishna

   In International Joint Conference on Artificial Intelligence (IJCAI), Oct 2007

   Oral presentation
4. ICAR 2007

   Link Graph and Feature Chain based Robust Online SLAM for Fully Autonomous Mobile Robot Navigation System using Sonar Sensors

   A K Pandey, and K. Madhava Krishna

   In ICAR 2007, Oct 2007
5. ICAR 2007

   Collision Avoidance for Multiple Robots through Collision Free Paths till Next Waypoints from Collision Free Polygons

   Satish Pedduri, and K. Madhava Krishna

   In ICAR 2007, Oct 2007
6. ICAR 2007

   Sensor Network Mediated Multi Robotic Traffic Control in Indoor Environments

   Karthikeya Viswanath, and K. Madhava Krishna

   In ICAR 2007, Oct 2007
7. ICAR 2007

   Active Localization of Multiple Robots by Moving to Best Frontiers

   Shivudu Bhuvanagiri, K. Madhava Krishna, and Rakesh Goyal

   In ICAR 2007, Oct 2007
8. ICAR 2007

   On Improving the Mobility of Vehicles in Uneven Terrain

   Siddharth Sanan, Nageshwara Rao, K. Madhava Krishna, and 1 more author

   In ICAR 2007, Oct 2007

2006

1. Robotics & Autonomous Syst.

   Safe Proactive Plans and their Execution

   K. Madhava Krishna, R. Alami, and T. Simeon

   Robotics and Autonomous Systems, Oct 2006

   available online at www.sciencedirect.com
2. ICRA

   Extension of Reeds and Shepp Paths for a Robot with Front and Rear Wheel Steer

   Siddharth Sanan, Darshan Santani, K Madhava Krishna, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Oct 2006
3. IROS

   A T Step Ahead Optimal Tracking Algorithm for a Surveillance Based Sensor Network

   K Madhava Krishna, and Henry Hexmoor

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2006

2005

1. Integrated Computer-Aided Eng. J.

   A framework for guaranteeing detection performance of a sensor network

   K Madhava Krishna, and Henry Hexmoor

   Integrated Computer-Aided Engineering Journal, Oct 2005
2. J. Robotic Syst.

   Reactive Navigation of Multiple Moving Agents by Collaborative Resolution of Conflicts

   K Madhava Krishna, Srinivas Chellappa, and H. Hexmoor

   Journal of Robotic Systems, Oct 2005
3. IICAI

   An Unconstrained Optimal Target Detection Algorithm for a Multi-Sensor Surveillance Systems

   K. Madhava Krishna, and Henry Hexmoor

   In IICAI, Oct 2005
4. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) KIMAS

   Parametric Control of Multiple Unmanned Air Vehicles over an Unknown Hostile Habitat

   K. Madhava Krishna, Henry Hexmoor, and  Subbarao

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) KIMAS, Oct 2005

   Boston, MA

2004

1. ICRA

   Reactive Collision Avoidance of Multiple Moving Agents by Cooperation and Conflict Propagation

   K. Madhava Krishna, and Henry Hexmoor

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on Robotics and Automation (ICRA), Oct 2004
2. Conf. on Collaborative Agents

   Resource Allocation Strategies for a Multi-sensor Surveillance System

   K. Madhava Krishna, and Henry Hexmoor

   In Conference on Collaborative Agents, Oct 2004

   submitted, Beijing
3. PerMis’04 (Performance Metrics in Intelligent Systems)

   A Framework for Measuring the Tracking Performance of a Sensor Network

   K. Madhava Krishna, and Henry Hexmoor

   In PerMis’04 (Performance Metrics in Intelligent Systems), Oct 2004

   August, Gaitesburg, MD
4. ICAI 2004

   Role of Autonomy in a Distributed Sensor Network for Surveillance

   K. Madhava Krishna, Henry Hexmoor, and P Subbarao

   In ICAI 2004, Oct 2004

   Las Vegas, July 2004
5. FLAIRS 2004

   A Surveillance System based on Multiple Mobile Sensors

   K. Madhava Krishna, Henry Hexmoor, P Subba Rao, and 1 more author

   In FLAIRS 2004, Oct 2004

   Special Track on AI Techniques in Multi-sensor Fusion, Miami, May 2004
6. Int. Symp. on Collaborative Technologies & Syst.

   Collaborative and Social Reasoning about Interaction among a Large Group of Robots

   Henry Hexmoor, and K. Madhava Krishna

   In International Symposium on Collaborative Technologies and Systems, Oct 2004

   San-Diego, CA, Jan. 18-23, 2004

2003

1. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Conf. on AR (ICAR)

   Moving Safely but not Slowly: Reactively Adapting Paths to Better Time-lengths

   K Madhava Krishna, R Alami, and T Simeon

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on AR (ICAR), Oct 2003
2. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) KIMAS’03

   Avoiding Collision Logjams through Cooperation and Conflict Propagation

   K. Madhava Krishna, Henry Hexmoor, and P Subba Rao

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) KIMAS’03, Oct 2003

   Boston, MA, Oct 1-3, 2003
3. PMIS

   Towards Quantification of the need to Cooperate between Robots

   K. Madhava Krishna, and Henry Hexmoor

   In PMIS, Oct 2003

   Sep. 16-18, 2003
4. AIAA 22nd Digital Avionics Syst. Conf.

   Social Control of a Group of Collaborating Multi-robot Multi-target Tracking Agents

   K. Madhava Krishna, and Henry Hexmoor

   In AIAA 22nd Digital Avionics Systems Conference, Oct 2003

   Indianapolis, Indiana, Oct. 12-16, 2003

2002

1. J. Intelligent & Robotic Syst.

   Detection Tracking and Avoidance for Multiple Dynamic Objects

   K Madhava Krishna, and Prem K Kalra

   Journal of Intelligent and Robotic Systems, Apr 2002
2. J. Robotic Syst.

   When does the Robot Perceive a Dynamic Object

   K Madhava Krishna, and Prem K Kalra

   Journal of Robotic Systems, Feb 2002
3. IROS

   On the influence of sensor capacities and environment dynamics onto collision free motion plans

   R Alami, T Simeon, and K Madhava Krishna

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM)/RSJ International Conference on Intelligent Robots and Systems (IROS), Feb 2002

2001

1. Robotics & Autonomous Syst.

   Perception and Remembrance of the Environment during Real-time Navigation for a Mobile Robot

   K Madhava Krishna, and Prem K Kalra

   Robotics and Autonomous Systems, Oct 2001

2000

1. J. Robotic Syst.

   Solving the Local Minima Problem for a Mobile Robot by Classification of Spatio-temporal Sensory Sequences

   K Madhava Krishna, and Prem K Kalra

   Journal of Robotic Systems, Oct 2000
2. Spatial Cognition & Computation

   Spatial Understanding and Temporal Correlation for a Mobile Robot

   K Madhava Krishna, and Prem K Kalra

   Spatial Cognition and Computation, Dec 2000

1998

1. Int. Symp. on Intelligent Robotic Syst.

   On Fast Computation of Optimal Paths from the Visibility Graph for the Minimal Workspace

   K. Madhava Krishna, K D Rajasekhar, and L Behera

   In International Symposium on Intelligent Robotic Systems, Dec 1998

   January 1998

1997

1. ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) Int. Conf. on AR

   Real-time Navigation of a Mobile Robot using Kohonen’s Topology Conserving Neural Networks

   I J Nagrath, L Behera, K Madhava Krishna, and 1 more author

   In ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) International Conference on AR, Dec 1997