Existential Robotics Laboratory

2025

2024

Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots
C. Nguyen, A. Altawaitan, T. Duong, N. Atanasov and Q. Nguyen
IEEE Robotics and Automation Letters (RA-L), 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Nguyen_VariableFrequencyMPC_RAL24,
    author = {Nguyen, Chuong and Altawaitan, Abdullah and Duong, Thai and Atanasov, Nikolay and Nguyen, Quan},
    title = {{Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2024},
    url = {https://arxiv.org/abs/2407.14749},
    doi = {https://doi.org/10.1109/LRA.2024.3519864}
  }

Distributed Multi-Agent Reinforcement Learning with One-hop Neighbors and Compute Straggler Mitigation
B. Wang, J. Xie and N. Atanasov
IEEE Transactions on Control of Network Systems (T-CNS), 2024.
[bib] [pdf] [doi]

  @article{Wang_DARL1N_TCNS24,
    author = {Baoqian Wang and Junfei Xie and Nikolay Atanasov},
    title = {{Distributed Multi-Agent Reinforcement Learning with One-hop Neighbors and Compute Straggler Mitigation}},
    journal = {IEEE Transactions on Control of Network Systems (T-CNS)},
    year = {2024},
    doi = {https://doi.org/10.1109/TCNS.2024.3511400}
  }

Multi-Robot Object SLAM Using Distributed Variational Inference
H. Cao, S. Shreedharan and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Vol. 9(10), pp. 8722-8729, 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Cao_MultiRobotSLAM_RAL24,
    author = {Cao, Hanwen and Shreedharan, Sriram and Atanasov, Nikolay},
    title = {{Multi-Robot Object SLAM Using Distributed Variational Inference}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2024},
    volume = {9},
    number = {10},
    pages = {8722-8729},
    url = {https://arxiv.org/abs/2404.18331},
    doi = {https://doi.org/10.1109/LRA.2024.3451389}
  }

Distributionally Robust Policy and Lyapunov-Certificate Learning
K. Long, J. Cortes and N. Atanasov
IEEE Open Journal of Control Systems (OJ-CSYS), Vol. 3, pp. 375-388, 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Long_DROCLFControl_OJCSYS24,
    author = {Long, Kehan and Cortes, Jorge and Atanasov, Nikolay},
    title = {{Distributionally Robust Policy and Lyapunov-Certificate Learning}},
    journal = {IEEE Open Journal of Control Systems (OJ-CSYS)},
    year = {2024},
    volume = {3},
    pages = {375-388},
    url = {https://arxiv.org/abs/2404.03017},
    doi = {https://doi.org/10.1109/OJCSYS.2024.3440051}
  }

Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control
T. Duong, A. Altawaitan, J. Stanley and N. Atanasov
IEEE Transactions on Robotics (T-RO), Vol. 40, pp. 3695-3715, 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Duong_PHNODE_TRO24,
    author = {Thai Duong and Abdullah Altawaitan and Jason Stanley and Nikolay Atanasov},
    title = {{Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2024},
    volume = {40},
    pages = {3695-3715},
    url = {https://arxiv.org/abs/2401.09520},
    doi = {https://doi.org/10.1109/TRO.2024.3428433}
  }

TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning
Q. Feng and N. Atanasov
IEEE Transactions on Robotics (T-RO), Vol. 40, pp. 1457-1475, 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Feng_TerrainMesh_TRO24,
    author = {Feng, Qiaojun and Atanasov, Nikolay},
    title = {{TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning}},
    journal = {IEEE Transactions on Robotics (T-RO)},
    year = {2024},
    volume = {40},
    pages = {1457-1475},
    url = {https://arxiv.org/abs/2204.10993},
    doi = {https://doi.org/10.1109/TRO.2024.3353073}
  }

Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
P. Mestres, K. Long, N. Atanasov and J. Cortés
IEEE Control Systems Letters (L-CSS), Vol. 8, pp. 91-96, 2024.
[bib] [pdf] [doi] [arXiv]

  @article{Mestres_DROFeasibility_LCSS24,
    author = {Pol Mestres and Kehan Long and Nikolay Atanasov and Jorge Cortés},
    title = {{Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers}},
    journal = {IEEE Control Systems Letters (L-CSS)},
    year = {2024},
    volume = {8},
    pages = {91-96},
    url = {https://arxiv.org/abs/2311.05813},
    doi = {https://doi.org/10.1109/LCSYS.2023.3348688}
  }

Stabilization of Nonlinear Systems through Control Barrier Functions
P. Mestres, K. Long, M. Leok, N. Atanasov and J. Cortés
IEEE Conference on Decision and Control (CDC), 2024.
[bib] [pdf] [arXiv]

  @inproceedings{Mestres_CBFStabilization_CDC24,
    author = {Pol Mestres and Kehan Long and Melvin Leok and Nikolay Atanasov and Jorge Cortés},
    title = {{Stabilization of Nonlinear Systems through Control Barrier Functions}},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2024},
    url = {https://arxiv.org/abs/2310.00273}
  }

Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
K. Long, K. Tran, M. Leok and N. Atanasov
American Control Conference (ACC), 2024.
[bib] [pdf] [arXiv]

  @inproceedings{Long_PolygonEllipseCBF_ACC24,
    author = {Kehan Long and Khoa Tran and Melvin Leok and Nikolay Atanasov},
    title = {{Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments}},
    booktitle = {American Control Conference (ACC)},
    year = {2024},
    url = {https://arxiv.org/abs/2310.00273}
  }

Optimal Scene Graph Planning with Large Language Model Guidance
Z. Dai, A. Asgharivaskasi, T. Duong, S. Lin, M.-E. Tzes, G. J. Pappas and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2024.
[bib] [pdf] [arXiv]

  @inproceedings{Dai_LLMPlanning_ICRA24,
    author = {Zhirui Dai and Arash Asgharivaskasi and Thai Duong and Shusen Lin and Maria-Elizabeth Tzes and George J. Pappas and Nikolay Atanasov},
    title = {{Optimal Scene Graph Planning with Large Language Model Guidance}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2024},
    url = {https://arxiv.org/abs/2309.09182}
  }

Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
A. Altawaitan, J. Stanley, S. Ghosal, T. Duong and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2024.
[bib] [pdf] [arXiv]

  @inproceedings{Altawaitan_HamiltonianDynamicsLearning_ICRA24,
    author = {Abdullah Altawaitan and Jason Stanley and Sambaran Ghosal and Thai Duong and Nikolay Atanasov},
    title = {{Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2024},
    url = {https://arxiv.org/abs/2309.09163}
  }

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}
  }

Dynamic Handover: Throw and Catch with Bimanual Hands
B. Huang, Y. Chen, T. Wang, Y. Qin, Y. Yang, N. Atanasov and X. Wang
Conference on Robot Learning (CoRL), 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{HuangChen_DynamicHandover_CoRL23,
    author = {Binghao Huang and Yuanpei Chen and Tianyu Wang and Yuzhe Qin and Yaodong Yang and Nikolay Atanasov and Xiaolong Wang},
    title = {{Dynamic Handover: Throw and Catch with Bimanual Hands}},
    booktitle = {Conference on Robot Learning (CoRL)},
    year = {2023},
    url = {https://arxiv.org/abs/2309.05655},
    doi = {https://openreview.net/forum?id=dgwvY3H8PAS}
  }

Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks
E. Sebastián, T. Duong, N. Atanasov, E. Montijano and C. Sagüés
IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Sebastian_GraphIdentification_MRS23,
    author = {Eduardo Sebastián AND Thai Duong AND Nikolay Atanasov AND Eduardo Montijano AND Carlos Sagüés},
    title = {{Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks}},
    booktitle = {IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
    year = {2023},
    url = {https://arxiv.org/abs/2307.04374},
    doi = {https://doi.org/10.1109/MRS60187.2023.10416769}
  }

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}
  }

Hide and Seek with Visibility Constraints using Control Barrier Functions
S. Koga, M. Zhou, D. Panagou and N. Atanasov
Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy at IROS, 2023.
[bib] [pdf]

  @inproceedings{Koga_HideSeekCBF_IROS23,
    author = {Shumon Koga and Minnan Zhou and Dimitra Panagou and Nikolay Atanasov},
    title = {{Hide and Seek with Visibility Constraints using Control Barrier Functions}},
    booktitle = {Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy at IROS},
    year = {2023}
  }

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 (T-RO), 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 (T-RO)},
    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 = {Zhichao Li and Thai Duong and Nikolay 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 = {James Di and Ehsan Zobeidi and Alec Koppel and Nikolay 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 = {Shumon Koga and Arash Asgharivaskasi and Nikolay 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 = {Mo Shan and Qiaojun Feng and Youyi Jau and Nikolay 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 = {Tianyu Zhao and Qiaojun Feng and Sai Jadhav and Nikolay 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 = {Shumon Koga and Arash Asgharivaskasi and Nikolay 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 = {Thai Duong and Nikolay 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 = {Arash Asgharivaskasi and Nikolay 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 = {Qiaojun Feng and Nikolay 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. P. How
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Cai_NonmonotoneInfoGathering_ICRA21,
    author = {Xiaoyi Cai and Brent Schlotfeldt and Kasra Khosoussi and Nikolay Atanasov and George J. Pappas and Jonathan P. 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 = {Baoqian Wang and Junfei Xie and Nikolay 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 = {Parth Paritosh and Nikolay Atanasov and Sonia 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] [arXiv]

  @inproceedings{Zobeidi_GPMapping_IROS20,
    author = {Ehsan Zobeidi and Alec Koppel and Nikolay 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},
    url = {https://arxiv.org/abs/2103.16170},
    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 = {Mo Shan and Qiaojun Feng and Nikolay 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 = {Qiaojun Feng and Nikolay 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 = {Tianyu Wang and Vikas Dhiman and Nikolay 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. J. Khojasteh, V. Dhiman, M. Franceschetti and N. Atanasov
Learning for Dynamics and Control (L4DC), 2020.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Khojasteh_SafeDynamicsLearning_L4DC20,
    author = {Mohammad Javad Khojasteh and Vikas Dhiman and Massimo Franceschetti and Nikolay 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 = {Thai Duong and Nikhil Das and Michael Yip and Nikolay 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 = {Zhichao Li and Ömür 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 = {Tianyu Wang and Vikas Dhiman and Nikolay 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. J. Pappas and V. Kumar
IEEE International Conference on Robotics and Automation (ICRA), 2020.
[bib] [pdf] [doi]

  @inproceedings{Saulnier_ActiveMapping_ICRA20,
    author = {Kelsey Saulnier and Nikolay Atanasov and George J. Pappas and Vijay 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 = {Sutej Kulgod and Wentao Chen and Junda Huang and Ye Zhao and Nikolay 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 = {Parth Paritosh and Nikolay Atanasov and Sonia Martinez},
    title = {{Hypothesis Assignment and Partial Likelihood Averaging for Cooperative Estimation}},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2019},
    doi = {https://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 International Conference on Intelligent Robots and Systems (IROS), 2019.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Feng_DeformableMeshModel_IROS19,
    author = {Qiaojun Feng and Yue Meng and Mo Shan and Nikolay Atanasov},
    title = {{Localization and Mapping using Instance-specific Mesh Models}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2019},
    url = {https://arxiv.org/abs/2103.04493},
    doi = {https://doi.org/10.1109/IROS40897.2019.8967662}
  }

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

  @inproceedings{Guo_IFOM_IROS19,
    author = {Siwei Guo and Nikolay Atanasov},
    title = {{Information Filter Occupancy Mapping using Decomposable Radial Kernels}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2019},
    doi = {https://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 International Conference on Intelligent Robots and Systems (IROS), 2019.
[bib] [pdf] [doi]

  @inproceedings{Schlotfeldt_InfoBounds_IROS19,
    author = {Brent Schlotfeldt and Nikolay Atanasov and George J. Pappas},
    title = {{Maximum Information Bounds for Planning Active Sensing Trajectories}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2019},
    doi = {https://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 = {Yiannis Kantaros and Brent Schlotfeldt and Nikolay Atanasov and George J. Pappas},
    title = {{Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering}},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2019},
    doi = {https://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 = {Pedro Tecchio and Nikolay Atanasov and Shahin Shahrampour and George 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://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 = {Michael Ostertag and Nikolay Atanasov and Tajana Rosing},
    title = {{Robust Velocity Control for Minimum Steady State Uncertainty in Persistent Monitoring Applications}},
    booktitle = {American Control Conference (ACC)},
    year = {2019},
    doi = {https://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 = {https://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 = {https://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 = {https://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. J. Pappas
International Joint Conference on Artificial Intelligence (IJCAI), 2018.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_SemanticSLAM_IJCAI18,
    author = {Nikolay Atanasov and Sean Bowman and Kostas Daniilidis and George J. Pappas},
    title = {{A Unifying View of Geometry, Semantics, and Data Association in SLAM}},
    booktitle = {International Joint Conference on Artificial Intelligence (IJCAI)},
    year = {2018},
    doi = {https://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 = {Arbaaz Khan and Clark Zhang and Nikolay Atanasov and Konstantinos Karydis and Vijay Kumar and Daniel 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 = {https://doi.org/10.23919/ACC.2018.8431275}
  }

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

  @inproceedings{Sun_OccupancyGridFiltering_ACC18,
    author = {Ke Sun and Kelsey Saulnier and Nikolay Atanasov and George J. Pappas and Vijay 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 = {https://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 = {Brent Schlotfeldt and Nikolay Atanasov and George 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 International Conference on Intelligent Robots and Systems (IROS), 2017.
[bib] [pdf] [doi] [arXiv]

  @inproceedings{Liu_DynamicTrajectoryPlanning_IROS17,
    author = {Sikang Liu and Nikolay Atanasov and Kartik Mohta and Vijay Kumar},
    title = {{Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2017},
    url = {https://arxiv.org/abs/1709.05401},
    doi = {https://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 International Conference on Intelligent Robots and Systems (IROS), 2017.
[bib] [pdf] [doi]

  @inproceedings{Zhang_ActiveTouch_IROS17,
    author = {Mabel Zhang and Nikolay Atanasov and Kostas Daniilidis},
    title = {{Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search}},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2017},
    doi = {https://doi.org/10.1109/IROS.2017.8206161}
  }

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

  @inproceedings{Zhu_EVIO_CVPR17,
    author = {Alex Zhu and Nikolay Atanasov and Kostas Daniilidis},
    title = {{Event-based Visual Inertial Odometry}},
    booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
    year = {2017},
    doi = {https://doi.org/10.1109/CVPR.2017.616}
  }

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

  @inproceedings{Zhu_EVFT_ICRA17,
    author = {Alex Zhu and Nikolay Atanasov and Kostas Daniilidis},
    title = {{Event-based Feature Tracking with Probabilistic Data Association}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2017},
    doi = {https://doi.org/10.1109/ICRA.2017.7989517}
  }

Probabilistic Data Association for Semantic SLAM
S. Bowman, N. Atanasov, K. Daniilidis and G. Pappas
IEEE International Conference 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 International Conference on Robotics and Automation (ICRA)},
    year = {2017},
    doi = {https://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 = {Steven Chen and Nikolay Atanasov and Arbaaz Khan and Konstantinos Karydis and Daniel D. Lee and Vijay 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 = {https://www.princeton.edu/~ndaw/RLDM17ExtendedAbstracts.pdf}
  }

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

  @inproceedings{Tzoumas_SensorSchedululing_ACC17,
    author = {Vasileios Tzoumas and Nikolay Atanasov and Ali Jadbabaie and George J. Pappas},
    title = {{Scheduling Nonlinear Sensors for Stochastic Process Estimation}},
    booktitle = {American Control Conference (ACC)},
    year = {2017},
    doi = {https://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. J. Pappas
ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), 2017.
[bib] [pdf] [doi]

  @inproceedings{DiFranco_UWBNetworkLocalization_IPSN17,
    author = {Carmelo Di Franco and Amanda Prorok and Nikolay Atanasov and Benjamin Kempke and Prabal Dutta and Vijay Kumar and George J. Pappas},
    title = {{Calibration-Free Network Localization using Non-Line-of-Sight Ultra-Wideband Measurements}},
    booktitle = {ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)},
    year = {2017},
    doi = {https://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] [arXiv]

  @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},
    url = {https://arxiv.org/abs/1707.02069}
  }

2016

Optimal Temporal Logic Planning in Probabilistic Semantic Maps
J. Fu, N. Atanasov, U. Topcu and G. Pappas
IEEE International Conference 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 International Conference on Robotics and Automation (ICRA)},
    year = {2016},
    doi = {https://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 International Conference 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 International Conference on Cyber-Physical Systems (ICCPS)},
    year = {2016},
    doi = {https://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. J. Pappas
The International Journal of Robotics Research (IJRR), Vol. 35, pp. 73-99, 2015.
[bib] [pdf] [doi]

  @article{Atanasov_SemanticLocalization_IJRR15,
    author = {Nikolay Atanasov and Menglong Zhu and Kostas Daniilidis and George J. 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 = {https://doi.org/10.1177/0278364915596589}
  }

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

  @article{Atanasov_StochasticSourceSeeking_JDSMC15,
    author = {Nikolay Atanasov and Jerome Le Ny and George J. 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 = {https://doi.org/10.1115/1.4027892}
  }

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

  @inproceedings{Ivanov_RobustEstimation_Allerton15,
    author = {Radoslav Ivanov and Nikolay Atanasov and Miroslav Pajic and George J. Pappas and Insup Lee},
    title = {{Robust Estimation Using Context-Aware Filtering}},
    booktitle = {Allerton Conference on Communication, Control, and Computing},
    year = {2015},
    doi = {https://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. J. Pappas
IEEE International Conference on Robotics and Automation (ICRA), pp. 4775-4782, 2015.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_ActiveInformationAcquisition_ICRA15,
    author = {Nikolay Atanasov and Jerome Le Ny and Kostas Daniilidis and George J. Pappas},
    title = {{Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2015},
    pages = {4775-4782},
    doi = {https://doi.org/10.1109/ICRA.2015.7139863}
  }

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

  @inproceedings{Ivanov_RobustLocalization_RSS15_Workshop,
    author = {Radoslav Ivanov and Nikolay Atanasov and Miroslav Pajic and Insup Lee and George J. Pappas},
    title = {{Robust Localization Using Context-Aware Filtering}},
    booktitle = {Workshop on Multiview Geometry in Robotics at RSS},
    year = {2015}
  }

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

  @inproceedings{Lauri_MonteCarloTreeSearch_ICRA15_Workshop,
    author = {Mikko Lauri and Nikolay Atanasov and George J. Pappas and Risto 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. M. Preciado and G. J. Pappas
IEEE Conference on Decision and Control (CDC), pp. 6875-6882, 2014.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_JointEstimationLocalization_CDC14,
    author = {Nikolay Atanasov and Roberto Tron and Victor M. Preciado and George J. Pappas},
    title = {{Joint Estimation and Localization in Sensor Networks}},
    booktitle = {IEEE Conference on Decision and Control (CDC)},
    year = {2014},
    pages = {6875-6882},
    doi = {https://doi.org/10.1109/CDC.2014.7040469}
  }

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

  @inproceedings{Zhu_ADPM_ECCV14,
    author = {Menglong Zhu and Nikolay Atanasov and George J. Pappas and Kostas Daniilidis},
    title = {{Active Deformable Part Models Inference}},
    booktitle = {European Conference on Computer Vision (ECCV)},
    year = {2014},
    volume = {8695},
    pages = {281-296},
    doi = {https://doi.org/10.1007/978-3-319-10584-0_19}
  }

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

  @inproceedings{Atanasov_SemanticLocalization_RSS14,
    author = {Nikolay Atanasov and Menglong Zhu and Kostas Daniilidis and George J. Pappas},
    title = {{Semantic Localization via the Matrix Permanent}},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = {2014},
    doi = {https://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. J. Pappas
IEEE International Conference on Robotics and Automation (ICRA), pp. 6447-6454, 2014.
[bib] [pdf] [doi]

  @inproceedings{Atanasov_ActiveInformationAcquisition_ICRA14,
    author = {Nikolay Atanasov and Jerome Le Ny and Kostas Daniilidis and George J. Pappas},
    title = {{Information Acquisition with Sensing Robots: Algorithms and Error Bounds}},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2014},
    pages = {6447-6454},
    doi = {https://doi.org/10.1109/ICRA.2014.6907811}
  }

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

  @inproceedings{Zhu_ADPM_ECCV14_Workshop,
    author = {Menglong Zhu and Nikolay Atanasov and George J. Pappas and Kostas 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}
  }