Existential Robotics Laboratory

2023

Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning
T. Wang, V. Dhiman and N. Atanasov
Autonomous Robots, Vol. 47, pp. 809-830, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Wang_SemanticIRL_AuRo23,
    author = {Tianyu Wang and Vikas Dhiman and Nikolay Atanasov},
    title = {{Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning}},
    journal = {Autonomous Robots},
    year = {2023},
    volume = {47},
    pages = {809-830},
    url = {https://arxiv.org/abs/2101.00186},
    doi = {https://doi.org/10.1007/s10514-023-10118-4}
  }

Governor-Parameterized Barrier Function for Safe Output Tracking with Locally Sensed Constraints
Z. Li and N. Atanasov
Automatica, Vol. 152, pp. 110996, 2023.
[bib] [pdf] [doi]

  @article{Li_GCBF_Automatica23,
    author = {Li, Zhichao and Atanasov, Nikolay},
    title = {{Governor-Parameterized Barrier Function for Safe Output Tracking with Locally Sensed Constraints}},
    journal = {Automatica},
    year = {2023},
    volume = {152},
    pages = {110996},
    doi = {https://doi.org/10.1016/j.automatica.2023.110996}
  }

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
J. A. Placed, J. Strader, H. Carrillo, N. Atanasov, V. Indelman, L. Carlone and J. A. Castellanos
IEEE Transactions on Robotics (T-RO), Vol. 39(3), pp. 1686-1705, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Placed_ActiveSLAMSurvey_TRO23,
    author = {Placed, Julio A. and Strader, Jared and Carrillo, Henry and Atanasov, Nikolay and Indelman, Vadim and Carlone, Luca and Castellanos, José A.},
    title = {{A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2023},
    volume = {39},
    number = {3},
    pages = {1686-1705},
    url = {https://arxiv.org/abs/2207.00254},
    doi = {https://doi.org/10.1109/TRO.2023.3248510}
  }

Semantic OcTree Mapping and Shannon Mutual Information Computation for Robot Exploration
A. Asgharivaskasi and N. Atanasov
IEEE Transactions on Robotics (T-RO), Vol. 39(3), pp. 1910-1928, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Asgharivaskasi_ActiveMulticlassMapping_TRO23,
    author = {Asgharivaskasi, Arash and Atanasov, Nikolay},
    title = {{Semantic OcTree Mapping and Shannon Mutual Information Computation for Robot Exploration}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2023},
    volume = {39},
    number = {3},
    pages = {1910-1928},
    url = {https://arxiv.org/abs/2112.04063},
    doi = {https://doi.org/10.1109/TRO.2023.3245986}
  }

Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
X. Cai, B. Schlotfeldt, K. Khosoussi, N. Atanasov, G. J. Pappas and J. P. How
IEEE Transactions on Robotics (T-RO), Vol. 39(4), pp. 2585-2602, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Cai_NonmonotoneInfoGathering_TRO23,
    author = {Cai, Xiaoyi and Schlotfeldt, Brent and Khosoussi, Kasra and Atanasov, Nikolay and Pappas, George J. and How, Jonathan P.},
    title = {{Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2023},
    volume = {39},
    number = {4},
    pages = {2585-2602},
    url = {https://arxiv.org/abs/2208.00262},
    doi = {https://doi.org/10.1109/TRO.2023.3257512}
  }

Control Barriers in Bayesian Learning of System Dynamics
V. Dhiman, M. J. Khojasteh, M. Franceschetti and N. Atanasov
IEEE Transactions on Automatic Control (TAC), Vol. 68(1), pp. 214-229, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Dhiman_SafeDynamicsLearning_TAC23,
    author = {Vikas Dhiman and Mohammad Javad Khojasteh and Massimo Franceschetti and Nikolay Atanasov},
    title = {{Control Barriers in Bayesian Learning of System Dynamics}},
    journal = {IEEE Transactions on Automatic Control (TAC)},
    year = {2023},
    volume = {68},
    number = {1},
    pages = {214-229},
    url = {https://arxiv.org/abs/2012.14964},
    doi = {https://doi.org/10.1109/TAC.2021.3137059}
  }

Control Synthesis for Stability and Safety by Differential Complementarity Problem
Y. Yi, S. Koga, B. Gavrea and N. Atanasov
IEEE Control Systems Letters (L-CSS), Vol. 7, pp. 895-900, 2023.
[bib] [pdf] [doi] [arXiv]

  @article{Yi_CLFCBFDCP_LCSS23,
    author = {Yi, Yinzhuang and Koga, Shumon and Gavrea, Bogdan and Atanasov, Nikolay},
    title = {{Control Synthesis for Stability and Safety by Differential Complementarity Problem}},
    journal = {IEEE Control Systems Letters (L-CSS)},
    year = {2023},
    volume = {7},
    pages = {895-900},
    url = {https://arxiv.org/abs/2210.01978},
    doi = {https://doi.org/10.1109/LCSYS.2022.3228726}
  }

Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
V. Duruisseaux, T. Duong, M. Leok and N. Atanasov
Learning for Dynamics and Control (L4DC), pp. 731-744, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Duruisseaux_LieFVIN_L4DC23,
    author = {Valentin Duruisseaux and Thai Duong and Melvin Leok and Nikolay Atanasov},
    title = {{Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2023},
    pages = {731-744},
    url = {https://arxiv.org/abs/2211.16006},
    doi = {https://proceedings.mlr.press/v211/duruisseaux23a.html}
  }

Distributionally Robust Lyapunov Function Search Under Uncertainty
K. Long, Y. Yi, J. Cortés and N. Atanasov
Learning for Dynamics and Control (L4DC), pp. 864-877, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Long_LFSearch_L4DC23,
    author = {Kehan Long and Yinzhuang Yi and Jorge Cortés and Nikolay Atanasov},
    title = {{Distributionally Robust Lyapunov Function Search Under Uncertainty}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2023},
    pages = {864-877},
    url = {https://arxiv.org/abs/2212.01554},
    doi = {https://proceedings.mlr.press/v211/long23a.html}
  }

Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
P. Yang, S. Koga, A. Asgharivaskasi and N. Atanasov
Learning for Dynamics and Control (L4DC), pp. 64-75, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Yang_MBRL_ActivePerception_L4DC23,
    author = {Pengzhi Yang and Shumon Koga and Arash Asgharivaskasi and Nikolay Atanasov},
    title = {{Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2023},
    pages = {64-75},
    url = {https://arxiv.org/abs/2212.01498},
    doi = {https://proceedings.mlr.press/v211/yang23a.html}
  }

Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
K. Long*, Y. Yi*, J. Cortés and N. Atanasov
American Control Conference (ACC), pp. 4651-4658, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{LongYi_DRCCP_ACC23,
    author = {Kehan Long* and Yinzhuang Yi* and Jorge Cortés and Nikolay Atanasov},
    title = {{Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization}},
    booktitle = {American Control Conference (ACC)},
    year = {2023},
    pages = {4651-4658},
    url = {https://arxiv.org/abs/2210.01341},
    doi = {https://doi.org/10.23919/ACC55779.2023.10156525}
  }

LEMURS: Learning Distributed Multi-Robot Interactions
E. Sebastian, T. Duong, N. Atanasov, E. Montijano and C. Sagüés
IEEE International Conference on Robotics and Automation (ICRA), pp. 7713-7719, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Sebastian_Lemurs_ICRA23,
    author = {Eduardo Sebastian and Thai Duong and Nikolay Atanasov and Eduardo Montijano and Carlos Sagüés},
    title = {{LEMURS: Learning Distributed Multi-Robot Interactions}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2023},
    pages = {7713-7719},
    url = {https://arxiv.org/abs/2209.09702},
    doi = {https://doi.org/10.1109/ICRA48891.2023.10161328}
  }

Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
D. Larsson, A. Asgharivaskasi, J. Lim, N. Atanasov and P. Tsiotras
IEEE International Conference on Robotics and Automation (ICRA), pp. 6937-6943, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Larsson_OctreeAbstraction_ICRA23,
    author = {Daniel Larsson and Arash Asgharivaskasi and Jaein Lim and Nikolay Atanasov and Panagiotis Tsiotras},
    title = {{Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2023},
    pages = {6937-6943},
    url = {https://arxiv.org/abs/2209.10035},
    doi = {https://doi.org/10.1109/ICRA48891.2023.10160407}
  }

Learning Continuous Control Policies for Information-Theoretic Active Perception
P. Yang, Y. Liu, S. Koga, A. Asgharivaskasi and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), pp. 2098-2104, 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Yang_LearningActivePerception_ICRA23,
    author = {Pengzhi Yang and Yuhan Liu and Shumon Koga and Arash Asgharivaskasi and Nikolay Atanasov},
    title = {{Learning Continuous Control Policies for Information-Theoretic Active Perception}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2023},
    pages = {2098-2104},
    url = {https://arxiv.org/abs/2209.12427},
    doi = {https://doi.org/10.1109/ICRA48891.2023.10160455}
  }

Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
A. Asgharivaskasi and N. Atanasov
Workshop on Collaborative Perception and Learning at ICRA, 2023.
[bib] [pdf]

  @inproceedings{Asgharivaskasi_MultiRobotOctreeMapping_ICRA23,
    author = {Arash Asgharivaskasi and Nikolay Atanasov},
    title = {{Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping}},
    booktitle = {Workshop on Collaborative Perception and Learning at ICRA},
    year = {2023}
  }

2022

Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Z. Li, T. Duong and N. Atanasov
IEEE Open Journal of Control Systems (OJCSYS), Vol. 1, pp. 164-179, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Li_HamiltonianGovernor_OJCSYS22,
    author = {Zhichao Li and Thai Duong and Nikolay Atanasov},
    title = {{Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics}},
    journal = {IEEE Open Journal of Control Systems (OJCSYS)},
    year = {2022},
    volume = {1},
    pages = {164-179},
    url = {https://arxiv.org/abs/2207.10840},
    doi = {https://doi.org/10.1109/OJCSYS.2022.3201554}
  }

Trajectory Planning and Optimization for Minimizing Uncertainty in Persistent Monitoring Applications
M. Ostertag, N. Atanasov and T. Rosing
Springer Journal of Intelligent and Robotic Systems, Vol. 106(2), 2022.
[bib] [pdf] [doi]

  @article{Ostertag_PersistentMonitoring_JIRS22,
    author = {Michael Ostertag and Nikolay Atanasov and Tajana Rosing},
    title = {{Trajectory Planning and Optimization for Minimizing Uncertainty in Persistent Monitoring Applications}},
    journal = {Springer Journal of Intelligent and Robotic Systems},
    year = {2022},
    volume = {106},
    number = {2},
    doi = {https://doi.org/10.1007/s10846-022-01676-3}
  }

Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
T. Duong, M. Yip and N. Atanasov
IEEE Transactions on Robotics (TRO), Vol. 38(6), pp. 3694-3712, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Duong_SBKM_TRO22,
    author = {Duong, Thai and Yip, Michael and Atanasov, Nikolay},
    title = {{Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping}},
    journal = {IEEE Transactions on Robotics (TRO)},
    year = {2022},
    volume = {38},
    number = {6},
    pages = {3694-3712},
    url = {https://arxiv.org/abs/2009.07207},
    doi = {https://doi.org/10.1109/TRO.2022.3177950}
  }

Safe Control Synthesis With Uncertain Dynamics and Constraints
K. Long, V. Dhiman, M. Leok, J. Cortés and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Vol. 7(3), pp. 7295-7302, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Long_SafeControl_RAL22,
    author = {Long, Kehan and Dhiman, Vikas and Leok, Melvin and Cortés, Jorge and Atanasov, Nikolay},
    title = {{Safe Control Synthesis With Uncertain Dynamics and Constraints}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2022},
    volume = {7},
    number = {3},
    pages = {7295-7302},
    url = {https://arxiv.org/abs/2202.09557},
    doi = {https://doi.org/10.1109/LRA.2022.3182544}
  }

Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features
T. Duong and N. Atanasov
IEEE Control Systems Letters (L-CSS), Vol. 6, pp. 2773-2778, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Duong_AdaptiveSE3Control_LCSS22,
    author = {Thai Duong and Nikolay Atanasov},
    title = {{Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features}},
    journal = {IEEE Control Systems Letters (L-CSS)},
    year = {2022},
    volume = {6},
    pages = {2773-2778},
    url = {https://arxiv.org/abs/2109.09974},
    doi = {https://doi.org/10.1109/LCSYS.2022.3177156}
  }

Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression
E. Zobeidi, A. Koppel and N. Atanasov
IEEE Transactions on Robotics (T-RO), Vol. 38(5), pp. 3133-3153, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Zobeidi_GPMapping_TRO22,
    author = {Ehsan Zobeidi and Alec Koppel and Nikolay Atanasov},
    title = {{Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2022},
    volume = {38},
    number = {5},
    pages = {3133-3153},
    url = {https://arxiv.org/abs/2103.16170},
    doi = {https://doi.org/10.1109/TRO.2022.3168733}
  }

Distributed Bayesian Estimation of Continuous Variables over Time-varying Directed Networks
P. Paritosh, N. Atanasov and S. Martinez
IEEE Control Systems Letters (L-CSS), Vol. 6, pp. 2545-2550, 2022.
[bib] [pdf] [doi]

  @article{Paritosh_DistributedBayesianEstimation_LCSS22,
    author = {Parth Paritosh and Nikolay Atanasov and Sonia Martinez},
    title = {{Distributed Bayesian Estimation of Continuous Variables over Time-varying Directed Networks}},
    journal = {IEEE Control Systems Letters (L-CSS)},
    year = {2022},
    volume = {6},
    pages = {2545-2550},
    doi = {https://doi.org/10.1109/LCSYS.2022.3167654}
  }

Large Scale Model Predictive Control with Neural Networks and Primal Active Sets
S. W. Chen, T. Wang, N. Atanasov, V. Kumar and M. Morari
Automatica, Vol. 135, pp. 109947, 2022.
[bib] [pdf] [doi] [arXiv]

  @article{Chen_NeuralMPC_Automatica22,
    author = {Steven W. Chen and Tianyu Wang and Nikolay Atanasov and Vijay Kumar and Manfred Morari},
    title = {{Large Scale Model Predictive Control with Neural Networks and Primal Active Sets}},
    journal = {Automatica},
    year = {2022},
    volume = {135},
    pages = {109947},
    url = {https://arxiv.org/abs/1910.10835},
    doi = {https://doi.org/10.1016/j.automatica.2021.109947}
  }

Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
A. Asgharivaskasi, S. Koga and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Asgharivaskasi_DifferentiableActiveMapping_IROS22,
    author = {Arash Asgharivaskasi and Shumon Koga and Nikolay Atanasov},
    title = {{Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2022},
    url = {https://arxiv.org/abs/2204.07623},
    doi = {https://doi.org/10.1109/IROS47612.2022.9981875}
  }

DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors
B. Wang, J. Xie and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Wang_DARL1N_IROS22,
    author = {Baoqian Wang and Junfei Xie and Nikolay Atanasov},
    title = {{DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2022},
    url = {https://arxiv.org/abs/2202.09019},
    doi = {https://doi.org/10.1109/IROS47612.2022.9981441}
  }

WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata
T. Wang and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Wang_WFAIRL_IROS22,
    author = {Tianyu Wang and Nikolay Atanasov},
    title = {{WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2022},
    url = {https://arxiv.org/abs/2103.05895},
    doi = {https://doi.org/10.1109/IROS47612.2022.9981874}
  }

Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Z. Li, T. Duong and N. Atanasov
Learning for Dynamics and Control (L4DC), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{LiDuong_HamiltonianGovernor_L4DC22,
    author = {Z. Li and T. Duong and N. Atanasov},
    title = {{Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2022},
    url = {https://arxiv.org/abs/2112.04639},
    doi = {https://proceedings.mlr.press/v168/li22b.html}
  }

Distributed Gaussian Process Mapping for Robot Teams with Time-Varying Communication
J. Di, E. Zobeidi, A. Koppel and N. Atanasov
American Control Conference (ACC), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Di_DistributedGP_ACC22,
    author = {J. Di and E. Zobeidi and A. Koppel and N. Atanasov},
    title = {{Distributed Gaussian Process Mapping for Robot Teams with Time-Varying Communication}},
    booktitle = {American Control Conference (ACC)},
    year = {2022},
    url = {https://arxiv.org/abs/2110.06401},
    doi = {https://doi.org/10.23919/ACC53348.2022.9867415}
  }

Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
S. Koga, A. Asgharivaskasi and N. Atanasov
American Control Conference (ACC), 2022.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Koga_ActiveSLAM_ACC22,
    author = {S. Koga and A. Asgharivaskasi and N. Atanasov},
    title = {{Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach}},
    booktitle = {American Control Conference (ACC)},
    year = {2022},
    url = {https://arxiv.org/abs/2110.07546},
    doi = {https://doi.org/10.23919/ACC53348.2022.9867507}
  }

2021

Sampling-based Planning for Non-myopic Multi-robot Information Gathering
Y. Kantaros, B. Schlotfeldt, N. Atanasov and G. J. Pappas
Autonomous Robots, Vol. 45, pp. 1029-1046, 2021.
[bib] [pdf] [doi]

  @article{Kantaros_InformationGathering_AuRo21,
    author = {Kantaros, Yiannis and Schlotfeldt, Brent and Atanasov, Nikolay and Pappas, George J.},
    title = {{Sampling-based Planning for Non-myopic Multi-robot Information Gathering}},
    journal = {Autonomous Robots},
    year = {2021},
    volume = {45},
    pages = {1029-1046},
    doi = {https://doi.org/10.1007/s10514-021-09995-4}
  }

Learning Barrier Functions with Memory for Robust Safe Navigation
K. Long, C. Qian, J. Cortés and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Vol. 6(3), pp. 4931-4938, 2021.
[bib] [pdf] [doi] [arXiv]

  @article{Long_LearningCBF_RAL21,
    author = {Kehan Long and Cheng Qian and Jorge Cortés and Nikolay Atanasov},
    title = {{Learning Barrier Functions with Memory for Robust Safe Navigation}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2021},
    volume = {6},
    number = {3},
    pages = {4931-4938},
    url = {https://arxiv.org/abs/2011.01899},
    doi = {https://doi.org/10.1109/LRA.2021.3070250}
  }

ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description
M. Shan, Q. Feng, Y. Jau and N. Atanasov
IEEE/CVF International Conference on Computer Vision (ICCV), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Shan_ELLIPSDF_ICCV21,
    author = {M. Shan and Q. Feng and Y. Jau and N. Atanasov},
    title = {{ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description}},
    booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
    year = {2021},
    url = {https://arxiv.org/abs/2108.00355},
    doi = {https://doi.org/10.1109/ICCV48922.2021.00589}
  }

CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration
T. Zhao, Q. Feng, S. Jadhav and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Zhao_CORSAIR_IROS21,
    author = {T. Zhao and Q. Feng and S. Jadhav and N. Atanasov},
    title = {{CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2021},
    url = {https://arxiv.org/abs/2103.06911},
    doi = {https://doi.org/10.1109/IROS51168.2021.9636347}
  }

Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories
S. Koga, A. Asgharivaskasi and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Koga_iCR_IROS21,
    author = {S. Koga and A. Asgharivaskasi and N. Atanasov},
    title = {{Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2021},
    url = {https://arxiv.org/abs/2103.05819},
    doi = {https://doi.org/10.1109/IROS51168.2021.9636486}
  }

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
T. Duong and N. Atanasov
Robotics: Science and Systems (RSS), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Duong_NeuralODE_RSS21,
    author = {T. Duong and N. Atanasov},
    title = {{Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control}},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2021},
    url = {https://arxiv.org/abs/2106.12782},
    doi = {https://doi.org/10.15607/RSS.2021.XVII.086}
  }

Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations
A. Asgharivaskasi and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Asgharivaskasi_ActiveMulticlassMapping_ICRA21,
    author = {A. Asgharivaskasi and N. Atanasov},
    title = {{Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2021},
    url = {https://arxiv.org/abs/2101.01831},
    doi = {https://doi.org/10.1109/ICRA48506.2021.9561711}
  }

Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning
Q. Feng and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Feng_TerrainMapping_ICRA21,
    author = {Q. Feng and N. Atanasov},
    title = {{Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2021},
    url = {https://arxiv.org/abs/2101.01844},
    doi = {https://doi.org/10.1109/ICRA48506.2021.9561337}
  }

Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
X. Cai, B. Schlotfeldt, K. Khosoussi, N. Atanasov, G. J. Pappas and J. How
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Cai_NonmonotoneInfoGathering_ICRA21,
    author = {X. Cai and B. Schlotfeldt and K. Khosoussi and N. Atanasov and G. J. Pappas and J. How},
    title = {{Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2021},
    url = {https://arxiv.org/abs/2101.11093},
    doi = {https://doi.org/10.1109/ICRA48506.2021.9561354}
  }

Coding for Distributed Multi-Agent Reinforcement Learning
B. Wang, J. Xie and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Wang_CodedDistributedMARL_ICRA21,
    author = {B. Wang and J. Xie and N. Atanasov},
    title = {{Coding for Distributed Multi-Agent Reinforcement Learning}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2021},
    url = {https://arxiv.org/abs/2101.02308},
    doi = {https://doi.org/10.1109/ICRA48506.2021.9561645}
  }

Physics-guided Learning-based Adaptive Control on the SE(3) Manifold
T. Duong and N. Atanasov
Workshop on Physical Reasoning and Inductive Biases for the Real World at NeurIPS, 2021.
[bib] [pdf]

  @inproceedings{Duong_LearningAdaptiveControl_NeurIPS21,
    author = {Thai Duong and Nikolay Atanasov},
    title = {{Physics-guided Learning-based Adaptive Control on the SE(3) Manifold}},
    booktitle = {Workshop on Physical Reasoning and Inductive Biases for the Real World at NeurIPS},
    year = {2021}
  }

2020

Marginal Density Averaging for Distributed Node Localization from Local Edge Measurements
P. Paritosh, N. Atanasov and S. Martinez
IEEE Conference on Decision and Control (CDC), 2020.
[bib] [pdf] [doi]

  @inproceedings{Paritosh_MarginalDensityAveraging_CDC20,
    author = {P. Paritosh and N. Atanasov and S. Martinez},
    title = {{Marginal Density Averaging for Distributed Node Localization from Local Edge Measurements}},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2020},
    doi = {https://doi.org/10.1109/CDC42340.2020.9303869}
  }

Dense Incremental Metric-Semantic Mapping via Sparse Gaussian Process Regression
E. Zobeidi, A. Koppel and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
[bib] [pdf] [doi]

  @inproceedings{Zobeidi_GPMapping_IROS20,
    author = {E. Zobeidi and A. Koppel and N. Atanasov},
    title = {{Dense Incremental Metric-Semantic Mapping via Sparse Gaussian Process Regression}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2020},
    doi = {https://doi.org/10.1109/IROS45743.2020.9341658}
  }

OrcVIO: Object residual constrained Visual-Inertial Odometry
M. Shan, Q. Feng and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Shan_OrcVIO_IROS20,
    author = {M. Shan and Q. Feng and N. Atanasov},
    title = {{OrcVIO: Object residual constrained Visual-Inertial Odometry}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2020},
    url = {https://arxiv.org/abs/2007.15107},
    doi = {https://doi.org/10.1109/IROS45743.2020.9341660}
  }

Fully Convolutional Geometric Features for Category-level Object Alignment
Q. Feng and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Feng_CategoryAlignment_IROS20,
    author = {Q. Feng and N. Atanasov},
    title = {{Fully Convolutional Geometric Features for Category-level Object Alignment}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2020},
    url = {https://arxiv.org/abs/2103.04494},
    doi = {https://doi.org/10.1109/IROS45743.2020.9341550}
  }

Learning Navigation Costs from Demonstrations with Semantic Observations
T. Wang, V. Dhiman and N. Atanasov
Learning for Dynamics and Control (L4DC), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Wang_LearningToNavigate_L4DC20,
    author = {T. Wang and V. Dhiman and N. Atanasov},
    title = {{Learning Navigation Costs from Demonstrations with Semantic Observations}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2020},
    url = {https://arxiv.org/abs/2006.05043},
    doi = {http://proceedings.mlr.press/v120/wang20a.html}
  }

Probabilistic Safety Constraints for Learned High Relative-Degree System Dynamics
M. Khojasteh, V. Dhiman, M. Franceschetti and N. Atanasov
Learning for Dynamics and Control (L4DC), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Khojasteh_SafeDynamicsLearning_L4DC20,
    author = {M. Khojasteh and V. Dhiman and M. Franceschetti and N. Atanasov},
    title = {{Probabilistic Safety Constraints for Learned High Relative-Degree System Dynamics}},
    booktitle = {Learning for Dynamics and Control (L4DC)},
    year = {2020},
    url = {https://arxiv.org/abs/1912.10116},
    doi = {http://proceedings.mlr.press/v120/khojasteh20a.html}
  }

Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
T. Duong, N. Das, M. Yip and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Duong_KernelMapping_ICRA20,
    author = {T. Duong and N. Das and M. Yip and N. Atanasov},
    title = {{Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2020},
    url = {https://arxiv.org/abs/2002.01921},
    doi = {https://doi.org/10.1109/ICRA40945.2020.9197412}
  }

Fast and Safe Path-Following Control using a State-Dependent Directional Metric
Z. Li, Ö. Arslan and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Li_SafeControl_ICRA20,
    author = {Z. Li and Ö. Arslan and N. Atanasov},
    title = {{Fast and Safe Path-Following Control using a State-Dependent Directional Metric}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2020},
    url = {https://arxiv.org/abs/2002.02038},
    doi = {https://doi.org/10.1109/ICRA40945.2020.9197377}
  }

Learning Navigation Costs from Demonstration in Partially Observable Environments
T. Wang, V. Dhiman and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Wang_LearningToNavigate_ICRA20,
    author = {T. Wang and V. Dhiman and N. Atanasov},
    title = {{Learning Navigation Costs from Demonstration in Partially Observable Environments}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2020},
    url = {https://arxiv.org/abs/2002.11637},
    doi = {https://doi.org/10.1109/ICRA40945.2020.9197199}
  }

Information Theoretic Active Exploration in Signed Distance Fields
K. Saulnier, N. Atanasov, G. Pappas and V. Kumar
IEEE International Conference on Robotics and Automation (ICRA), 2020.
[bib] [pdf] [doi]

  @inproceedings{Saulnier_ActiveMapping_ICRA20,
    author = {K. Saulnier and N. Atanasov and G. Pappas and V. Kumar},
    title = {{Information Theoretic Active Exploration in Signed Distance Fields}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2020},
    doi = {https://doi.org/10.1109/ICRA40945.2020.9196882}
  }

Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments
S. Kulgod, W. Chen, J. Huang, Y. Zhao and N. Atanasov
American Control Conference (ACC), 2020.
[bib] [pdf] [doi]

  @inproceedings{Kulgod_LTLPlanning_ACC20,
    author = {S. Kulgod and W. Chen and J. Huang and Y. Zhao and N. Atanasov},
    title = {{Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments}},
    booktitle = {American Control Conference (ACC)},
    year = {2020},
    doi = {https://doi.org/10.23919/ACC45564.2020.9147621}
  }

2019

Continuous Estimation Using Context-Dependent Discrete Measurements
R. Ivanov, N. Atanasov, M. Pajic, J. Weimer, G. J. Pappas and I. Lee
IEEE Transactions on Automatic Control (TAC), Vol. 64(1), pp. 235-250, 2019.
[bib] [pdf] [doi]

  @article{Ivanov_ContextAwareFilter_TAC19,
    author = {Radoslav Ivanov and Nikolay Atanasov and Miroslav Pajic and James Weimer and George J. Pappas and Insup Lee},
    title = {{Continuous Estimation Using Context-Dependent Discrete Measurements}},
    journal = {IEEE Transactions on Automatic Control (TAC)},
    year = {2019},
    volume = {64},
    number = {1},
    pages = {235-250},
    doi = {https://doi.org/10.1109/TAC.2018.2797839}
  }

Hypothesis Assignment and Partial Likelihood Averaging for Cooperative Estimation
P. Paritosh, N. Atanasov and S. Martinez
IEEE Conference on Decision and Control (CDC), 2019.
[bib] [pdf] [doi]

  @inproceedings{Paritosh_DistributedEstimation_CDC19,
    author = {P. Paritosh and N. Atanasov and S. Martinez},
    title = {{Hypothesis Assignment and Partial Likelihood Averaging for Cooperative Estimation}},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2019},
    doi = {https://www.doi.org/10.1109/CDC40024.2019.9029768}
  }

Localization and Mapping using Instance-specific Mesh Models
Q. Feng, Y. Meng, M. Shan and N. Atanasov
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Feng_DeformableMeshModel_IROS19,
    author = {Q. Feng and Y. Meng and M. Shan and N. Atanasov},
    title = {{Localization and Mapping using Instance-specific Mesh Models}},
    booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2019},
    url = {https://arxiv.org/abs/2103.04493},
    doi = {https://www.doi.org/10.1109/IROS40897.2019.8967662}
  }

Information Filter Occupancy Mapping using Decomposable Radial Kernels
S. Guo and N. Atanasov
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019.
[bib] [pdf] [doi]

  @inproceedings{Guo_IFOM_IROS19,
    author = {S. Guo and N. Atanasov},
    title = {{Information Filter Occupancy Mapping using Decomposable Radial Kernels}},
    booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2019},
    doi = {https://www.doi.org/10.1109/IROS40897.2019.8968609}
  }

Maximum Information Bounds for Planning Active Sensing Trajectories
B. Schlotfeldt, N. Atanasov and G. J. Pappas
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019.
[bib] [pdf] [doi]

  @inproceedings{Schlotfeldt_InfoBounds_IROS19,
    author = {B. Schlotfeldt and N. Atanasov and G. J. Pappas},
    title = {{Maximum Information Bounds for Planning Active Sensing Trajectories}},
    booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2019},
    doi = {https://www.doi.org/10.1109/IROS40897.2019.8968147}
  }

Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering
Y. Kantaros, B. Schlotfeldt, N. Atanasov and G. J. Pappas
Robotics: Science and Systems (RSS), 2019.
[bib] [pdf] [doi]

  @inproceedings{Kantaros_InformationGathering_RSS19,
    author = {Y. Kantaros and B. Schlotfeldt and N. Atanasov and G. J. Pappas},
    title = {{Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering}},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2019},
    doi = {https://www.doi.org/10.15607/RSS.2019.XV.062}
  }

N-Dimensional Distributed Network Localization With Noisy Range Measurements and Arbitrary Anchor Placement
P. Tecchio, N. Atanasov, S. Shahrampour and G. J. Pappas
American Control Conference (ACC), 2019.
[bib] [pdf] [doi]

  @inproceedings{Tecchio_RangeLocalization_ACC19,
    author = {P. Tecchio and N. Atanasov and S. Shahrampour and G. J. Pappas},
    title = {{N-Dimensional Distributed Network Localization With Noisy Range Measurements and Arbitrary Anchor Placement}},
    booktitle = {American Control Conference (ACC)},
    year = {2019},
    doi = {https://www.doi.org/10.23919/ACC.2019.8814820}
  }

Robust Velocity Control for Minimum Steady State Uncertainty in Persistent Monitoring Applications
M. Ostertag, N. Atanasov and T. Rosing
American Control Conference (ACC), 2019.
[bib] [pdf] [doi]

  @inproceedings{Ostertag_MinimumUncertaintyControl_ACC19,
    author = {M. Ostertag and N. Atanasov and T. Rosing},
    title = {{Robust Velocity Control for Minimum Steady State Uncertainty in Persistent Monitoring Applications}},
    booktitle = {American Control Conference (ACC)},
    year = {2019},
    doi = {https://www.doi.org/10.23919/ACC.2019.8814376}
  }

Learning Navigation Costs from Demonstration via Differentiable Planning
T. Wang and N. Atanasov
South California Robotics Symposium, 2019.
[bib] [pdf]

  @inproceedings{Wang_LearningNavigation_SCR19,
    author = {Tianyu Wang and Nikolay Atanasov},
    title = {{Learning Navigation Costs from Demonstration via Differentiable Planning}},
    booktitle = {South California Robotics Symposium},
    year = {2019}
  }

Localization and Mapping using Instance-specific Mesh Models
Q. Feng, Y. Meng, M. Shan and N. Atanasov
South California Robotics Symposium, 2019.
[bib] [pdf]

  @inproceedings{Feng_MeshModels_SCR19,
    author = {Qiaojun Feng and Yue Meng and Mo Shan and Nikolay Atanasov},
    title = {{Localization and Mapping using Instance-specific Mesh Models}},
    booktitle = {South California Robotics Symposium},
    year = {2019}
  }

Distributed Estimation Algorithms on Optimally Assigned Hypotheses
P. Paritosh, N. Atanasov and S. Martinez
South California Robotics Symposium, 2019.
[bib] [pdf]

  @inproceedings{Paritosh_DistributedEstimation_SCR19,
    author = {Parth Paritosh and Nikolay Atanasov and Sonia Martinez},
    title = {{Distributed Estimation Algorithms on Optimally Assigned Hypotheses}},
    booktitle = {South California Robotics Symposium},
    year = {2019}
  }

2018

Search-based Motion Planning for Aggressive Flight in SE(3)
S. Liu, K. Mohta, N. Atanasov and V. Kumar
IEEE Robotics and Automation Letters (RA-L), Vol. 3(3), pp. 2439-2446, 2018.
[bib] [pdf] [doi]

  @article{Liu_AttitudePlanning_RAL18,
    author = {Liu, Sikang and Mohta, Kartik and Atanasov, Nikolay and Kumar, Vijay},
    title = {{Search-based Motion Planning for Aggressive Flight in SE(3)}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2018},
    volume = {3},
    number = {3},
    pages = {2439-2446},
    doi = {http://www.doi.org/10.1109/LRA.2018.2795654}
  }

Anytime Planning for Decentralized Multi-Robot Active Information Gathering
B. Schlotfeldt, D. Thakur, N. Atanasov, V. Kumar and G. J. Pappas
IEEE Robotics and Automation Letters (RA-L), Vol. 3(2), pp. 1025-1032, 2018.
[bib] [pdf] [doi]

  @article{Schlotfeldt_AnytimeInfoGathering_RAL18,
    author = {Schlotfeldt, Brent and Thakur, Dinesh and Atanasov, Nikolay and Kumar, Vijay and Pappas, George J.},
    title = {{Anytime Planning for Decentralized Multi-Robot Active Information Gathering}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2018},
    volume = {3},
    number = {2},
    pages = {1025-1032},
    doi = {http://www.doi.org/10.1109/LRA.2018.2794608}
  }

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
K. Mohta, M. Watterson, Y. Mulgaonkar, S. Liu, C. Qu, A. Makineni, K. Saulnier, K. Sun, A. Zhu, J. Delmerico, K. Karydis, N. Atanasov, G. Loianno, D. Scaramuzza, K. Daniilidis, C. J. Taylor and V. Kumar
Journal of Field Robotics (JFR), Vol. 35(1), pp. 101-120, 2018.
[bib] [pdf] [doi]

  @article{Mohta_FLA_JFR18,
    author = {Kartik Mohta and Michael Watterson and Yash Mulgaonkar and Sikang Liu and Chao Qu and Anurag Makineni and Kelsey Saulnier and Ke Sun and Alex Zhu and Jeffrey Delmerico and Konstantinos Karydis and Nikolay Atanasov and Giuseppe Loianno and Davide Scaramuzza and Kostas Daniilidis and Camillo Jose Taylor and Vijay Kumar},
    title = {{Fast, Autonomous Flight in GPS-Denied and Cluttered Environments}},
    journal = {Journal of Field Robotics (JFR)},
    year = {2018},
    volume = {35},
    number = {1},
    pages = {101-120},
    doi = {http://www.doi.org/10.1002/rob.21774}
  }

A Unifying View of Geometry, Semantics, and Data Association in SLAM
N. Atanasov, S. Bowman, K. Daniilidis and G. Pappas
International Joint Conference on Artificial Intelligence (IJCAI), 2018.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_SemanticSLAM_IJCAI18,
    author = {N. Atanasov and S. Bowman and K. Daniilidis and G. Pappas},
    title = {{A Unifying View of Geometry, Semantics, and Data Association in SLAM}},
    booktitle = {International Joint Conference on Artificial Intelligence (IJCAI)},
    year = {2018},
    doi = {http://www.doi.org/10.24963/ijcai.2018/722}
  }

Memory Augmented Control Networks
A. Khan, C. Zhang, N. Atanasov, K. Karydis, V. Kumar and D. D. Lee
International Conference on Learning Representations (ICLR), 2018.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Khan_MACN_ICLR18,
    author = {A. Khan and C. Zhang and N. Atanasov and K. Karydis and V. Kumar and D. D. Lee},
    title = {{Memory Augmented Control Networks}},
    booktitle = {International Conference on Learning Representations (ICLR)},
    year = {2018},
    url = {https://arxiv.org/abs/1709.05706},
    doi = {https://openreview.net/forum?id=HyfHgI6aW}
  }

Approximating Explicit Model Predictive Control using Constrained Neural Networks
S. Chen, K. Saulnier, N. Atanasov, D. D. Lee, V. Kumar, G. J. Pappas and M. Morari
American Control Conference (ACC), 2018.
[bib] [pdf] [doi]

  @inproceedings{Chen_DeepMPC_ACC18,
    author = {Steven Chen and Kelsey Saulnier and Nikolay Atanasov and Daniel D. Lee and Vijay Kumar and George J. Pappas and Manfred Morari},
    title = {{Approximating Explicit Model Predictive Control using Constrained Neural Networks}},
    booktitle = {American Control Conference (ACC)},
    year = {2018},
    doi = {http://www.doi.org/10.23919/ACC.2018.8431275}
  }

Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering
K. Sun, K. Saulnier, N. Atanasov, G. Pappas and V. Kumar
American Control Conference (ACC), 2018.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Sun_OccupancyGridFiltering_ACC18,
    author = {K. Sun and K. Saulnier and N. Atanasov and G. Pappas and V. Kumar},
    title = {{Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering}},
    booktitle = {American Control Conference (ACC)},
    year = {2018},
    url = {https://arxiv.org/abs/1801.07380},
    doi = {http://www.doi.org/10.23919/ACC.2018.8431777}
  }

Dense Spatial Segmentation from Sparse Semantic Information
Q. Feng, Y. Meng and N. Atanasov
Workshop on Learning and Inference in Robotics at RSS, 2018.
[bib] [pdf]

  @inproceedings{Feng_SpatialSegmentation_RSS18_Workshop,
    author = {Qiaojun Feng and Yue Meng and Nikolay Atanasov},
    title = {{Dense Spatial Segmentation from Sparse Semantic Information}},
    booktitle = {Workshop on Learning and Inference in Robotics at RSS},
    year = {2018}
  }

Adversarial Information Acquisition
B. Schlotfeldt, N. Atanasov and G. J. Pappas
Workshop on Adversarial Robotics at RSS, 2018.
[bib] [pdf]

  @inproceedings{Schlotfeldt_AdversarialInfoAcquisition_RSS18_Workshop,
    author = {B. Schlotfeldt and N. Atanasov and G. J. Pappas},
    title = {{Adversarial Information Acquisition}},
    booktitle = {Workshop on Adversarial Robotics at RSS},
    year = {2018}
  }

2017

Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control
S. Liu, N. Atanasov, K. Mohta and V. Kumar
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Liu_DynamicTrajectoryPlanning_IROS17,
    author = {S. Liu and N. Atanasov and K. Mohta and V. Kumar},
    title = {{Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control}},
    booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2017},
    url = {https://arxiv.org/abs/1709.05401},
    doi = {http://www.doi.org/10.1109/IROS.2017.8206119}
  }

Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search
M. Zhang, N. Atanasov and K. Daniilidis
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017.
[bib] [pdf] [doi]

  @inproceedings{Zhang_ActiveTouch_IROS17,
    author = {M. Zhang and N. Atanasov and K. Daniilidis},
    title = {{Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search}},
    booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2017},
    doi = {http://www.doi.org/10.1109/IROS.2017.8206161}
  }

Event-based Visual Inertial Odometry
A. Zhu, N. Atanasov and K. Daniilidis
IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2017.
[bib] [pdf] [doi]

  @inproceedings{Zhu_EVIO_CVPR17,
    author = {A. Zhu and N. Atanasov and K. Daniilidis},
    title = {{Event-based Visual Inertial Odometry}},
    booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)},
    year = {2017},
    doi = {http://www.doi.org/10.1109/CVPR.2017.616}
  }

Event-based Feature Tracking with Probabilistic Data Association
A. Zhu, N. Atanasov and K. Daniilidis
IEEE Int. Conf. on Robotics and Automation (ICRA), 2017.
[bib] [pdf] [doi]

  @inproceedings{Zhu_EVFT_ICRA17,
    author = {A. Zhu and N. Atanasov and K. Daniilidis},
    title = {{Event-based Feature Tracking with Probabilistic Data Association}},
    booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    year = {2017},
    doi = {http://www.doi.org/10.1109/ICRA.2017.7989517}
  }

Probabilistic Data Association for Semantic SLAM
S. Bowman, N. Atanasov, K. Daniilidis and G. Pappas
IEEE Int. Conf. on Robotics and Automation (ICRA), 2017.
[bib] [pdf] [doi]

  @inproceedings{Bowman_SemanticSLAM_ICRA17,
    author = {Sean Bowman and Nikolay Atanasov and Kostas Daniilidis and George Pappas},
    title = {{Probabilistic Data Association for Semantic SLAM}},
    booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    year = {2017},
    doi = {http://www.doi.org/10.1109/ICRA.2017.7989203}
  }

Neural Network Memory Architectures for Autonomous Robot Navigation
S. Chen, N. Atanasov, A. Khan, K. Karydis, D. D. Lee and V. Kumar
Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM), 2017.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Chen_NeuralNavigation_RLDM17,
    author = {S. Chen and N. Atanasov and A. Khan and K. Karydis and D. D. Lee and V. Kumar},
    title = {{Neural Network Memory Architectures for Autonomous Robot Navigation}},
    booktitle = {Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM)},
    year = {2017},
    url = {https://arxiv.org/abs/1705.08049},
    doi = {http://www.princeton.edu/~ndaw/RLDM17ExtendedAbstracts.pdf}
  }

Scheduling Nonlinear Sensors for Stochastic Process Estimation
V. Tzoumas, N. Atanasov, A. Jadbabaie and G. Pappas
American Control Conference (ACC), 2017.
[bib] [pdf] [doi]

  @inproceedings{Tzoumas_SensorSchedululing_ACC17,
    author = {V. Tzoumas and N. Atanasov and A. Jadbabaie and G. Pappas},
    title = {{Scheduling Nonlinear Sensors for Stochastic Process Estimation}},
    booktitle = {American Control Conference (ACC)},
    year = {2017},
    doi = {http://www.doi.org/10.23919/ACC.2017.7963015}
  }

Calibration-Free Network Localization using Non-Line-of-Sight Ultra-Wideband Measurements
C. Di Franco, A. Prorok, N. Atanasov, B. Kempke, P. Dutta, V. Kumar and G. Pappas
ACM/IEEE Int. Conf. on Information Processing in Sensor Networks (IPSN), 2017.
[bib] [pdf] [doi]

  @inproceedings{DiFranco_UWBNetworkLocalization_IPSN17,
    author = {C. Di Franco and A. Prorok and N. Atanasov and B. Kempke and P. Dutta and V. Kumar and G. Pappas},
    title = {{Calibration-Free Network Localization using Non-Line-of-Sight Ultra-Wideband Measurements}},
    booktitle = {ACM/IEEE Int. Conf. on Information Processing in Sensor Networks (IPSN)},
    year = {2017},
    doi = {http://www.doi.org/10.1145/3055031.3055091}
  }

A Spatiotemporal Model with Visual Attention for Video Classification
M. Shan and N. Atanasov
Workshop on Articulated Model Tracking at RSS, 2017.
[bib] [pdf]

  @inproceedings{Shan_SpatiotemporalClassification_RSS17_Workshop,
    author = {Mo Shan and Nikolay Atanasov},
    title = {{A Spatiotemporal Model with Visual Attention for Video Classification}},
    booktitle = {Workshop on Articulated Model Tracking at RSS},
    year = {2017}
  }

2016

Optimal Temporal Logic Planning in Probabilistic Semantic Maps
J. Fu, N. Atanasov, U. Topcu and G. Pappas
IEEE Int. Conf. on Robotics and Automation (ICRA), 2016.
[bib] [pdf] [doi]

  @inproceedings{Fu_SemanticLTLPlanning_ICRA16,
    author = {Jie Fu and Nikolay Atanasov and Ufuk Topcu and George Pappas},
    title = {{Optimal Temporal Logic Planning in Probabilistic Semantic Maps}},
    booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    year = {2016},
    doi = {http://www.doi.org/10.1109/ICRA.2016.7487554}
  }

Estimation of Blood Oxygen Content Using Context-Aware Filtering
R. Ivanov, N. Atanasov, J. Weimer, M. Pajic, A. Simpao, M. Rehman, G. Pappas and I. Lee
ACM/IEEE Int. Conf. on Cyber-Physical Systems (ICCPS), 2016.
[bib] [pdf] [doi]

  @inproceedings{Ivanov_RobustEstimation_ICCPS16,
    author = {Radoslav Ivanov and Nikolay Atanasov and James Weimer and Miroslav Pajic and Allan Simpao and Mohamed Rehman and George Pappas and Insup Lee},
    title = {{Estimation of Blood Oxygen Content Using Context-Aware Filtering}},
    booktitle = {ACM/IEEE Int. Conf. on Cyber-Physical Systems (ICCPS)},
    year = {2016},
    doi = {http://www.doi.org/10.1109/ICCPS.2016.7479102}
  }

2015

Active Information Acquisition with Mobile Robots
N. Atanasov
Ph.D. Dissertation, University of Pennsylvania, 2015.
[bib] [pdf]

  @article{Atanasov_PhD15,
    author = {Nikolay Atanasov},
    title = {{Active Information Acquisition with Mobile Robots}},
    journal = {Ph.D. Dissertation, University of Pennsylvania},
    year = {2015}
  }

Localization from Semantic Observations via the Matrix Permanent
N. Atanasov, M. Zhu, K. Daniilidis and G. Pappas
The International Journal of Robotics Research (IJRR), Vol. 35, pp. 73-99, 2015.
[bib] [pdf] [doi]

  @article{Atanasov_SemanticLocalization_IJRR15,
    author = {N. Atanasov and M. Zhu and K. Daniilidis and G. Pappas},
    title = {{Localization from Semantic Observations via the Matrix Permanent}},
    journal = {The International Journal of Robotics Research (IJRR)},
    year = {2015},
    volume = {35},
    pages = {73-99},
    doi = {http://www.doi.org/10.1177/0278364915596589}
  }

Distributed Algorithms for Stochastic Source Seeking with Mobile Robot Networks
N. Atanasov, J. Le Ny and G. Pappas
ASME Journal of Dynamic Systems, Measurement, and Control (JDSMC), Vol. 137(3), pp. 031011-031011-9, 2015.
[bib] [pdf] [doi]

  @article{Atanasov_StochasticSourceSeeking_JDSMC14,
    author = {N. Atanasov and J. Le Ny and G. Pappas},
    title = {{Distributed Algorithms for Stochastic Source Seeking with Mobile Robot Networks}},
    journal = {ASME Journal of Dynamic Systems, Measurement, and Control (JDSMC)},
    year = {2015},
    volume = {137},
    number = {3},
    pages = {031011-031011-9},
    doi = {http://www.doi.org/10.1115/1.4027892}
  }

Robust Estimation Using Context-Aware Filtering
R. Ivanov, N. Atanasov, M. Pajic, G. Pappas and I. Lee
Allerton Conference on Communication, Control, and Computing, 2015.
[bib] [pdf] [doi]

  @inproceedings{Ivanov_RobustEstimation_Allerton15,
    author = {R. Ivanov and N. Atanasov and M. Pajic and G. Pappas and I. Lee},
    title = {{Robust Estimation Using Context-Aware Filtering}},
    booktitle = {Allerton Conference on Communication, Control, and Computing},
    year = {2015},
    doi = {http://www.doi.org/10.1109/ALLERTON.2015.7447058}
  }

Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM
N. Atanasov, J. Le Ny, K. Daniilidis and G. Pappas
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4775-4782, 2015.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_ActiveInformationAcquisition_ICRA15,
    author = {N. Atanasov and J. Le Ny and K. Daniilidis and G. Pappas},
    title = {{Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM}},
    booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    year = {2015},
    pages = {4775-4782},
    doi = {http://www.doi.org/10.1109/ICRA.2015.7139863}
  }

Robust Localization Using Context-Aware Filtering
R. Ivanov, N. Atanasov, M. Pajic, I. Lee and G. Pappas
Workshop on Multi-view Geometry in Robotics at RSS, 2015.
[bib] [pdf]

  @inproceedings{Ivanov_RobustLocalization_RSS15_Workshop,
    author = {R. Ivanov and N. Atanasov and M. Pajic and I. Lee and G. Pappas},
    title = {{Robust Localization Using Context-Aware Filtering}},
    booktitle = {Workshop on Multi-view Geometry in Robotics at RSS},
    year = {2015}
  }

Active Object Recognition via Monte Carlo Tree Search
M. Lauri, N. Atanasov, G. Pappas and R. Ritala
Workshop on Beyond Geometric Constraints at ICRA, 2015.
[bib] [pdf]

  @inproceedings{Lauri_MonteCarloTreeSearch_ICRA15_Workshop,
    author = {M. Lauri and N. Atanasov and G. Pappas and R. Ritala},
    title = {{Active Object Recognition via Monte Carlo Tree Search}},
    booktitle = {Workshop on Beyond Geometric Constraints at ICRA},
    year = {2015}
  }

2014

Nonmyopic View Planning for Active Object Classification and Pose Estimation
N. Atanasov, B. Sankaran, J. Le Ny, G. J. Pappas and K. Daniilidis
IEEE Transactions on Robotics (T-RO), Vol. 30(5), pp. 1078-1090, 2014.
[bib] [pdf] [doi]

  @article{Atanasov_ActiveObjectRecognition_TRO14,
    author = {Nikolay Atanasov and Bharath Sankaran and Jerome Le Ny and George J. Pappas and Kostas Daniilidis},
    title = {{Nonmyopic View Planning for Active Object Classification and Pose Estimation}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2014},
    volume = {30},
    number = {5},
    pages = {1078-1090},
    doi = {https://doi.org/10.1109/TRO.2014.2320795}
  }

Joint Estimation and Localization in Sensor Networks
N. Atanasov, R. Tron, V. Preciado and G. Pappas
IEEE Conf. on Decision and Control (CDC), pp. 6875-6882, 2014.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_JointEstimationLocalization_CDC14,
    author = {N. Atanasov and R. Tron and V. Preciado and G. Pappas},
    title = {{Joint Estimation and Localization in Sensor Networks}},
    booktitle = {IEEE Conf. on Decision and Control (CDC)},
    year = {2014},
    pages = {6875-6882},
    doi = {http://www.doi.org/10.1109/CDC.2014.7040469}
  }

Active Deformable Part Models Inference
M. Zhu, N. Atanasov, G. Pappas and K. Daniilidis
European Conf. on Computer Vision (ECCV), Vol. 8695, pp. 281-296, 2014.
[bib] [pdf] [doi]

  @inproceedings{Zhu_ADPM_ECCV14,
    author = {M. Zhu and N. Atanasov and G. Pappas and K. Daniilidis},
    title = {{Active Deformable Part Models Inference}},
    booktitle = {European Conf. on Computer Vision (ECCV)},
    year = {2014},
    volume = {8695},
    pages = {281-296},
    doi = {http://www.doi.org/10.1007/978-3-319-10584-0_19}
  }

Semantic Localization via the Matrix Permanent
N. Atanasov, M. Zhu, K. Daniilidis and G. Pappas
Robotics: Science and Systems (RSS), 2014.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_SemanticLocalization_RSS14,
    author = {N. Atanasov and M. Zhu and K. Daniilidis and G. Pappas},
    title = {{Semantic Localization via the Matrix Permanent}},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2014},
    doi = {http://www.doi.org/10.15607/RSS.2014.X.043}
  }

Information Acquisition with Sensing Robots: Algorithms and Error Bounds
N. Atanasov, J. Le Ny, K. Daniilidis and G. Pappas
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 6447-6454, 2014.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_ActiveInformationAcquisition_ICRA14,
    author = {N. Atanasov and J. Le Ny and K. Daniilidis and G. Pappas},
    title = {{Information Acquisition with Sensing Robots: Algorithms and Error Bounds}},
    booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    year = {2014},
    pages = {6447-6454},
    doi = {http://www.doi.org/10.1109/ICRA.2014.6907811}
  }

Active Deformable Part Models Inference
M. Zhu, N. Atanasov, G. Pappas and K. Daniilidis
Workshop on Parts and Attributes at ECCV, 2014.
[bib] [pdf]

  @inproceedings{Zhu_ADPM_ECCV14_Workshop,
    author = {M. Zhu and N. Atanasov and G. Pappas and K. Daniilidis},
    title = {{Active Deformable Part Models Inference}},
    booktitle = {Workshop on Parts and Attributes at ECCV},
    year = {2014}
  }

Before 2014

Hypothesis Testing Framework for Active Object Detection
N. Atanasov*, B. Sankaran*, J. Le Ny, T. Koletschka, G. J. Pappas and K. Daniilidis
IEEE International Conference on Robotics and Automation (ICRA), pp. 4216-4222, 2013.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_Sankaran_ActiveObjectRecognition_ICRA13,
    author = {Nikolay Atanasov* and Bharath Sankaran* and Jerome Le Ny and Thomas Koletschka and George J. Pappas and Kostas Daniilidis},
    title = {{Hypothesis Testing Framework for Active Object Detection}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2013},
    pages = {4216-4222},
    doi = {http://www.doi.org/10.1109/ICRA.2013.6631173}
  }

Stochastic Source Seeking in Complex Environments
N. Atanasov, J. Le Ny, N. Michael and G. Pappas
IEEE International Conference on Robotics and Automation (ICRA), pp. 3013-3018, 2012.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_StochasticSourceSeeking_ICRA12,
    author = {N. Atanasov and J. Le Ny and N. Michael and G. Pappas},
    title = {{Stochastic Source Seeking in Complex Environments}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2012},
    pages = {3013-3018},
    doi = {http://www.doi.org/10.1109/ICRA.2012.6225289}
  }

A Fast Heart Sounds Detection and Heart Murmur Classification Algorithm
T. Ning, J. Ning, N. Atanasov and K.-S. Hsieh
IEEE International Conference on Signal Processing (ICSP), Vol. 3, 2012.
[bib] [pdf] [doi]

  @inproceedings{Ning_HeartMurmur_ICSP12,
    author = {Taikang Ning and James Ning and Nikolay Atanasov and Kai-Sheng Hsieh},
    title = {{A Fast Heart Sounds Detection and Heart Murmur Classification Algorithm}},
    booktitle = {IEEE International Conference on Signal Processing (ICSP)},
    year = {2012},
    volume = {3},
    doi = {http://www.doi.org/10.1109/ICoSP.2012.6491892}
  }

Delineation of Systolic and Diastolic Heart Murmurs via Wavelet Transform and Autoregressive Modeling
J. Ning and N. Atanasov
International Journal of Bioelectromagnetism, Vol. 12(3), 2010.
[bib] [pdf] [doi]

  @article{Ning_HeartMurmur_IJBEM10,
    author = {James Ning and Nikolay Atanasov},
    title = {{Delineation of Systolic and Diastolic Heart Murmurs via Wavelet Transform and Autoregressive Modeling}},
    journal = {International Journal of Bioelectromagnetism},
    year = {2010},
    volume = {12},
    number = {3},
    doi = {http://www.ijbem.org/volume12/number3/114-120.pdf}
  }

Quantitative Analysis of Heart Sounds and Systolic Heart Murmurs Using Wavelet Transform and AR Modeling
J. Ning, N. Atanasov and T. Ning
IEEE International Conference on Engineering in Medicine and Biology (EMBC), 2009.
[bib] [pdf] [doi]

  @inproceedings{Ning_HeartMurmur_EMBC09,
    author = {J. Ning and N. Atanasov and T. Ning},
    title = {{Quantitative Analysis of Heart Sounds and Systolic Heart Murmurs Using Wavelet Transform and AR Modeling}},
    booktitle = {IEEE International Conference on Engineering in Medicine and Biology (EMBC)},
    year = {2009},
    doi = {http://www.doi.org/10.1109/IEMBS.2009.5332562}
  }

Isolation of Systolic Heart Murmurs Using Wavelet Transform and Energy Index
N. Atanasov and T. Ning
IEEE Congress on Image and Signal Processing (CISP), 2008.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_HeartMurmur_CISP08,
    author = {N. Atanasov and T. Ning},
    title = {{Isolation of Systolic Heart Murmurs Using Wavelet Transform and Energy Index}},
    booktitle = {IEEE Congress on Image and Signal Processing (CISP)},
    year = {2008},
    doi = {http://www.doi.org/10.1109/CISP.2008.758}
  }

Quantitative Delineation of Heart Murmurs Using Features Derived from Autoregressive Modeling
N. Atanasov and T. Ning
IEEE Northeast Bioengineering Conference (NEBC), 2007.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_HeartMurmur_NEBC07,
    author = {N. Atanasov and T. Ning},
    title = {{Quantitative Delineation of Heart Murmurs Using Features Derived from Autoregressive Modeling}},
    booktitle = {IEEE Northeast Bioengineering Conference (NEBC)},
    year = {2007},
    doi = {http://www.doi.org/10.1109/NEBC.2007.4413331}
  }

Restoration of Multi-channel Spectral Estimation Affected by Sampling Jitters
T. Ning, S. Bhandari and N. Atanasov
IEEE Northeast Bioengineering Conference (NEBC), 2007.
[bib] [pdf] [doi]

  @inproceedings{Ning_ChannelRestoration_NEBC07,
    author = {T. Ning and S. Bhandari and N. Atanasov},
    title = {{Restoration of Multi-channel Spectral Estimation Affected by Sampling Jitters}},
    booktitle = {IEEE Northeast Bioengineering Conference (NEBC)},
    year = {2007},
    doi = {http://www.doi.org/10.1109/NEBC.2007.4413312}
  }