Publications

List of Publications Ordered by Impact

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ResearchNet

Full List of Publications in Reverse Chronological Order

2016

  • T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. M. Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal, and W. Echelmeyer, “No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem,” IEEE Robotics and Automation Magazine (accepted), 2016.
    [BibTeX]
    @Article{RobLogRAM2016,
    Title = {No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem},
    Author = {Todor Stoyanov and Narunas Vaskevicius and Christian Atanas Mueller and Tobias Fromm and Robert Krug and Vinicio Tincani and Rasoul Mojtahedzadeh and Stefan Kunaschk and Rafael Mortensen Ernits and Daniel Ricao Canelhas and Manuel Bonilla and Soeren Schwertfeger and Marco Bonini and Harry Halfar and Kaustubh Pathak and Moritz Rohde and Gualtiero Fantoni and Antonio Bicchi and Andreas Birk and Achim J. Lilienthal and Wolfgang Echelmeyer},
    Journal = {IEEE Robotics and Automation Magazine (accepted)},
    Year = {2016},
    Owner = {kaust},
    Timestamp = {2016.04.14}
    }

  • N. Vaskevicius, K. Pathak, and A. Birk, “Anticipation and Attention for Robust Object Recognition with RGBD-Data in an Industrial Application Scenario,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (accepted), 2016.
    [BibTeX]
    @InProceedings{Vaskevicius_AA_2016,
    author = {Narunas Vaskevicius and Kaustubh Pathak and Andreas Birk},
    title = {Anticipation and Attention for Robust Object Recognition with RGBD-Data in an Industrial Application Scenario},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (accepted)},
    year = {2016},
    }

2015

  • M. Magnusson, N. Vaskevicius, T. Stoyanov, K. Pathak, and A. Birk, “Beyond Points: Evaluating Recent 3D Scan-Matching Algorithms,” in IEEE International Conference on Robotics and Automation (ICRA), 2015. doi:10.1109/ICRA.2015.7139703
    [BibTeX]
    @InProceedings{magnusson-icra2015,
    Title = {Beyond Points: Evaluating Recent {3D} Scan-Matching Algorithms},
    Author = {Martin Magnusson and Narunas Vaskevicius and Todor Stoyanov and Kaustubh Pathak and Andreas Birk},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2015},
    Doi = {10.1109/ICRA.2015.7139703}
    }

  • R. Mihalyi, K. Pathak, N. Vaskevicius, T. Fromm, and A. Birk, “Robust 3D object modeling with a low-cost RGBD-sensor and AR-markers for applications with untrained end-users,” Robotics and Autonomous Systems, vol. 66, pp. 1-17, 2015. doi:10.1016/j.robot.2015.01.005
    [BibTeX]
    @Article{Mihalyi2015,
    Title = {Robust {3D} object modeling with a low-cost {RGBD}-sensor and {AR}-markers for applications with untrained end-users},
    Author = {Razvan-George Mihalyi and Kaustubh Pathak and Narunas Vaskevicius and Tobias Fromm and Andreas Birk},
    Journal = {Robotics and Autonomous Systems},
    Year = {2015},
    Month = {April},
    Pages = {1--17},
    Volume = {66},
    Doi = {10.1016/j.robot.2015.01.005},
    Owner = {kaust},
    Timestamp = {2015.07.01}
    }

2014

  • C. A. Mueller, K. Pathak, and A. Birk, “Object shape categorization in RGBD images using hierarchical graph constellation models based on unsupervisedly learned shape parts described by a set of shape specificity levels,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, pp. 3053-3060. doi:10.1109/IROS.2014.6942984
    [BibTeX]
    @InProceedings{mueller-iros-2014,
    Title = {Object shape categorization in RGBD images using hierarchical graph constellation models based on unsupervisedly learned shape parts described by a set of shape specificity levels},
    Author = {Mueller, C.A. and Pathak, K. and Birk, A.},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2014},
    Month = {Sept},
    Pages = {3053-3060},
    Doi = {10.1109/IROS.2014.6942984}
    }

  • N. Vaskevicius, C. A. Mueller, M. Bonilla, V. Tincani, T. Stoyanov, G. Fantoni, K. Pathak, A. J. Lilienthal, A. Bicchi, and A. Birk, “Object Recognition and Localization for Robust Grasping with a Dexterous Gripper in the Context of Container Unloading,” in IEEE Int. Conf. on Automation Science and Engineering (CASE), 2014. doi:10.1109/CoASE.2014.6899490
    [BibTeX]
    @InProceedings{VaskeviciusCASESGrasping014,
    Title = {{Object Recognition and Localization for Robust Grasping with a Dexterous Gripper in the Context of Container Unloading}},
    Author = {Narunas Vaskevicius and Christian Atanas Mueller and Manuel Bonilla and Vinicio Tincani and Todor Stoyanov and Gualtiero Fantoni and Kaustubh Pathak and Achim J. Lilienthal and Antonio Bicchi and Andreas Birk},
    Booktitle = {IEEE Int. Conf. on Automation Science and Engineering (CASE)},
    Year = {2014},
    Doi = {10.1109/CoASE.2014.6899490},
    Owner = {kaust},
    Timestamp = {2014.05.15}
    }

  • N. Vaskevicius, K. Pathak, and A. Birk, “Fitting Superquadrics in Noisy, Partial Views from a Low-cost RGBD Sensor for Recognition and Localization of Sacks in Autonomous Unloading of Shipping Containers,” in IEEE Int. Conf. on Automation Science and Engineering (CASE), 2014. doi:10.1109/CoASE.2014.6899335
    [BibTeX]
    @InProceedings{VaskeviciusCASESQ2014,
    Title = {{Fitting Superquadrics in Noisy, Partial Views from a Low-cost RGBD Sensor for Recognition and Localization of Sacks in Autonomous Unloading of Shipping Containers}},
    Author = {Narunas Vaskevicius and Kaustubh Pathak and Andreas Birk},
    Booktitle = {IEEE Int. Conf. on Automation Science and Engineering (CASE)},
    Year = {2014},
    Doi = {10.1109/CoASE.2014.6899335},
    Owner = {kaust},
    Timestamp = {2014.05.15}
    }

2013

  • R. Mihalyi, K. Pathak, N. Vaskevicius, and A. Birk, “Uncertainty Estimation of AR-Marker Poses for Graph-SLAM Optimization in 3D Object Model Generation with RGBD Data,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. doi:10.1109/IROS.2013.6696594
    [BibTeX]
    @InProceedings{Mihalyi2013,
    Title = {Uncertainty Estimation of {AR}-Marker Poses for {Graph-SLAM} Optimization in {3D} Object Model Generation with {RGBD} Data},
    Author = {Razvan Mihalyi and Kaustubh Pathak and Narunas Vaskevicius and Andreas Birk},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2013},
    Doi = {10.1109/IROS.2013.6696594},
    Owner = {kaust},
    Timestamp = {2013.07.19}
    }

  • C. A. Mueller, K. Pathak, and A. Birk, “Object Recognition in RGBD Images of Cluttered Environments using Graph-Based Categorization of Unsupervisedly Learned Shape Parts,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. doi:10.1109/IROS.2013.6696671
    [BibTeX]
    @InProceedings{ChrisIROS2013,
    Title = {Object Recognition in {RGBD} Images of Cluttered Environments using Graph-Based Categorization of Unsupervisedly Learned Shape Parts},
    Author = {Christian Atanas Mueller and Kaustubh Pathak and Andreas Birk},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2013},
    Doi = {10.1109/IROS.2013.6696671},
    Owner = {kaust},
    Timestamp = {2013.07.19}
    }

  • K. Pathak, M. Pfingsthorn, H. Bülow, and A. Birk, “Robust Estimation of Camera-Tilt for iFMI based Photo-Mapping using a Calibrated Monocular Camera,” in IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, 2013. doi:10.1109/ICRA.2013.6631307
    [BibTeX]
    @InProceedings{PathakICRA2013,
    Title = {Robust Estimation of Camera-Tilt for {iFMI} based Photo-Mapping using a Calibrated Monocular Camera},
    Author = {Kaustubh Pathak and Max Pfingsthorn and Heiko B\"{u}low and Andreas Birk},
    Booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    Year = {2013},
    Address = {Karlsruhe},
    Doi = {10.1109/ICRA.2013.6631307},
    Owner = {kaust},
    Timestamp = {2013.01.22}
    }

2012

  • K. Pathak, N. Vaskevicius, F. Bungiu, and A. Birk, “Utilizing Color Information in 3D Scan-Registration Using Planar-Patches Matching,” in IEEE Int. Conf. on Multisensor Fusion and Information Integration (MFI), Hamburg, 2012. doi:10.1109/MFI.2012.6343047
    [BibTeX]
    @InProceedings{PathakMFI2012,
    Title = {Utilizing Color Information in {3D} Scan-Registration Using Planar-Patches Matching},
    Author = {Kaustubh Pathak and Narunas Vaskevicius and Francisc Bungiu and Andreas Birk},
    Booktitle = {IEEE Int. Conf. on Multisensor Fusion and Information Integration (MFI)},
    Year = {2012},
    Address = {Hamburg},
    Doi = {10.1109/MFI.2012.6343047},
    Owner = {kaust},
    Timestamp = {2012.09.27}
    }

  • N. Vaskevicius, K. Pathak, A. Ichim, and A. Birk, “The Jacobs Robotics approach to object recognition and localization in the context of the ICRA’11 Solutions in Perception Challenge,” in IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 3475-3481. doi:10.1109/ICRA.2012.6225335
    [BibTeX]
    @InProceedings{PerceptionChallengeICRA2012,
    Title = {The {Jacobs Robotics} approach to object recognition and localization in the context of the {ICRA'11 Solutions in Perception Challenge}},
    Author = {Vaskevicius, N. and Pathak, K. and Ichim, A. and Birk, A.},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2012},
    Month = {May},
    Pages = {3475-3481},
    Doi = {10.1109/ICRA.2012.6225335},
    ISSN = {1050-4729},
    Keywords = {edge detection;feature extraction;image matching;image segmentation;learning (artificial intelligence);multi-robot systems;object recognition;robot vision;sensors;solid modelling;3D model learning;3D space;ICRA11 solutions;Jacobs robotics approach;Kinect sensor;edge-detection algorithm;geometric-visual information integration;multipronged strategy;object localization;object recognition;perception challenge;range image over-segmentation;regions of interest extraction;scene matching;sensor model;shape-analysis;transformation estimation;visual features;Feature extraction;Image color analysis;Image edge detection;Image segmentation;Mathematical model;Solid modeling;Vectors}
    }

2011

  • M. Pfingsthorn, A. Birk, N. Vaskevicius, and K. Pathak, “Cooperative 3D Mapping under Underwater Communication Constraints,” in IEEE Oceans, Waikoloa, HI, 2011.
    [BibTeX]
    @InProceedings{CooperativeUnderwater3DMapping-Oceans11,
    Title = {Cooperative {3D} Mapping under Underwater Communication Constraints},
    Author = {Pfingsthorn, Max and Birk, Andreas and Vaskevicius, Narunas and Pathak, Kaustubh},
    Booktitle = {IEEE Oceans},
    Year = {2011},
    Address = {Waikoloa, HI}
    }

  • J. Poppinga, A. Birk, K. Pathak, and N. Vaskevicius, “Fast 6-DOF Path Planning for Autonomous Underwater Vehicles (AUV) based on 3D Plane Mapping,” in IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2011, pp. 1-6.
    [BibTeX]
    @InProceedings{SSRR11-AUV-3D-pathplan,
    Title = {Fast {6-DOF} Path Planning for Autonomous Underwater Vehicles {(AUV)} based on {3D} Plane Mapping},
    Author = {Poppinga, Jann and Birk, Andreas and Pathak, Kaustubh and Vaskevicius, Narunas},
    Booktitle = {IEEE International Symposium on Safety, Security, and Rescue Robotics {(SSRR)}},
    Year = {2011},
    Pages = {1-6}
    }

2010

  • A. Birk, K. Pathak, N. Vaskevicius, M. Pfingsthorn, J. Poppinga, and S. Schwertfeger, “Surface Representations for 3D Mapping: A Case for a Paradigm Shift,” KI – Künstliche Intelligenz, vol. 24, iss. 3, pp. 249-254, 2010. doi:10.1007/s13218-010-0035-1
    [BibTeX]
    @Article{Birk_KI2010,
    Title = {{Surface Representations for 3D Mapping: A Case for a Paradigm Shift}},
    Author = {Birk, Andreas and Pathak, Kaustubh and Vaskevicius, Narunas and Pfingsthorn, Max and Poppinga, Jann and Schwertfeger, S\"{o}ren},
    Journal = {KI - K\"{u}nstliche Intelligenz},
    Year = {2010},
    Number = {3},
    Pages = {249--254},
    Volume = {24},
    Doi = {10.1007/s13218-010-0035-1},
    Publisher = {Springer}
    }

  • K. Pathak, A. Birk, and N. Vaskevicius, “Plane-Based Registration of Sonar Data for Underwater 3D Mapping,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010, pp. 4880-4885. doi:10.1109/IROS.2010.5650953
    [BibTeX]
    @InProceedings{PathakIROS2010B,
    Title = {Plane-Based Registration of Sonar Data for Underwater {3D} Mapping},
    Author = {Kaustubh Pathak and Andreas Birk and Narunas Vaskevicius},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2010},
    Address = {Taipei, Taiwan},
    Pages = {4880--4885},
    Doi = {10.1109/IROS.2010.5650953},
    Owner = {kaust},
    Timestamp = {2010.06.16}
    }

  • K. Pathak, A. Birk, N. Vaskevicius, M. Pfingsthorn, S. Schwertfeger, and J. Poppinga, “Online Three-Dimensional SLAM by Registration of Large Planar Surface Segments and Closed-Form Pose-Graph Relaxation,” Journal of Field Robotics, vol. 27, iss. 1, pp. 52-84, 2010. doi:10.1002/rob.20322
    [BibTeX]
    @Article{PathakJFR2010,
    Title = {Online Three-Dimensional {SLAM} by Registration of Large Planar Surface Segments and Closed-Form Pose-Graph Relaxation},
    Author = {Kaustubh Pathak and Andreas Birk and Narunas Vaskevicius and Max Pfingsthorn and S\"{o}ren Schwertfeger and Jann Poppinga},
    Journal = {Journal of Field Robotics},
    Year = {2010},
    Number = {1},
    Pages = {52--84},
    Volume = {27},
    Doi = {10.1002/rob.20322},
    File = {:home/kaust/personal/JobsAndScannedInDocs/MyPapers/JFR_2010_final.pdf:PDF},
    Owner = {kaust},
    Timestamp = {2009.09.01}
    }

  • K. Pathak, A. Birk, N. Vaskevicius, and J. Poppinga, “Fast Registration Based on Noisy Planes with Unknown Correspondences for 3D Mapping,” IEEE Transactions on Robotics, vol. 26, iss. 3, pp. 424-441, 2010. doi:10.1109/TRO.2010.2042989
    [BibTeX]
    @Article{PathakITRO2010,
    Title = {Fast Registration Based on Noisy Planes with Unknown Correspondences for {3D} Mapping},
    Author = {Kaustubh Pathak and Andreas Birk and Narunas Vaskevicius and Jann Poppinga},
    Journal = {IEEE Transactions on Robotics},
    Year = {2010},
    Month = {June},
    Number = {3},
    Pages = {424--441},
    Volume = {26},
    Doi = {10.1109/TRO.2010.2042989},
    File = {:home/kaust/personal/JobsAndScannedInDocs/MyPapers/3DPlanes_ITRO2010.pdf:PDF},
    Owner = {kaust},
    Timestamp = {2009.11.30}
    }

  • K. Pathak, D. Borrmann, J. Elseberg, N. Vaskevicius, A. Birk, and A. Nüchter, “Evaluation of the Robustness of Planar-Patches based 3D-Registration using Marker-based Ground-Truth in an Outdoor Urban Scenario,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010, pp. 5725-5730. doi:10.1109/IROS.2010.5649648
    [BibTeX]
    @InProceedings{PathakIROS2010A,
    Title = {Evaluation of the Robustness of Planar-Patches based {3D}-Registration using Marker-based Ground-Truth in an Outdoor Urban Scenario},
    Author = {Kaustubh Pathak and Dorit Borrmann and Jan Elseberg and Narunas Vaskevicius and Andreas Birk and Andreas N\"{u}chter},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2010},
    Address = {Taipei, Taiwan},
    Pages = {5725--5730},
    Doi = {10.1109/IROS.2010.5649648},
    Owner = {kaust},
    Timestamp = {2010.06.16}
    }

  • K. Pathak, N. Vaskevicius, and A. Birk, “Uncertainty analysis for optimum plane extraction from noisy 3D range-sensor point-clouds.,” Intelligent Service Robotics, vol. 3, pp. 37-48, 2010. doi:10.1007/s11370-009-0057-4
    [BibTeX]
    @Article{PathakJISR2010,
    Title = {Uncertainty analysis for optimum plane extraction from noisy {3D} range-sensor point-clouds.},
    Author = {Kaustubh Pathak and Narunas Vaskevicius and Andreas Birk},
    Journal = {Intelligent Service Robotics},
    Year = {2010},
    Pages = {37--48},
    Volume = {3},
    Doi = {10.1007/s11370-009-0057-4},
    File = {:home/kaust/personal/JobsAndScannedInDocs/MyPapers/JISR_2009_UncertaintyAnalysis.pdf:PDF},
    Owner = {kaust},
    Timestamp = {2009.11.30}
    }

  • M. Pfingsthorn, A. Birk, S. Schwertfeger, H. Bülow, and K. Pathak, “Maximum Likelihood Mapping with Spectral Image Registration,” in IEEE Int. Conf. on Robotics and Automation (ICRA), 2010.
    [BibTeX]
    @InProceedings{Pfingsthorn2010fmiuncertainty,
    Title = {Maximum Likelihood Mapping with Spectral Image Registration},
    Author = {Pfingsthorn, Max and Birk, Andreas and Schwertfeger, S{\"o}ren and B{\"u}low, Heiko and Pathak, Kaustubh},
    Booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
    Year = {2010}
    }

  • J. Poppinga, A. Birk, and K. Pathak, “A Characterization of 3D Sensors for Response Robots,” in RoboCup 2009: Robot WorldCup XIII, J. Baltes, M. Lagoudakis, T. Naruse, and S. Shiry, Eds., Springer, 2010, vol. 5949, pp. 264-275. doi:10.1007/978-3-642-11876-0_23
    [BibTeX]
    @InBook{3DSensorSurvey-Rescue-RCup10,
    Title = {A Characterization of {3D} Sensors for Response Robots},
    Author = {Poppinga, Jann and Birk, Andreas and Pathak, Kaustubh},
    Editor = {Baltes, J. and Lagoudakis, M. and Naruse, T. and Shiry, S.},
    Pages = {264--275},
    Publisher = {Springer},
    Year = {2010},
    Series = {Lecture Notes in Artificial Intelligence (LNAI)},
    Volume = {5949},
    Booktitle = {RoboCup 2009: Robot WorldCup XIII},
    Doi = {10.1007/978-3-642-11876-0\_23},
    Organization = {Springer}
    }

  • N. Vaskevicius, A. Birk, K. Pathak, and S. Schwertfeger, “Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration,” Advanced Robotics, vol. 24, iss. 8-9, p. 1169–-1197, 2010. doi:10.1163/016918610X501291
    [BibTeX]
    @Article{VaskeviciusAR2010,
    Title = {Efficient Representation in {3D} Environment Modeling for Planetary Robotic Exploration},
    Author = {Narunas Vaskevicius and Andreas Birk and Kaustubh Pathak and Soren Schwertfeger},
    Journal = {Advanced Robotics},
    Year = {2010},
    Month = {June},
    Number = {8-9},
    Pages = {1169–-1197},
    Volume = {24},
    Doi = {10.1163/016918610X501291},
    File = {:home/kaust/personal/JobsAndScannedInDocs/MyPapers/AdvRobotics2791_2010.pdf:PDF},
    Owner = {kaust},
    Timestamp = {2009.12.16}
    }

  • N. Vaskevicius, K. Pathak, R. Pascanu, and A. Birk, “Extraction of Quadrics From Noisy Point-Clouds Using a Sensor Noise Model,” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, 2010, pp. 3466-3471. doi:10.1109/ROBOT.2010.5509463
    [BibTeX]
    @InProceedings{VaskeviciusICRA2010,
    Title = {Extraction of Quadrics From Noisy Point-Clouds Using a Sensor Noise Model},
    Author = {Narunas Vaskevicius and Kaustubh Pathak and Razvan Pascanu and Andreas Birk},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2010},
    Address = {Anchorage, Alaska, USA},
    Month = {May},
    Pages = {3466--3471},
    Doi = {10.1109/ROBOT.2010.5509463},
    Owner = {kaust},
    Timestamp = {2009.12.31}
    }

2009

  • S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, “A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base,” IEEE Transactions on Automatic Control, vol. 54, iss. 8, pp. 2185-2191, 2009. doi:10.1109/TAC.2009.2026836
    [BibTeX]
    @Article{AgrawalITAC2009,
    Title = {A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base},
    Author = {Sunil K. Agrawal and Kaustubh Pathak and Jaume Franch and Roberto Lampariello and Gerd Hirzinger},
    Journal = {IEEE Transactions on Automatic Control},
    Year = {2009},
    Number = {8},
    Pages = {2185--2191},
    Volume = {54},
    Doi = {10.1109/TAC.2009.2026836},
    Owner = {kaust},
    Timestamp = {2009.08.19}
    }

  • A. Birk, S. Schwertfeger, and K. Pathak, “A Networking Framework for Teleoperation in Safety, Security, and Rescue Robotics,” IEEE Wireless Communications, vol. 16, iss. 1, pp. 6-13, 2009. doi:10.1109/MWC.2009.4804363
    [BibTeX]
    @Article{BirkIWC2009,
    Title = {A Networking Framework for Teleoperation in Safety, Security, and Rescue Robotics},
    Author = {Andreas Birk and Soeren Schwertfeger and Kaustubh Pathak},
    Journal = {IEEE Wireless Communications},
    Year = {2009},
    Month = {February},
    Number = {1},
    Pages = {6--13},
    Volume = {16},
    Doi = {10.1109/MWC.2009.4804363},
    Owner = {kaust},
    Timestamp = {2009.01.20}
    }

  • A. Birk, S. Schwertfeger, K. Pathak, and N. Vaskevicius, “3D data collection at Disaster City at the 2008 NIST Response Robot Evaluation Exercise (RREE),” in IEEE International Workshop on Safety, Security Rescue Robotics (SSRR), 2009, pp. 1-6. doi:10.1109/SSRR.2009.5424164
    [BibTeX]
    @InProceedings{Birk_SSRR_RREE_2009,
    Title = {{3D} data collection at {Disaster City} at the 2008 {NIST Response Robot Evaluation Exercise (RREE)}},
    Author = {Birk, A. and Schwertfeger, S. and Pathak, K. and Vaskevicius, N.},
    Booktitle = {IEEE International Workshop on Safety, Security Rescue Robotics (SSRR)},
    Year = {2009},
    Month = {3-6},
    Pages = {1--6},
    Doi = {10.1109/SSRR.2009.5424164}
    }

  • A. Birk, N. Vaskevicius, K. Pathak, S. Schwertfeger, J. Poppinga, and H. Buelow, “3-D perception and modeling,” IEEE Robotics & Automation Magazine, vol. 16, iss. 4, pp. 53-60, 2009. doi:10.1109/MRA.2009.934822
    [BibTeX] [Abstract]
    Autonomous robots are increasingly suited for operations in unstructured application domains. One impressive example is the result of the Defense Advanced Research Projects Agency (DARPA) Grand Challenge 2005, where five teams managed to get autonomous vehicles to complete a 213-km track in the Mojave desert. Some conditions of the Grand Challenge do not hold for space robotics, especially the availability of a drivable track defined by global positioning system (GPS). In general, it can be argued that space robotics and especially planetary exploration have to deal with one of the most challenging unstructured environments. There is absolutely no infrastructure, the cost of mission failure is very high, and many core sensors that form the foundations of intelligent autonomous behaviors are not space proof, yet. However, autonomy is not a binary all or nothing property. Intelligent autonomous functions can supplement different levels of teleoperation. In the context of the 2008 Lunar Robotics Challenge (LRC) of the European Space Agency (ESA), the Jacobs Robotics team investigated three-dimensional (3-D) perception and modeling as an important basis of autonomy in unstructured domains. Concretely, the efficient modeling of the terrain via a 3-D laser range finder (LRF) is addressed. The underlying fast extraction of planar surface patches can be used to improve situational awareness of an operator or for path planning.

    @Article{BirkRAM2009,
    Title = {3-{D} perception and modeling},
    Author = {Birk, Andreas and Vaskevicius, Narunas and Pathak, Kaustubh and Schwertfeger, Soeren and Poppinga, Jann and Buelow, Heiko},
    Journal = {IEEE Robotics \& Automation Magazine},
    Year = {2009},
    Month = {December },
    Number = {4},
    Pages = {53--60},
    Volume = {16},
    Abstract = {Autonomous robots are increasingly suited for operations in unstructured application domains. One impressive example is the result of the Defense Advanced Research Projects Agency (DARPA) Grand Challenge 2005, where five teams managed to get autonomous vehicles to complete a 213-km track in the Mojave desert. Some conditions of the Grand Challenge do not hold for space robotics, especially the availability of a drivable track defined by global positioning system (GPS). In general, it can be argued that space robotics and especially planetary exploration have to deal with one of the most challenging unstructured environments. There is absolutely no infrastructure, the cost of mission failure is very high, and many core sensors that form the foundations of intelligent autonomous behaviors are not space proof, yet. However, autonomy is not a binary all or nothing property. Intelligent autonomous functions can supplement different levels of teleoperation. In the context of the 2008 Lunar Robotics Challenge (LRC) of the European Space Agency (ESA), the Jacobs Robotics team investigated three-dimensional (3-D) perception and modeling as an important basis of autonomy in unstructured domains. Concretely, the efficient modeling of the terrain via a 3-D laser range finder (LRF) is addressed. The underlying fast extraction of planar surface patches can be used to improve situational awareness of an operator or for path planning.},
    Doi = {10.1109/MRA.2009.934822},
    File = {:home/kaust/personal/JobsAndScannedInDocs/MyPapers/3Dperception_Birk_RAM2009.pdf:PDF},
    ISSN = {1070-9932}
    }

  • K. Pathak, M. Pfingsthorn, N. Vaskevicius, and A. Birk, “Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches,” in International Conference on Advanced Robotics (ICAR), Munich, Germany, 2009.
    [BibTeX]
    @InProceedings{PathakICAR2009,
    Title = {Relaxing Loop-Closing Errors in {3D} Maps Based on Planar Surface Patches},
    Author = {Kaustubh Pathak and Max Pfingsthorn and Narunas Vaskevicius and Andreas Birk},
    Booktitle = {International Conference on Advanced Robotics (ICAR)},
    Year = {2009},
    Address = {Munich, Germany},
    Month = {June},
    Owner = {kaust},
    Timestamp = {2009.08.19}
    }

  • K. Pathak, N. Vaskevicius, and A. Birk, “Revisiting Uncertainty Analysis for Optimum Planes Extracted from 3D Range Sensor Point-Clouds,” in IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009, pp. 1631-1636. doi:10.1109/ROBOT.2009.5152502
    [BibTeX]
    @InProceedings{PathakICRA09,
    Title = {Revisiting Uncertainty Analysis for Optimum Planes Extracted from {3D} Range Sensor Point-Clouds},
    Author = {Pathak, Kaustubh and Vaskevicius, Narunas and Birk, Andreas},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2009},
    Address = {Kobe, Japan},
    Month = {May 12-17},
    Pages = {1631--1636},
    Doi = {10.1109/ROBOT.2009.5152502}
    }

  • K. Pathak, N. Vaskevicius, J. Poppinga, M. Pfingsthorn, S. Schwertfeger, and A. Birk, “Fast 3D Mapping by Matching Planes Extracted from Range Sensor Point-Clouds,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, 2009, pp. 1150-1155. doi:10.1109/IROS.2009.5354061
    [BibTeX]
    @InProceedings{PathakIROS2009,
    Title = {Fast {3D} Mapping by Matching Planes Extracted from Range Sensor Point-Clouds},
    Author = {Kaustubh Pathak and Narunas Vaskevicius and Jann Poppinga and Max Pfingsthorn and S\"{o}ren Schwertfeger and Andreas Birk},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2009},
    Address = {St. Louis, MO, USA},
    Month = {October 11-15},
    Pages = {1150-1155},
    Doi = {10.1109/IROS.2009.5354061},
    Owner = {kaust},
    Timestamp = {2009.08.14}
    }

2008

  • K. Pathak, A. Birk, and J. Poppinga, “Sub-pixel Depth Accuracy with a Time of Flight Sensor using Multimodal Gaussian Analysis,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008. doi:10.1109/IROS.2008.4650841
    [BibTeX]
    @InProceedings{Pathak2008,
    Title = {Sub-pixel Depth Accuracy with a Time of Flight Sensor using Multimodal Gaussian Analysis},
    Author = {Kaustubh Pathak and Andreas Birk and Jann Poppinga},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2008},
    Address = {Nice, France},
    Doi = {10.1109/IROS.2008.4650841},
    Owner = {kaust},
    Timestamp = {2008.07.05}
    }

  • J. Poppinga, A. Birk, and K. Pathak, “Hough based Terrain Classification for Realtime Detection of Drivable Ground,” Journal of Field Robotics, vol. 25, iss. 1-2, pp. 67-88, 2008. doi:10.1002/rob.20227
    [BibTeX]
    @Article{Poppinga2007JournalofFieldRobotics,
    Title = {Hough based Terrain Classification for Realtime Detection of Drivable Ground},
    Author = {Jann Poppinga and Andreas Birk and Kaustubh Pathak},
    Journal = {Journal of Field Robotics},
    Year = {2008},
    Number = {1-2},
    Pages = {67--88},
    Volume = {25},
    Doi = {10.1002/rob.20227},
    File = {JFR-TerrainClassific-Final.pdf:JFR-TerrainClassific-Final.pdf:PDF},
    Keywords = {3D Mapping},
    Owner = {kpathak},
    Timestamp = {2007.08.13}
    }

  • J. Poppinga, N. Vaskevicius, A. Birk, and K. Pathak, “Fast Plane Detection and Polygonalization in Noisy 3D Range Images,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008. doi:10.1109/IROS.2008.4650729
    [BibTeX]
    @InProceedings{Poppinga2008,
    Title = {Fast Plane Detection and Polygonalization in Noisy {3D} Range Images},
    Author = {Jann Poppinga and Narunas Vaskevicius and Andreas Birk and Kaustubh Pathak},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2008},
    Address = {Nice, France},
    Doi = {10.1109/IROS.2008.4650729},
    Owner = {kaust},
    Timestamp = {2008.07.05}
    }

  • J. Ryu, K. Pathak, and S. K. Agrawal, “Control of a Passive Mobility Assist Robot,” Journal of Medical Devices, vol. 2, iss. 1, p. 011002.1–011002.7, 2008. doi:10.1115/1.2889056
    [BibTeX]
    @Article{ryu2008,
    Title = {Control of a Passive Mobility Assist Robot},
    Author = {Ji-Chul Ryu and Kaustubh Pathak and Sunil K. Agrawal},
    Journal = {Journal of Medical Devices},
    Year = {2008},
    Number = {1},
    Pages = {011002.1--011002.7},
    Volume = {2},
    Comment = {http://link.aip.org/link/?MED/2/011002/1},
    Doi = {10.1115/1.2889056},
    Eid = {011002},
    Keywords = {damping; handicapped aids; medical robotics; mobile robots; wheels},
    Numpages = {7},
    Publisher = {ASME}
    }

2007

  • A. Birk, K. Pathak, J. Poppinga, S. Schwertfeger, and W. Chonnaparamutt, “Intelligent Behaviors in Outdoor Environments,” in The 13th IASTED Conf. on Robotics and Applications, Würzburg, Germany, 2007.
    [BibTeX]
    @InProceedings{BirkRAT2007,
    Title = {Intelligent Behaviors in Outdoor Environments},
    Author = {Andreas Birk and Kaustubh Pathak and Jann Poppinga and Soeren Schwertfeger and Winai Chonnaparamutt},
    Booktitle = {The 13th {IASTED} Conf. on Robotics and Applications},
    Year = {2007},
    Address = {W\"urzburg, Germany},
    Editor = {K. Schilling},
    Month = {August},
    Publisher = {{ACTA} Press},
    Owner = {kaust},
    Timestamp = {2007.09.03}
    }

  • K. Pathak, A. Birk, J. Poppinga, and S. Schwertfeger, “3D Forward Sensor Modeling and Application to Occupancy Grid based Sensor Fusion,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, 2007. doi:10.1109/IROS.2007.4399406
    [BibTeX]
    @InProceedings{PathakIROS2007,
    Title = {3{D} Forward Sensor Modeling and Application to Occupancy Grid based Sensor Fusion},
    Author = {Kaustubh Pathak and Andreas Birk and Jann Poppinga and S\"oren Schwertfeger},
    Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Year = {2007},
    Address = {San Diego},
    Month = {November},
    Doi = {10.1109/IROS.2007.4399406},
    File = {iros-sensorfusion-final.pdf:iros-sensorfusion-final.pdf:PDF},
    Keywords = {3D Mapping},
    Owner = {kpathak},
    Timestamp = {2007.08.13}
    }

  • K. Pathak, A. Birk, S. Schwertfeger, I. Delchev, and S. Markov, “Fully autonomous operations of a Jacobs Rugbot in the Robocup rescue robot league 2006,” in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR), , 2007.
    [BibTeX]
    @InCollection{Pathak2007,
    Title = {Fully autonomous operations of a {J}acobs {R}ugbot in the {R}obocup rescue robot league 2006},
    Author = {Kaustubh Pathak and Andreas Birk and Soeren Schwertfeger and Ivan Delchev and Stefan Markov},
    Booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)},
    Year = {2007},
    Owner = {kaust},
    Timestamp = {2008.04.08}
    }

  • J. Poppinga, M. Pfingsthorn, S. Schwertfeger, K. Pathak, and A. Birk, “Optimized Octtree Datastructure and Access Methods for 3D Mapping,” in IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR), 2007, pp. 1-6. doi:10.1109/SSRR.2007.4381275
    [BibTeX]
    @InProceedings{Poppinga2007,
    Title = {Optimized Octtree Datastructure and Access Methods for {3D} Mapping},
    Author = {Poppinga, J. and Pfingsthorn, M. and Schwertfeger, S. and Pathak, K. and Birk, A.},
    Booktitle = {IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR)},
    Year = {2007},
    Month = {27-29},
    Pages = {1--6},
    Doi = {10.1109/SSRR.2007.4381275},
    Keywords = {3D grid rendering;3D mapping;3D sensor data;SLAM;map merging algorithm;optimized octtree datastructure;quadtrees;spatial representation;octrees;quadtrees;rendering (computer graphics);robots;}
    }

  • N. Vaskevicius, A. Birk, K. Pathak, and J. Poppinga, “Fast detection of polygons in 3D point clouds from noise-prone range sensors,” in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR), 2007.
    [BibTeX]
    @InProceedings{Narunas2007,
    Title = {Fast detection of polygons in {3D} point clouds from noise-prone range sensors},
    Author = {Narunas Vaskevicius and Andreas Birk and Kaustubh Pathak and Jann Poppinga},
    Booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)},
    Year = {2007},
    Owner = {kaust},
    Timestamp = {2008.04.08}
    }

2006

  • S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, “Design of a differentially flat open-chain space robot with arbitrarily oriented joints and two momentum wheels at the base,” in IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, 2006, pp. 3867-3872. doi:10.1109/ROBOT.2006.1642294
    [BibTeX]
    @Conference{Agrawal2006ICRA,
    Title = {Design of a differentially flat open-chain space robot with arbitrarily oriented joints and two momentum wheels at the base},
    Author = {Sunil K. Agrawal and Kaustubh Pathak and Jaume Franch and Roberto Lampariello and Gerd Hirzinger},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2006},
    Address = {Orlando, FL},
    Month = {May},
    Pages = {3867 - 3872},
    Doi = {10.1109/ROBOT.2006.1642294},
    File = {01642294.pdf:01642294.pdf:PDF},
    Keywords = {space robots},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • A. Birk, S. Markov, I. Delchev, and K. Pathak, “Autonomous Rescue Operations on the IUB Rugbot,” in IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR), , 2006.
    [BibTeX] [Abstract]
    Full autonomy is an interesting feature for rescue robots not only from a basic research perspective but also in respect to an application oriented view. Autonomy can help a single operator to handle multiple robots or to manage areas that suffer from disturbances in the RF-communication. Furthermore, the different modules used for autonomy like mapping and victim detection are also tremendously helpful for tele-operation. In this paper, an autonomy system is described that was successfully tested on the IUB rescue robots in the lab as well as on the RoboCup Dutch Open 2006 competition. The basic system features all core modules for autonomy. Furthermore, we describe a novel way of victim detection.

    @InCollection{autonomy_ssrr06,
    Title = {Autonomous Rescue Operations on the {IUB Rugbot}},
    Author = {Andreas Birk and Stefan Markov and Ivan Delchev and Kaustubh Pathak},
    Booktitle = {IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR)},
    Year = {2006},
    Abstract = {Full autonomy is an interesting feature for rescue robots not only from a basic research perspective but also in respect to an application oriented view. Autonomy can help a single operator to handle multiple robots or to manage areas that suffer from disturbances in the RF-communication. Furthermore, the different modules used for autonomy like mapping and victim detection are also tremendously helpful for tele-operation. In this paper, an autonomy system is described that was successfully tested on the IUB rescue robots in the lab as well as on the RoboCup Dutch Open 2006 competition. The basic system features all core modules for autonomy. Furthermore, we describe a novel way of victim detection.},
    Comment = {http://www.isd.mel.nist.gov/ssrr2006/},
    File = {ssrr06_rugbot_autonomy2.pdf:ssrr06_rugbot_autonomy2.pdf:PDF},
    Keywords = {autonomy},
    Organization = {NIST},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • A. Birk, K. Pathak, S. Schwertfeger, and W. Chonnaparamutt, “The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations,” in IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR), , 2006.
    [BibTeX] [Abstract]
    The paper describes the IUB Rugbot, a rugged mobile robot that features quite some on-board intelligence. The robot and its software is the latest development of the IUB rescue robot team, which is active since 2001 in this research area. IUB robotics takes an integrated approach to rescue robots. This means that the development of the according systems ranges from the basic mechatronics to the high-level functionalities for intelligent behavior.

    @InCollection{rugbot_ssrr06,
    Title = {The {IUB Rugbot}: an intelligent, rugged mobile robot for search and rescue operations},
    Author = {Andreas Birk and Kaustubh Pathak and Soeren Schwertfeger and Winai Chonnaparamutt},
    Booktitle = {IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR)},
    Year = {2006},
    Abstract = {The paper describes the IUB Rugbot, a rugged mobile robot that features quite some on-board intelligence. The robot and its software is the latest development of the IUB rescue robot team, which is active since 2001 in this research area. IUB robotics takes an integrated approach to rescue robots. This means that the development of the according systems ranges from the basic mechatronics to the high-level functionalities for intelligent behavior.},
    Comment = {http://www.isd.mel.nist.gov/ssrr2006/},
    File = {ssrr06_rugbot_teleop.pdf:ssrr06_rugbot_teleop.pdf:PDF},
    Keywords = {teleoperation},
    Organization = {NIST},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • S. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garratt, “Approaches for a tether-guided landing of an autonomous helicopter,” IEEE Transactions on Robotics, vol. 22, iss. 3, pp. 536-544, 2006. doi:10.1109/TRO.2006.870657
    [BibTeX]
    @Article{Oh2006ITRO,
    Title = {Approaches for a tether-guided landing of an autonomous helicopter},
    Author = {So-Ryeok Oh and Kaustubh Pathak and Sunil K. Agrawal and Hemanshu R. Pota and Matt Garratt},
    Journal = {IEEE Transactions on Robotics},
    Year = {2006},
    Month = {June},
    Number = {3},
    Pages = {536--544},
    Volume = {22},
    Doi = {10.1109/TRO.2006.870657},
    File = {ITROOhHelicopter.pdf:ITROOhHelicopter.pdf:PDF},
    Owner = {kpathak},
    Timestamp = {2006.09.18}
    }

  • K. Pathak and S. Agrawal, “Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems,” Journal of Dynamic Systems, Measurement, and Control, vol. 128, iss. 1, pp. 104-111, 2006. doi:10.1115/1.2168158
    [BibTeX] [Abstract]
    In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within this framework, the system state is divided into slow and fast substates. The fast substate is used as a pseudocontrol for tracking a desired slow substate trajectory. First, an exponential fast substate controller is designed to track a fast substate reference trajectory. This fast substate reference trajectory is, in turn, planned so that the slow substate follows its desired trajectory. To ensure that the fast substate reference trajectory is feasible for the exponential controller, it is designed using bandlimited �Sinc� functions whose maximum frequency is less than the inverse of the time constant of the exponential controller. To illustrate the procedure, the dynamic model of an inverted wheeled pendulum is reformulated by a partial feedback linearization such that it is amenable to the separation into slow and fast components. The planning and tracking controller design is explained using simulation results. This technique is shown to be easily embedded inside a modified nonlinear model predictive control framework for the slow subsystem. This framework tries to explicitly take the computational delay into account. The computation time required for this technique is encouraging from a real-world implementation perspective.

    @Article{Pathak2006JDSMC,
    Title = {Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems},
    Author = {Kaustubh Pathak and Sunil Agrawal},
    Journal = {Journal of Dynamic Systems, Measurement, and Control},
    Year = {2006},
    Month = {March},
    Number = {1},
    Pages = {104--111},
    Volume = {128},
    Abstract = {In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within this framework, the system state is divided into slow and fast substates. The fast substate is used as a pseudocontrol for tracking a desired slow substate trajectory. First, an exponential fast substate controller is designed to track a fast substate reference trajectory. This fast substate reference trajectory is, in turn, planned so that the slow substate follows its desired trajectory. To ensure that the fast substate reference trajectory is feasible for the exponential controller, it is designed using bandlimited �Sinc� functions whose maximum frequency is less than the inverse of the time constant of the exponential controller. To illustrate the procedure, the dynamic model of an inverted wheeled pendulum is reformulated by a partial feedback linearization such that it is amenable to the separation into slow and fast components. The planning and tracking controller design is explained using simulation results. This technique is shown to be easily embedded inside a modified nonlinear model predictive control framework for the slow subsystem. This framework tries to explicitly take the computational delay into account. The computation time required for this technique is encouraging from a real-world implementation perspective.},
    Doi = {10.1115/1.2168158},
    File = {JDS000104.pdf:JDS000104.pdf:PDF},
    Owner = {kpathak},
    Timestamp = {2006.09.18}
    }

  • J. Ryu, K. Pathak, and S. Agrawal, “Control of a Passive Mobility Assistive Robot,” in ASME International Mech. Engineering Congress and Exposition, Chicago, IL, 2006.
    [BibTeX]
    @Conference{Ryu2006,
    Title = {Control of a Passive Mobility Assistive Robot},
    Author = {Ji-Chul Ryu and Kaustubh Pathak and Sunil Agrawal},
    Booktitle = {ASME International Mech. Engineering Congress and Exposition},
    Year = {2006},
    Address = {Chicago, IL},
    Month = {November},
    Organization = {ASME},
    Comment = {http://www.asmeconferences.org/congress06/ IMECE2006-14701, Session: DSC-12 C Rehabilitation, Prosthetics, and HRI},
    File = {imece2006_14701.pdf:imece2006_14701.pdf:PDF},
    Keywords = {rehabilitation},
    Owner = {kpathak},
    Timestamp = {2006.09.18}
    }

2005

  • S. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garrett, “Autonomous Helicopter Landing on a Moving Platform Using a Tether,” in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005, pp. 3960-3965.
    [BibTeX]
    @Conference{Oh2005ICRAHeli,
    Title = {Autonomous Helicopter Landing on a Moving Platform Using a Tether},
    Author = {So-Ryeok Oh and Kaustubh Pathak and Sunil K. Agrawal and Hemanshu R. Pota and Matt Garrett},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2005},
    Address = {Barcelona, Spain},
    Month = {April},
    Pages = {3960--3965},
    File = {01570726.pdf:01570726.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak, “Switched potential fields for navigation and control of nonholonomic and underactuated autonomous mobile robots,” PhD Thesis, 2005.
    [BibTeX]
    @PhdThesis{PathakDissertation2005,
    Title = {Switched potential fields for navigation and control of nonholonomic and underactuated autonomous mobile robots},
    Author = {Kaustubh Pathak},
    School = {University of Delaware},
    Year = {2005},
    Note = {ISBN 0542234629 9780542234620},
    Owner = {kaust},
    Timestamp = {2012.12.06}
    }

  • K. Pathak and S. K. Agrawal, “An Integrated Spatial Path-planning and Controller Design Approach for a Hover-mode Helicopter Model,” in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005, pp. 1890-1895. doi:10.1109/ROBOT.2005.1570389
    [BibTeX]
    @Conference{Pathak2005ICRAHeli,
    Title = {An Integrated Spatial Path-planning and Controller Design Approach for a Hover-mode Helicopter Model},
    Author = {Kaustubh Pathak and Sunil K. Agrawal},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2005},
    Address = {Barcelona, Spain},
    Month = {April},
    Pages = {1890--1895},
    Doi = {10.1109/ROBOT.2005.1570389},
    File = {01570389.pdf:01570389.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak and S. K. Agrawal, “An Integrated Path Planning and Control Framework for Nonholonomic Unicycles,” in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005, pp. 4594-4599.
    [BibTeX]
    @Conference{Pathak2005ICRAUni,
    Title = {An Integrated Path Planning and Control Framework for Nonholonomic Unicycles},
    Author = {Kaustubh Pathak and Sunil K. Agrawal},
    Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    Year = {2005},
    Address = {Barcelona, Spain},
    Month = {April},
    Pages = {4594--4599},
    File = {01570828.pdf:01570828.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak and S. K. Agrawal, “An integrated path-planning and control approach for nonholonomic unicycles using switched local potentials,” IEEE Transactions on Robotics, vol. 21, iss. 6, pp. 1201-1208, 2005. doi:10.1109/TRO.2005.853484
    [BibTeX]
    @Article{Pathak2005ITROPotential,
    Title = {An integrated path-planning and control approach for nonholonomic unicycles using switched local potentials},
    Author = {Kaustubh Pathak and Sunil K. Agrawal},
    Journal = {IEEE Transactions on Robotics},
    Year = {2005},
    Month = {December},
    Number = {6},
    Pages = {1201--1208},
    Volume = {21},
    Doi = {10.1109/TRO.2005.853484},
    File = {01549947.pdf:01549947.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak, J. Franch, and S. K. Agrawal, “Velocity and position control of a wheeled inverted pendulum by partial feedback linearization,” IEEE Transactions on Robotics, vol. 21, iss. 3, pp. 505-513, 2005. doi:10.1109/TRO.2004.840905
    [BibTeX]
    @Article{Pathak2005ITROPendulum,
    Title = {Velocity and position control of a wheeled inverted pendulum by partial feedback linearization},
    Author = {Kaustubh Pathak and Jaume Franch and Sunil K. Agrawal},
    Journal = {IEEE Transactions on Robotics},
    Year = {2005},
    Month = {June},
    Number = {3},
    Pages = {505--513},
    Volume = {21},
    Doi = {10.1109/TRO.2004.840905},
    File = {01435497.pdf:01435497.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

2004

  • K. Pathak and S. K. Agrawal, “Planning and control of a nonholonomic unicycle using ring shaped local potential fields,” in American Control Conference (ACC), Boston, MA, 2004, pp. 2368-2373.
    [BibTeX]
    @Conference{Pathak2004ACC,
    Title = {Planning and control of a nonholonomic unicycle using ring shaped local potential fields},
    Author = {Kaustubh Pathak and Sunil K. Agrawal},
    Booktitle = {American Control Conference (ACC)},
    Year = {2004},
    Address = {Boston, MA},
    Month = {June},
    Pages = {2368--2373},
    Volume = {3},
    File = {01383818.pdf:01383818.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak and S. K. Agrawal, “Optimal Band-limited Trajectory Planning and Control for an Inverted Wheeled Pendulum,” in ASME International Mechanical Engineering Congress, Anaheim, CA, 2004.
    [BibTeX]
    @Conference{Pathak2004IMECE,
    Title = {Optimal Band-limited Trajectory Planning and Control for an Inverted Wheeled Pendulum},
    Author = {Kaustubh Pathak and Sunil K. Agrawal},
    Booktitle = {ASME International Mechanical Engineering Congress},
    Year = {2004},
    Address = {Anaheim, CA},
    Month = {November},
    Organization = {ASME},
    Keywords = {IMECE2004-60190},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • K. Pathak, J. Franch, and S. K. Agrawal, “Velocity control of a wheeled inverted pendulum by partial feedback linearization,” in 43rd IEEE Conference on Decision and Control (CDC), 2004, pp. 3962-3967.
    [BibTeX]
    @Conference{Pathak2004CDC,
    Title = {Velocity control of a wheeled inverted pendulum by partial feedback linearization},
    Author = {Kaustubh Pathak and Jaume Franch and Sunil K. Agrawal},
    Booktitle = {43rd IEEE Conference on Decision and Control (CDC)},
    Year = {2004},
    Month = {December},
    Pages = {3962--3967},
    Volume = {4},
    File = {01429366.pdf:01429366.pdf:PDF},
    Keywords = {inverted pendulum},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

2003

  • K. Pathak, S. K. Agrawal, and E. Messina, “A Computationally Efficient Scheme for Hierarchical Predictive Control,” in Performance Metrics for Intelligent Systems (PerMIS), Gaithersburg, MD, 2003.
    [BibTeX]
    @Conference{Pathak2003Permis,
    Title = {A Computationally Efficient Scheme for Hierarchical Predictive Control},
    Author = {Kaustubh Pathak and Sunil K. Agrawal and Elena Messina},
    Booktitle = {Performance Metrics for Intelligent Systems (PerMIS)},
    Year = {2003},
    Address = {Gaithersburg, MD},
    Organization = {NIST},
    Comment = {http://www.isd.mel.nist.gov/research_areas/research_engineering/Performance_Metrics/PerMIS_2003/Proceedings/},
    File = {p56Permis.pdf:p56Permis.pdf:PDF},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

2002

  • K. Pathak and N. Afzulpurkar, “Tool Calibration of a Robot by Force and Torque Sensing,” in 9th IEEE Int. Conf. on Mechatronics and Machine Vision in Practice, Chiang Mai, Thailand, 2002.
    [BibTeX]
    @Conference{Pathak2002,
    Title = {Tool Calibration of a Robot by Force and Torque Sensing},
    Author = {Kaustubh Pathak and Nitin Afzulpurkar},
    Booktitle = {9th IEEE Int. Conf. on Mechatronics and Machine Vision in Practice},
    Year = {2002},
    Address = {Chiang Mai, Thailand},
    Month = {September},
    Owner = {root},
    Timestamp = {2006.09.19}
    }

  • .”
    [BibTeX]
    @Other{IEEEexample:BSTcontrol,
    Ctlalt_stretch_factor = {4},
    Ctldash_repeated_names = {no},
    Ctlmax_names_forced_etal = {10},
    Ctlname_format_string = {{f.~}{vv~}{ll}{, jj}},
    Ctlname_url_prefix = {[Online]. Available:},
    Ctlnames_show_etal = {1},
    Ctluse_alt_spacing = {yes},
    Ctluse_article_number = {yes},
    Ctluse_forced_etal = {no},
    Ctluse_paper = {yes}
    }