Publications Bibfile (Conferences and Journals)
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Keys for including in other Bibfiles: Bibfile-Presentations
Templates:
Conference proceedings:
@InProceedings{KeyWord:Conference:YY,
Author = {Subhrajit Bhattacharya},
Title = {Paper Title},
Booktitle = {Proceedings of Conference Name},
Address = {city, country},
Year = {yyyy},
Pages = {p1-p2},
Url = {*Folder/file1.pdf | PDF &&
Group.Blog-Page | Project page &&
*Folder/file1.ext | Source code &&
...},
Key = {dummy-template}
}
Journal articles:
@Article{KeyWord:Journal:YY,
Author = {Subhrajit Bhattacharya},
Title = {Paper Title},
Journal = {Journal Name},
Pages = {p1-p2},
Number = {n},
Volume = {v},
Month = {StartDay-EndDay, Month},
Year = {yyyy},
Url = {*Folder/file1.pdf | PDF &&
Group.Blog-Page | Project page &&
*Folder/file1.ext | Source code &&
...},
Note = {ISSN nnnn-mmmm},
Key = {dummy-template}
}
TODO: .
@misc{sahin2023topogeometric,
title={Weighted Combinatorial Laplacian and its Application to Coverage Repair in Sensor Networks},
author={Shunsaku Yadokoro and Subhrajit Bhattacharya},
year={2024},
eprint={2312.04825},
archivePrefix={arXiv},
primaryClass={cs.RO},
note = {arXiv:2312.04825 [cs.RO]},
Url = { & https://arxiv.org/abs/2312.04825 | Electronic pre-print on arXiv.org },
Key = {simplicial complex, algebraic topology, sensor network, coverage, pre-print}
}
@Article{landmarkbased:2024:journal,
title={Landmark-based distributed topological mapping and navigation in GPS-denied urban environments using teams of low-cost robots},
author={Mohammad Saleh Teymouri and Subhrajit Bhattacharya},
year={2024},
journal = {Autonomous Agents and Multi-Agent Systems (AGNT)},
publisher = {Springer Nature},
note = {DOI:10.1007/s10458-024-09635-y},
Url = { &https://dx.doi.org/10.1007/s10458-024-09635-y| PDF on Springer website &&
&https://arxiv.org/abs/2103.03741 | Electronic pre-print version on arXiv.org },
Key = {mult-robot, multi-agent, topological, homology, exploration, mapping, navigation, journal}
}
@InProceedings{ICRA:23:hitches,
title = {Forming and Controlling Hitches in Midair Using Aerial Robots},
author = {Diego S. D'Antonio and Subhrajit Bhattacharya and David Saldaņa},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2023},
month = {May},
url = { & https://ieeexplore.ieee.org/document/ | PDF on IEEE website (not available yet) &&
& https://arxiv.org/abs/2303.07427 | Preprint on arXiv},
Key = {cable. manipulation, planning, control, conference}
}
@Article{wang:2023:congestion:journal,
title={Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning},
author={Xiaolong Wang, Alp Sahin and Subhrajit Bhattacharya},
year={2023},
journal = {Journal of Intelligent and Robotic Systems (JINT)},
publisher = {Springer Nature},
note = {DOI:10.1007/s10846-023-01878-3},
Url = { &https://dx.doi.org/10.1007/s10846-023-01878-3 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/coord_free_planning_rev1.pdf | PDF on Springer website &&
& https://arxiv.org/abs/2205.00955 | Electronic pre-print version on arXiv.org },
Key = {mult-robot, multi-agent, congestion reduction, probabilistic, stochastic robotics, topological, homology, coordination communication free, decentralized, distributed, journal}
}
@misc{sahin2023topogeometric,
title={Optimal Path Planning in Distinct Topo-Geometric Classes using Neighborhood-augmented Graph and its Application to Path Planning for a Tethered Robot in 3D},
author={Alp Sahin and Subhrajit Bhattacharya},
year={2023},
eprint={2306.01203},
archivePrefix={arXiv},
primaryClass={cs.RO},
note = {arXiv:2306.01203 [cs.RO]},
Url = { & https://arxiv.org/abs/2306.01203 | Electronic pre-print on arXiv.org },
Key = {multi-class, topo-geometric, path planning, neighborhood-augmented graph, topological, homotopy, pre-print}
}
@Article{Bhattacharya:JIAP:2022,
author = {Subhrajit Bhattacharya},
title = {On some bounds on the perturbation of invariant subspaces of normal matrices with application to a graph connection problem},
journal = {Journal of Inequalities and Applications},
publisher = {Springer},
year = {2022},
volume = {75},
key = {spectral method, matrix perturbation, geometry, graph theory, journal},
url = { &https://journalofinequalitiesandapplications.springeropen.com/articles/10.1186/s13660-022-02809-w | PDF on Springer website &&
(*)Projects-MathPhy/Geometry/metric_geometry_lemma_for_JIAP_paper.pdf | Brief note on geometry lemmas appearing in the paper }
}
@misc{wang2022congestion,
title={Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning},
author={Xiaolong Wang, Alp Sahin, Subhrajit Bhattacharya},
year={2022},
eprint={2205.00955},
archivePrefix={arXiv},
primaryClass={cs.RO},
note = {arXiv:2205.00955 [cs.RO]},
Url = { & https://arxiv.org/abs/2205.00955 | Electronic pre-print on arXiv.org },
Key = {mult-robot, multi-agent, congestion reduction, probabilistic robotics, topological, homology, pre-print}
}
@Article{Wang:AURO:FLXBOT:2021,
author = {Xiaolong Wang and Matt Bilsky and Subhrajit Bhattacharya},
title = {Search-based Configuration Planning and Motion Control Algorithms for a Snake-like Robot Performing Load-intensive Operations},
journal = {Autonomous Robots (AURO)},
publisher = {Springer},
year = {2021},
volume = {45},
pages = {1047-1076},
key = {configuration motion planning, graph search, snake-like robot, articulated systems, robot manipulators, journal},
url = { &https://link.springer.com/article/10.1007/s10514-021-10017-6 | PDF on Springer website}
}
@ARTICLE{zhan2021frontiers,
AUTHOR={Leiming Zhang and Amanda Prorok and Subhrajit Bhattacharya},
TITLE={Pursuer Assignment and Control Strategies in Multi-Agent Pursuit-Evasion Under Uncertainties},
JOURNAL={Frontiers in Robotics and AI},
VOLUME={8},
PAGES={262},
YEAR={2021},
DOI={10.3389/frobt.2021.691637},
ISSN={2296-9144},
note={DOI:10.3389/frobt.2021.691637},
Url = { & https://www.frontiersin.org/articles/10.3389/frobt.2021.691637/full | PDF on publisher's website},
Key = {mult-robot, multi-agent, pursuit evasion, control, probabilistic robotics, journal}
}
@ARTICLE{zhan2021barrier-journal,
author={Leiming Zhang and Brian M. Sadler and Rick S. Blum and Subhrajit Bhattacharya},
journal={IEEE Transactions on Signal and Information Processing over Networks},
title={Inter-cluster Transmission Control Using Graph Modal Barriers},
year={2021},
month={April}
volume={7},
pages={275-293},
doi={10.1109/TSIPN.2021.3071219},
Url = { & https://ieeexplore.ieee.org/document/9398555 | PDF on publisher's website &&
& https://arxiv.org/abs/2010.04790 | Electronic pre-print of an earlier version on arXiv.org },
Key = {graph modal analysis, information transmission control, spectral analysis, perturbation theory, journal}
}
@misc{zhang2021pursuer,
title={Pursuer Assignment and Control Strategies in Multi-agent Pursuit-Evasion Under Uncertainties},
author={Leiming Zhang and Amanda Prorok and Subhrajit Bhattacharya},
year={2021},
eprint={2103.15660},
archivePrefix={arXiv},
primaryClass={cs.RO},
note = {arXiv:2103.15660 [cs.RO]},
Url = { & https://arxiv.org/abs/2103.15660 | Electronic pre-print on arXiv.org },
Key = {mult-robot, multi-agent, pursuit evasion, control, probabilistic robotics, pre-print}
}
@misc{bhattacharya2021geometric,
title={On Some Bounds on the Perturbation of Invariant Subspaces of Normal Matrices with Application to a Graph Connection Problem},
author={Subhrjit Bhattacharya},
year={2021},
month = {Mar},
eprint={2103.09413},
archivePrefix={arXiv},
primaryClass={math.SP},
note = {arXiv:2103.09413 [cs.SP]},
Url = { & https://arxiv.org/abs/2103.09413 | Electronic pre-print on arXiv.org &&
(*)Projects-MathPhy/Geometry/metric_geometry_lemma_for_JIAP_paper.pdf | Brief note on geometry lemmas appearing in the paper },
Key = {spectral method, matrix perturbation, geometry, graph theory, pre-print}
}
@misc{teymouri2021landmarkbased,
title={Landmark-based Distributed Topological Mapping and Navigation in GPS-denied Urban Environments Using Teams of Low-cost Robots},
author={Mohammad Saleh Teymouri and Subhrajit Bhattacharya},
year={2021},
month = {Feb},
eprint={2103.03741},
archivePrefix={arXiv},
primaryClass={cs.RO},
note = {arXiv:2103.03741 [cs.RO]},
Url = { & https://arxiv.org/abs/2103.03741 | Electronic pre-print on arXiv.org },
Key = {robot coverage, swarm, simplicial complex, pre-print}
}
@article{zhang2020inter,
title={Inter-cluster Transmission Control Using Graph Modal Barriers},
author={Leiming Zhang and Brian M. Sadler and Rick S. Blum and Subhrajit Bhattacharya},
journal={arXiv preprint arXiv:2010.04790},
year={2020},
Month = {Oct},
Url = { & https://arxiv.org/abs/2010.04790 | Electronic pre-print on arXiv.org },
eprint = {2010.04790},
archivePrefix = {arXiv},
primaryClass = {cs.SI},
note = {arXiv:2010.04790 [cs.SI]},
Key = {graph modal analysis, information transmission control, spectral analysis, perturbation theory, pre-print}
}
@InProceedings{ICRA:20:landmark,
title = {Multi-Robot Path Deconfliction through Prioritization by Path Prospects},
author = {Wenying Wu and Subhrajit Bhattacharya and Amanda Prorok},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2020},
month = {May},
url = { & https://ieeexplore.ieee.org/document/9196813 | PDF on IEEE website &&
& https://arxiv.org/abs/1908.02361 | Preprint on arXiv},
Key = {topological classes, Z2 homology, multi-robot, path planning, conference}
}
@InProceedings{Zhang:MRS:18,
author = {Leiming Zhang and Amanda Prorok and Subhrajit Bhattacharya },
booktitle = {IEEE International Symposium on Multi-Robot and Multi-Agent Systems},
title = {Multi-Agent Pursuit-Evasion under Uncertainties with Redundant Robot Assignments},
year = {2019},
month = {22-23, August}
key = {multi-robot, pursuit, evasion, uncertainty, probabilistic, Markov localization, redundant assignment, conference},
Note = {Extended Abstract},
Url = { & https://ieeexplore.ieee.org/document/8901055 | PDF on IEEE website &&
& https://www.frontiersin.org/articles/10.3389/frobt.2021.691637/full | Related journal publication &&
& https://robotics.cs.rutgers.edu/mrs2019/detailed-program/ | conference website }
}
@Article{Bhattacharya:SStar:19,
Author = {Subhrajit Bhattacharya},
Title = {Towards Optimal Path Computation in a Simplicial Complex},
Journal = {International Journal of Robotics Research (IJRR)},
Month = {June},
Year = {2019},
volume = {38},
number = {8},
pages = {981-1009},
doi = {10.1177/0278364919855422},
Url = { & https://journals.sagepub.com/doi/full/10.1177/0278364919855422 | PDF on publisher's website &&
& https://github.com/subh83/DOSL | DOSL C++ library with an implementation of Basic S* &&
& http://arxiv.org/abs/1607.07009 | Electronic pre-print of an earlier version },
Note = {DOI: 10.1177/0278364919855422},
Key = {journal, motion planning, SStar, discrete geometry, simplicial complex}
}
@Article{Tian:Cable:19,
Author = {Bo Tian and Subhrajit Bhattacharya},
Title = {Modelling and Control of a Spatial Dynamic Cable},
Journal = {Acta Mechanica Sinica},
Publisher = {Springer}
Month = {Apr},
Year = {2019},
Url = { & https://link.springer.com/article/10.1007/s10409-019-00844-3 | PDF on Springer website},
Volume = {35},
pages = {866-878},
Key = {journal, control, dynamics, cable, dynamical system, underactuated system}
}
@Article{Homotopy-Planning:journal:18,
Author = {Subhrajit Bhattacharya and Robert Ghrist},
Title = {Path Homotopy Invariants and their Application to Optimal Trajectory Planning},
Journal = {Annals of Mathematics and Artificial Intelligence},
year = {2018},
month = {December},
volume = {84},
number = {3-4},
pages = {139-160},
Url = { & https://link.springer.com/article/10.1007/s10472-018-9596-8 | PDF on publisher's website &&
& https://arxiv.org/abs/1710.02871 | Electronic pre-print on arXiv.org &&
(*)Projects-MathPhy/Homotopy/knot_planning.pdf | PDF of related conference paper },
Publisher = {Springer International Publishing},
Key = {topological path planning, topological abstraction, topology, homotopy, path planning, robot, graph, search, knot, group, word problem, journal}
}
@Article{Kularatne:AURO:flow:2018,
author = {Dhanushka Kularatne and Subhrajit Bhattacharya and M. Ani Hsieh},
title = {Going with the flow: a graph based approach to optimal path planning in general flows},
journal = {Autonomous Robots (AURO)},
publisher = {Springer},
year = {2018},
volume = {42},
number = {7},
pages = {1369-1387},
month = {Oct},
key = {motion plaiing, graph search, flow, topological path planning, journal},
issn = {1573-7527},
note = {DOI: 10.1007/s10514-018-9741-6},
url = { & https://doi.org/10.1007/s10514-018-9741-6 | PDF on Springer website}
}
@InProceedings{Wang:IROS:18,
author = {Xiaolong Wang and Subhrajit Bhattacharya},
booktitle = {International Conference on Intelligent Robots (IROS)},
title = {A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments},
year = {2018},
month = {1-5, October}
key = {cables, graph search, topological path planning, topological abstraction, conference},
Url = { & https://ieeexplore.ieee.org/document/8320807 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/workspace_planning_v2.pdf | PDF }
}
@ARTICLE{Wang:planning:18,
author = {Xiaolong Wang and Subhrajit Bhattacharya},
journal = {IEEE Robotics and Automation Letters},
title = {A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments},
year = {2018},
volume = {3},
number = {3},
pages = {2600-2607},
key = {cables, graph search, topological path planning, topological abstraction, journal},
note = {DOI: 10.1109/LRA.2018.2817684},
Url = { & https://ieeexplore.ieee.org/document/8320807/ > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/workspace_planning_v2.pdf | PDF },
month={July}
}
@Article{path:Monro:se2,
Author = {Monroe Kennedy, III and Dinesh Thakur and M. Ani Hsieh and Subhrajit Bhattacharya and Vijay Kumar},
Title = {Optimal Paths for Polygonal Robots in SE(2)},
Journal = {Journal of Mechanisms and Robotics},
Publisher = {ASME},
Pages = {021005-021005-8},
Number = {2},
Volume = {10},
Month = {Feb 01},
Year = {2018},
Url = { & http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2670076 | PDF on ASME website },
Note = {DOI: 10.1115/1.4038980},
Key = {path planning, se2, smooth paths, dynamically feasible, quadcopter, journal}
}
@InProceedings{ICRA:18:landmark,
title = {Landmark-based Exploration with Swarm of Resource Constrained Robots},
author = {Rattanachai Ramaithitima and Subhrajit Bhattacharya},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2018},
month = {May 21-25},
url = { & https://ieeexplore.ieee.org/document/8460884 | PDF on IEEE website},
Key = {topological representation, SLAM, topology, swarm, swarms, sensor network, coverage, GPS denied, simplicial complex, landmark complex, conference}
}
@Article{Kularatne:planning:17,
author = {Dhanushka Kularatne and Subhrajit Bhattacharya and M. Ani Hsieh},
journal = {IEEE Robotics and Automation Letters},
title = {Optimal Path Planning in Time-Varying Flows using Adaptive Discretization},
year = {2017},
volume={PP},
number = {99},
pages = {1-1},
key = {Cost function, Drag, Marine vehicles, Oceans, Path planning, Vehicle dynamics, Graph Based Planning, Marine Robotics, Motion and Path Planning, Optimization in Time-Varying Flows, journal},
doi = {10.1109/LRA.2017.2761939},
ISSN = {},
month = {},
Url = { & http://ieeexplore.ieee.org/document/8064698/ | PDF on IEEE website },
}
@Article{markov:swarm:17,
Author = {Subhrajit Bhattacharya},
Title = {Approximate Structure Construction Using Large Statistical Swarms},
Journal = {Electronic Pre-print},
Month = {June},
Year = {2017},
Url = { & https://arxiv.org/abs/1706.03842 | Electronic pre-print on arXiv.org },
eprint = {1706.03842},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
note = {arXiv:1706.03842 [cs.RO]},
Key = {statistical swarm, Markov process, particle dynamics, mode harmonic attractor dynamics, pre-print}
}
@InProceedings{detc:Monroe:17,
author = {Monroe Kennedy III and Dinesh Thakur and M. Ani Hsieh and Subhrajit Bhattacharya and Vijay Kumar},
title = {Optimal Paths for Polygonal Robots in SE(2)},
booktitle = {Proceedings of the ASME 2017 International Design Engineering Technical Conferences (IDETC) },
month = {Aug},
year = {2017},
address = {Cleveland, OH, USA},
url = { & https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2017/58189/V05BT08A075/259726 | PDF },
key = {path planning, motion planning, se2, topology, conference}
}
@InProceedings{icuas:Lusi:17,
author = {Luis Guerrero-Bonilla and Kartik Mohta and Subhrajit Bhattacharya and Vijay Kumar},
title = {Flight Trajectory Tracking and Recovery in Presence of Large Disturbances},
booktitle={2017 International Conference on Unmanned Aircraft Systems (ICUAS)},
month = {June},
year = {2017},
address = {Miami, FL, USA},
url = { & http://ieeexplore.ieee.org/document/7991473/ | PDF on IEEE website },
key = {uav, drone, parking, smart city, conference}
}
@InProceedings{icuas:Xin:17,
author = {Xin Li and Mooi Chuah and Subhrajit Bhattacharya},
title = {UAV Assited Smart Parking Solution},
booktitle={2017 International Conference on Unmanned Aircraft Systems (ICUAS)},
month = {June},
year = {2017},
address = {Miami, FL, USA},
url = { & http://ieeexplore.ieee.org/document/7991353/ | PDF on IEEE website },
key = {uav, drone, control, trajectory, conference}
}
@Article{Homotopy-Planning:pre-print:17,
Author = {Subhrajit Bhattacharya and Robert Ghrist},
Title = {Path Homotopy Invariants and their Application to Optimal Trajectory Planning},
Journal = {electronic pre-print},
year = {2017},
note = {arXiv:1710.02871 [cs.RO]},
Url = { & https://arxiv.org/abs/1710.02871 | Electronic pre-print on arXiv.org &&
(*)Projects-MathPhy/Homotopy/knot_planning.pdf | PDF of related conference paper },
eprint = {1710.02871},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
Key = {topological path planning, topological abstraction, topology, homotopy, path planning, robot, graph, search, knot, group, word problem, pre-print}
}
@Article{RAL:17:Sikang,
title = {Planning Dynamically Feasible Trajectories using Safe Flight Corridors in 3-D Complex Environments},
author = {Sikang Liu and Michael Watterson and Kartik Mohta and Ke Sun and Subhrajit Bhattacharya and Camillo Jose Taylor and Vijay Kumar},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
year = {2017},
month = {January},
volume = {2},
number = {3},
url = { & http://ieeexplore.ieee.org/document/7839930/ | PDF on IEEE website},
Key = {motion planning, quadcopter, drone, UAV, quadratic program, safe corridor, journal}
}
@InProceedings{Costrell:SigPort:16,
author = {Sarah Costrell and Subhrajit Bhattacharya and Robert Ghrist},
publisher = {IEEE Signal Processing Society},
booktitle = {Proceedings of the IEEE Global Conference on Signal and Information Processing (GlobalSIP)},
title = {Reconstruction of Euclidean Embeddings in Dense Networks},
year = {2016},
month = {7-9 Dec},
address = {Washington, D.C., USA},
Key = {inverse problem, geometry, sensor network, conference},
Url = { & https://sigport.org/documents/reconstruction-euclidean-embeddings-dense-networks | Poster PDF on conference web-site},
}
@InProceedings{tee:utrc:ECAI:16,
author = {Rattanachai Ramaithitima and Siddharth Srivastava and Subhrajit Bhattacharya and Alberto Speranzon and Vijay Kumar},
title = {Hierarchical Strategy Synthesis for Pursuit-Evasion Problems},
booktitle = {Proceedings of the European Conference on Artificial Intelligence (ECAI)},
month = {29 August - 2 Sept},
year = {2016},
Url = { & http://www.ecai2016.org/program/accepted-papers/ | conference website },
Key = {utrc, topological abstraction, topological representation for swarms, Tee, pursuit-evasion, conference}
}
@InProceedings{Dhanushka:flow:RSS:16,
author = {Dhanushka Kularatne and Subhrajit Bhattacharya and M. Ani Hsieh},
booktitle = {Proceedings of the Robotics: Science and System (RSS)},
title = {Time and Energy Optimal Path Planning in General Flows},
month = {June},
year = {2016},
Url = { & http://www.roboticsproceedings.org/rss12/p47.html | paper on conference site },
Key = {flow, graph search, optimal motion planning, conference, topological path planning}
}
@INPROCEEDINGS{Whitzer:formation:16,
author={M. Whitzer and J. Keller and S. Bhattacharya and V. Kumar and T. Sands and L. Ritholtz and A. Pope and D. Dickmann},
booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={In-flight formation control for a team of fixed-wing aerial vehicles},
year={2016},
pages={372-380},
doi={10.1109/ICUAS.2016.7502627},
month={June},
Url = { & http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7502627 | paper on publisher's site },
Key = {formation, flight, aerial, fixed wing, Lockheed Martin, conference}
}
@Article{Simplicial:star:16,
Author = {Subhrajit Bhattacharya},
Title = {A Search Algorithm for Simplicial Complexes},
Journal = {Electronic Pre-print},
Month = {August},
Year = {2016},
Url = { & http://arxiv.org/abs/1607.07009 | Electronic pre-print on arXiv.org },
eprint = {1607.07009},
archivePrefix = {arXiv},
primaryClass = {cs.DM},
note = {arXiv:1607.07009 [cs.DM]},
Key = {simplicial method in motion planning, topology, simplicial complex, search algorithm, S*, S star, any angle planning, pre-print}
}
@InProceedings{Homotopy-Planning:IMAMR:15,
Author = {Subhrajit Bhattacharya and Robert Ghrist},
Title = {Path Homotopy Invariants and their Application to Optimal Trajectory Planning},
Booktitle = {Proceedings of IMA Conference on Mathematics of Robotics (IMAMR)},
year = {2015},
month = {September 9-11},
address = {St Anne's College, University of Oxford},
Url = { (*)Projects-MathPhy/Homotopy/knot_planning.pdf | PDF &&
& http://ima.org.uk/conferences/conferences_calendar/mathematics_of_robotics.html | conference website },
Key = {topological path planning, topological abstraction, topology, homotopy, path planning, robot, graph, search, knot, group, word problem, conference}
}
@Article{Continuous:IK:14,
Author = {Subhrajit Bhattacharya},
Title = {A General Continuous Inverse Kinematics Algorithm for a Planar Robot Arm},
Journal = {Electronic Pre-print},
Month = {September},
Year = {2013-14},
Url = { (*)Projects-Work/Robot_Arm_1/IK_only.pdf | PDF &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=RobotArm:IK:13 | Full published article (bibtex) &&
& http://arxiv.org/abs/1309.7960 | Complete published article &&
& http://subhrajit.net/wiki/index.php?xURL=arm_JS-HTML5 | HTML5 + Javascript simulation },
titlecomment = {[Excerpts from full publication entitled "A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem" ]},
Key = {robot arm, topological abstraction, inverse kinematics, pre-print}
}
@Article{Persistence-Plnning:TRO:15,
Author = {Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
Title = {Persistent Homology for Path Planning in Uncertain Environments},
Journal = {IEEE Transactions on Robotics (T-RO)},
Month = {March},
Year = {2015},
Volume = {31},
number = {3},
pages = {578-590},
note = {DOI: 10.1109/TRO.2015.2412051},
Url = { & http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7078886 | PDF on IEEE Xplore &&
& http://www.math.upenn.edu/~ghrist/preprints/persistence_planning.pdf | pre-print (PDF) of an earlier version },
Key = {topological path planning, topology, persistence, persistent, homology, Z2 coefficient, path planning, uncertainty, journal}
}
@Article{RAL:16:swarm,
title = {Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots},
author = {Rattanachai Ramaithitima and Mickey Whitzer and Subhrajit Bhattacharya and Vijay Kumar},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
year = {2016},
volume = {1},
number = {2},
pages = {746-753},
month = {January},
note = {DOI: 10.1109/LRA.2016.2523600},
url = { & http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7395308 > (*)Projects-Work/Swarms_Tee/swarms_tpm_RAL.pdf | PDF on IEEE website},
Key = {topological representation for swarms, topology, swarm, swarms, sensor network, coverage, topological map, GVG, generalized voronoi graph, GPS denied, journal}
}
@InProceedings{ICRA:16:swarm,
title = {Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots},
author = {Rattanachai Ramaithitima and Mickey Whitzer and Subhrajit Bhattacharya and Vijay Kumar},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2016},
month = {May 16-21},
url = { & https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=119&Number=3220 > (*)Projects-Work/Swarms_Tee/swarms_tpm_RAL.pdf | abstract on conference website},
Key = {topological representation for swarms, topology, swarm, swarms, sensor network, coverage, GPS denied, conference}
}
@InProceedings{ICRA:15:swarm,
title = {Sensor Coverage of Unknown Environments by Robot Swarms Using Limited Local Sensing},
author = {Rattanachai Ramaithitima and Mickey Whitzer and Subhrajit Bhattacharya and Vijay Kumar},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2015},
month = {May 26-30},
url = { & http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=7139670&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D7139670 > (*)Projects-Work/Swarms_Tee/swarms_ICRA15.pdf | PDF on IEEE website},
Key = {topological representation for swarms, topology, swarm, swarms, sensor network, coverage, GPS denied, conference}
}
@Article{cable:separation:IJRR:14,
author = {Subhrajit Bhattacharya and Soonkyum Kim and Hordur Heidarsson and Gaurav Sukhatme and Vijay Kumar},
title = {A Topological Approach to using cables to separate and manipulate sets of objects},
year = {2015},
month = {April},
journal = {International Journal of Robotics Research},
volume = {34},
number = {6},
pages = {799--815},
note = {DOI: 10.1177/0278364914562236},
Url = { & http://ijr.sagepub.com/content/34/6/799.abstract > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/homotopy_caging2.pdf | PDF on Sagepub's web-site &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Persistence-Plnning:TRO:15 | Related pre-print on homotopy invariants &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/video_final_nosound.mpg | Video of dynamic simulations and experiment},
key = {topological path planning, journal, topology, graph search, planning, object manipulation, cable}
}
@Article{RobotArm:IK:journal:14,
Author = {Subhrajit Bhattacharya and Mihail Pivtoraiko},
Title = {A Classification of Configuration Spaces of Planar Robot Arms for a Continuous Inverse Kinematics Problem},
Journal = {Acta Applicandae Mathematicae},
publisher = {Springer},
volume = {139},
number = {1},
pages = {133-166},
Month = {October},
Year = {2015},
note = {DOI: s10440-014-9973-1},
Url = { & http://link.springer.com/article/10.1007/s10440-014-9973-1 | Link to article on Springer web-site &&
& http://arxiv.org/abs/1309.7960 | Related electronic pre-print on arXiv.org &&
& http://subhrajit.net/wiki/index.php?xURL=arm_JS-HTML5 | HTML5 + Javascript simulation },
Key = {topology, Reb graph, Reeb structure, topological abstraction, morse theory, robot arm, inverse kinematics, journal}
}
@Article{Persistence:Plnning:14,
Author = {Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
Title = {Persistent Homology for Path Planning in Uncertain Environments},
titlecomment = {[Original title: "Persistent homology in 
coefficients for robot path planning in uncertain environments"]},
Journal = {pre-print},
Month = {April},
Year = {2015},
Url = { & http://www.math.upenn.edu/~ghrist/preprints/persistence_planning.pdf | pre-print (PDF) of an earlier version },
Key = {topological path planning, topology, persistence, persistent, homology, Z2 coefficient, path planning, uncertainty, pre-print, hidden}
}
@InProceedings{DARS:14:HRI,
title = {Human-Robot Collaborative Topological Exploration for Search and Rescue Applications},
TitleComment = {[Nominated for Best Paper Award]},
author = {Vijay Govindarajan and Subhrajit Bhattacharya and Vijay Kumar},
Booktitle = {International Symposium on Distributed Autonomous Robotic Systems (DARS)},
year = {2014},
url = { (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/HRI_DARS_new.pdf | PDF},
Key = {topological path planning, topology, path planning, human robot interaction, collaboration, conference}
}
@InProceedings{IROS:14:Pursuit,
title = {Pursuit-Evasion Game for Normal Distributions},
author = {Chanyoung Jun and Subhrajit Bhattacharya and Robert Ghrist},
Booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2014},
url = { & http://www.iros2014.org/program/speaking-session-schedule | Conference website &&
(*)Projects-Work/Pursuit_Evasion/probabilistic_IROS_14.pdf | PDF &&
(*)Projects-Work/Pursuit_Evasion/IROS_14.pdf | video },
Key = {conference, pursuit evasion, probabilistic}
}
@InProceedings{ICRA:14:tethered,
title = {Path Planning for a Tethered Mobile Robot},
author = {Soonkyum Kim and Subhrajit Bhattacharya and Vijay Kumar},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014},
month = {May 31 - June 7},
address = {Hong Kong, China},
url = { & http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6906996 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/tethered_robot_ICRA14.pdf | PDF },
Key = {conference, topological path planning, tethered root, cable}
}
@TechReport{Coverage:Gradient:12,
Author = {Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
Title = {Relationship Between Gradient of Distance Functions and Tangents to Geodesics},
titlecomment = {[Excerpts from full publication entitled "Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary" ]},
Institution = {University of Pennsylvania},
Month = {February},
Year = {2012},
Url = {(*)Projects-MathPhy/Geometry/gradient_of_distance_function_proofs_only.pdf | PDF of report &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=ExploreCoverage:WAFR:12 | Related paper on coverage and exploration
},
Key = {Riemannian, geometry, gradient, coverage, non-Euclidean, pre-print}
}
@Article{RobotArm:IK:13,
Author = {Subhrajit Bhattacharya and Mihail Pivtoraiko},
Title = {A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem},
Journal = {Electronic pre-print},
Month = {September},
Year = {2013-14},
Url = { & http://arxiv.org/abs/1309.7960 | Electronic pre-print on arXiv.org &&
& http://arxiv.org/pdf/1309.7960.pdf | PDF &&
& http://subhrajit.net/wiki/index.php?xURL=arm_JS-HTML5 | HTML5 + Javascript simulation },
eprint = {1309.7960},
archivePrefix = {arXiv},
primaryClass = {math-DG},
note = {arXiv:1309.7960 [math.DG]},
Key = {topology, morse theory, robot arm, inverse kinematics, pre-print, hidden}
}
@Article{coverage:riemannian:IJRR:13,
author = {Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
title = {Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary},
note = {DOI: 10.1177/0278364913507324},
year = {2014},
month = {January},
journal = {International Journal of Robotics Research},
volume = {33},
number = {1},
pages = {113-137},
Url = {& http://dx.doi.org/10.1177/0278364913507324 > (*)Projects-Work/CoverageExploration/coverage_nonEu.pdf | PDF &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=ExploreCoverage:WAFR:12 | Related conference paper &&
(*)Projects-Work/CoverageExploration/coverage_riemannian.zip | C++ code for uniform coverage on 2-sphere },
key = {Exploration, Coverage, journal, Riemannian, geometry, geodesics}
}
@InProceedings{IROS13,
author = {Soonkyum Kim and Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
title = {Topological Exploration of Unknown and Partially Known Environments},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2013},
month = {November 3-7},
address = {Tokyo, Japan},
note = {[DOI: 10.1109/IROS.2013.6696907]},
Url = { & http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6696907&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6696907 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/homology_explore_IROS13.pdf | PDF &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/iros2013.mp4 | video &&
& https://ras.papercept.net/conferences/scripts/rtf/IROS13_ContentListWeb_3.html#tudt5_06 | conference site},
key = {homology, graph search, exploration, coverage, mapping, co-author, multi-robot, conference, topological path planning}
}
@InProceedings{RSS2013,
author = {Soonkyum Kim and Subhrajit Bhattacharya and Hordur Heidarsson and Gaurav Sukhatme and Vijay Kumar},
title = {A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects},
booktitle = {Proceedings of the Robotics: Science and System (RSS) },
month = {June 24-28},
year = {2013},
address = {Syndey, Australia},
Url = {& http://roboticsproceedings.org/rss09/p46.pdf > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/homotopy_caging_RSS13.pdf | PDF &&
& http://www.youtube.com/watch?v=GyCn-8yDzO0 | video on Youtube },
Key = {homotopy, topology, homology, robotics, conference, object, manipulation, oil, skimming, co-author, graph search}
}
@InProceedings{DETC2013,
author = {Soonkyum Kim and Subhrajit Bhattacharya and Vijay Kumar},
title = {Dynamic Simulation of Autonomous Boats for Cooperative Skimming and Cleanup},
booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences (IDETC) },
month = {August 4-7},
year = {2013},
address = {Portland, USA},
Url = { & http://www.asmeconferences.org/IDETC2013/TechnicalProgramOverview.cfm | PDF (not yet available) &&
& http://www.youtube.com/watch?v=nmMaXIpGpZk | video on Youtube },
Key = {dynamics, multibody, simulation, conference, co-author}
}
@InProceedings{ARK2012,
author = {Soonkyum Kim and Koushil Sreenath and Subhrajit Bhattacharya and Vijay Kumar},
title = {Trajectory Planning for Systems with Homotopy Class Constraints},
booktitle = {13th International Symposium on Advances in Robot Kinematics (ARK)},
pages = {83--90},
month = {jun},
year = {2012},
publisher = {Springer, Netherlands},
address = {Innsbruck, Austria},
Url = { & http://link.springer.com/chapter/10.1007%2F978-94-007-4620-6_11 | PDF on Springer web-site },
Key = {topological path planning, homotopy, topology, homology, robotics, conference, co-author}
}
@PhdThesis{PhDthesis:12,
Author = {Subhrajit Bhattacharya},
Title = {Topological and Geometric Techniques in Graph-Search Based Robot Planning},
School = {University of Pennsylvania},
Year = {2012},
Month = {January},
Url = {& http://search.proquest.com/docview/1019055696 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/dissertation_subhrajit.pdf | PDF of thesis &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/thesis_defense_2012.zip | Presentation and movies &&
^{Proposition 5.3.1 and Corollary 5.3.2 assume that the metric tensor is isotropic in the given coordinate chart (scalar multiple of Kronecker delta) for the application to robot coverage & exploration. See recent publication or related report for more general statements of the proposition & the corollary.} | Addendum },
Key = {topological path planning, PhD thesis, graph search, planning, topology, geometry, coverage, exploration}
}
@Article{homology:amai:13,
Author = {Subhrajit Bhattacharya and David Lipsky and Robert Ghrist and Vijay Kumar},
Title = {Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics},
Journal = {Annals of Mathematics and Artificial Intelligence (AMAI)},
Publisher = {Springer},
volume = {67},
number= {3},
pages = {251--281},
Month = {March},
Year = {2013},
Note = {DOI: 10.1007/s10472-013-9357-7}
Url = { & http://link.springer.com/article/10.1007%2Fs10472-013-9357-7 > (*)Projects-MathPhy/TopologicalInvariant/homology_final.pdf | PDF on Springer web-site &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=topology:arxiv:12 | Related paper on arXiv.org &&
Projects.ProgrammingLibraries-YAGSBPL | YAGSBPL library },
Key = {topological path planning, topological abstraction, homology, algebraic, topology, graph search, planning, robotics, journal}
}
@Article{topology:arxiv:12,
Author = {Subhrajit Bhattacharya and David Lipsky and Robert Ghrist and Vijay Kumar},
Title = {Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics},
Journal = {Electronic pre-print},
Month = {Aug},
Year = {2012},
Url = { & http://arxiv.org/abs/1208.0573 | Electronic pre-print on arXiv.org &&
& http://arxiv.org/pdf/1208.0573.pdf | PDF &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=homology:amai:13 | See the published AMAI'13 paper &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=planning:AURO:12 | See the related AURO'12 paper },
eprint = {1208.0573},
archivePrefix = {arXiv},
primaryClass = {math-AT},
note = {arXiv:1208.0573 [math.AT]},
Key = {topological path planning, topological abstraction, homology, algebraic, topology, graph search, planning, robotics, pre-print, hidden}
}
@InProceedings{Homotopy:CDC:12,
Author = {Soonkyum Kim and Koushil Sreenath and Subhrajit Bhattacharya and Vijay Kumar},
Title = {Optimal Trajectory Generation Under Homology Class Constraints},
Booktitle = {51st IEEE Conference on Decision and Control},
Month = {10-13 Dec},
Year = {2012},
Url = { & http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6425970&tag=1 | PDF on IEEE web-site},
Key = {homotopy, topology, homology, robotics, conference, co-author}
}
@InProceedings{ExploreCoverage:WAFR:12,
Author = {Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
Title = {Multi-Robot Coverage and Exploration in Non-Euclidean Metric Spaces},
Booktitle = {Proceedings of The Tenth International Workshop on the
Algorithmic Foundations of Robotics},
Pages = {},
Month = {13-15 June},
Year = {2012},
Address = {},
Url = {& http://link.springer.com/chapter/10.1007%2F978-3-642-36279-8_15 > (*)Projects-Work/CoverageExploration/wafr2012.pdf | PDF &&
*Projects-Work/CoverageExploration/presentation_WAFR12_final.zip | PPT presentation &&
Projects.Theses?action=bibentry&bibfile=ThesesBibfile&bibref=Coverage:Gradient:12 | Related report
},
Key = {Exploration, Coverage, conference, Riemannian, geometry, geodesics}
}
@InProceedings{HomotopyBestPaper:AAAI:12,
Author = {Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar},
Title = {Search-based Path Planning with Homotopy Class Constraints in 3D},
TitleComment = {[Extended abstract with non-technical summary of our RSS12 paper.]},
Booktitle = {Invited paper for sub-area spotlights track on 'Best-paper talks', Proceedings of Twenty-Sixth Conference on Artificial Intelligence (AAAI-12)},
Month = {22-26 July},
Year = {2012},
Url = { & http://www.aaai.org/ocs/index.php/AAAI/AAAI12/paper/view/4940 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/Homotopy3D_AAAI12.pdf | PDF &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Homotopy:RSS:11 | See RSS'12 paper for more details &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=planning:AURO:12 | See AURO'12 paper for more details },
Key = {homotopy, topology, graph search, planning, robotics, invited, short, conference}
}
@Article{planning:AURO:12,
Author = {Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar},
Title = {Topological Constraints in Search-based Robot Path Planning},
Journal = {Autonomous Robots},
Publisher = {Springer Netherlands},
issn = {0929-5593},
Month = {October},
Volume = {33},
Number = {3},
Year = {2012},
pages = {273-290},
Note = {DOI: 10.1007/s10514-012-9304-1},
Url = { & https://link.springer.com/article/10.1007/s10514-012-9304-1 > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/topology_AURO_author_version.pdf | PDF on Springer web-site &&
& http://www.springerlink.com/content/f851813u657g5923/10514_2012_Article_9304_ESM.html > *Projects-Work/GeometricTopological_GraphSearch_Robotics/AURO_Bhattacharya_2012.zip | Supplementary videos on Springer web-site | || &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=cable:separation:IJRR:14 | Application to topological object separation &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Homotopy-Planning:IMAMR:15 | Related paper on Homotopy path planning &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=homology:amai:13 | AMAI'13 paper with generalization to arbitrary dimension | || &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Homotopy:AAAI:10 | Old Code for the 2D results appearing in the AAAI paper | :: &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_MATLAB_062010.zip | MATLAB code for uniformly discretized environment &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_MATLAB_visibility_062010.zip | MATLAB code for visibility graph &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_cpp_062010.zip | C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost) | || &&
& https://github.com/subh83/YAGSBPL | Newer implementations using the YAGSBPL library | :: &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/H_explore_Cpp.zip | Bare-bones C++ implementation of homology/homotopy path planning in 2D (YAGSBPL 2.1 included) &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/homology_ND_3Dplanning.zip | Implementation of differential (N-1)-form for D-dimensional Euclidean spaces with obstacles (based on AMAI paper) and topological path planning in 3-dimensional space (YAGSBPL 2.0 included)
},
Key = {topological path planning, homotopy, homology, topology, path planning, graph search, robotics, journal}
}
@Article{chihomotopy:11,
Author = {Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar},
Title = {A Homotopy-like Class Invariant for Sub-manifolds of Punctured Euclidean Spaces},
TitleComment = {[See a more recent and refined recent work at arXiv:1208.0573]},
Journal = {Electronic pre-print},
Month = {March},
Year = {2011},
Url = { & http://arxiv.org/abs/1103.2488 | Electronic pre-print on arXiv.org &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=topology:arxiv:12 | See more recent and refined version of this work at arXiv:1208.0573 &&
Projects.ProgrammingLibraries-YAGSBPL | YAGSBPL library &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=planning:AURO:12 | See the related AURO'12 paper for more details &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=homology:amai:13 | See the related AMAI'13 paper for a more refined work },
eprint = {1103.2488},
archivePrefix = {arXiv},
primaryClass = {math-DG},
note = {arXiv:1103.2488 [math.DG]},
Key = {homotopy, chi-homotopy, algebraic, topology, graph search, planning, robotics, pre-print, hidden}
}
@InProceedings{Homotopy:RSS:11,
Author = {Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar},
Title = {Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D},
TitleComment = {[Original title: Identifying Homotopy Classes of Trajectories for Robot Exploration and Path Planning] [Winner of Best Paper Award]},
Booktitle = {Proceedings of Robotics: Science and Systems},
Month = {27-30 June},
Year = {2011},
Url = { & http://www.roboticsproceedings.org/rss07/p02.html > (*)Projects-Work/GeometricTopological_GraphSearch_Robotics/Homotopy3D_Aug19.pdf | PDF &&
(*)Projects-Work/GeometricTopological_GraphSearch_Robotics/Homotopy3Daux.pdf | Supplimentary notes &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/homotopy3D_5min_presentation.zip | Short presentation &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/homotopy3D_poster.zip | Poster &&
Projects.ProgrammingLibraries-YAGSBPL | YAGSBPL library &&
*Projects-Work/GeometricTopological_GraphSearch_Robotics/RSS_11_best_paper.jpeg | Best Paper Award &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=planning:AURO:12 | See the related AURO'12 paper },
Key = {topological path planning, topological abstraction, homotopy, topology, graph search, planning, robotics, conference}
}
@InProceedings{OilSkimmer:ICRA:11,
Author = {Subhrajit Bhattacharya and Hordur Heidarsson and Gaurav S. Sukhatme and Vijay Kumar},
Title = {Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
Pages = {},
Month = {9-13 May},
Year = {2011},
Address = {},
Url = {& http://ieeexplore.ieee.org/iel5/5967842/5979525/05980421.pdf?arnumber=5980421&authDecision=-203 > (*)Projects-Work/OilBoom_Catenary_2010/icra2011_final_2001.pdf | PDF &&
(*)Projects-Work/OilBoom_Catenary_2010/icra2011_Supplementary.pdf | Supplementary notes &&
*Projects-Work/OilBoom_Catenary_2010/icra2011_oil_skimmer.mp4 | Video &&
(*)Projects-Work/OilBoom_Catenary_2010/slide.pdf | Single-slide summary &&
*Projects-Work/OilBoom_Catenary_2010/icra11_presentation_v3.zip | presentation &&
*Projects-Work/OilBoom_Catenary_2010/icra2011_codes.zip | codes (un-documented) },
Key = {OilSkimmer, Catenary, Dynamics, Control, conference}
}
@InProceedings{ExploreCoverage:DARS:10,
Author = {Subhrajit Bhattacharya and Nathan Michael and Vijay Kumar},
Title = {Distributed Coverage and Exploration in Unknown Non-Convex Environments},
Booktitle = {Proceedings of 10th International Symposium on Distributed Autonomous Robotics Systems},
Publisher = { Springer },
Pages = {},
Month = {1-3 Nov},
Year = {2010},
Address = {},
Url = {(*)Projects-Work/CoverageExploration_2010/draft.pdf | PDF &&
*Projects-Work/CoverageExploration_2010/presentation.zip | presentation &&
& http://dars2010.epfl.ch/posters/Bhattacharya_Poster.pdf > (*)Projects-Work/CoverageExploration_2010/DARS_poster.pdf | poster &&
(*)Projects-Work/CoverageExploration_2010/digest-DARS10-55.pdf | single-slide digest &&
*Projects-Work/CoverageExploration_2010/DARS_code_v1.zip | C++ code},
Key = {Exploration, Coverage, conference}
}
@InProceedings{Homotopy:SoCS:10,
Author = {Subhrajit Bhattacharya and Vijay Kumar and Maxim Likhachev},
Title = {Search-based Path Planning with Homotopy Class Constraints},
Booktitle = {Proceedings of The Third Annual Symposium on Combinatorial Search},
Pages = {},
Month = {8-10 July},
Year = {2010},
Address = {Atlanta, Georgia},
Url = {^{For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.} | Addendum &&
& http://www.aaai.org/ocs/index.php/SOCS/SOCS10/paper/view/2089 > (*)Projects-Work/DistributedOptimization_MultiAgentPlanning/SOCS_ExAbs_Bhattacharya.pdf | PDF extended abstract &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/SoCS_poster_v2.ppt | Poster &&
Projects.RoboticsAIAutomation-DistributedPlanning | Project Page &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Homotopy:AAAI:10 | See AAAI paper with same title for more details &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Homotopy:RSS:11 | See more recent work with significant developments
&&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=planning:AURO:12 | See the related AURO'12 paper },
Key = {DistributedOptimizationPhD, Optimization, Distributed, topology, graph search, planning, robotics, homotopy, short, conference}
}
@InProceedings{Homotopy:AAAI:10,
Author = {Subhrajit Bhattacharya and Vijay Kumar and Maxim Likhachev},
Title = {Search-based Path Planning with Homotopy Class Constraints},
Booktitle = {Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence},
Pages = {},
Month = {11-15 July},
Year = {2010},
Address = {Atlanta, Georgia},
Url = {^{For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.} | Addendum &&
& http://www.aaai.org/ocs/index.php/AAAI/AAAI10/paper/view/1920 > (*)Projects-Work/DistributedOptimization_MultiAgentPlanning/HomotopyCauchy_Final.pdf | PDF &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/AAAI_presentation.pptx | PPT Presentation &&
Projects.RoboticsAIAutomation-DistributedPlanning | Project Page &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_MATLAB_062010.zip | MATLAB code for uniformly discretized environment &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_MATLAB_visibility_062010.zip | MATLAB code for visibility graph &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/homotopy_cpp_062010.zip | C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)
},
Key = {DistributedOptimizationPhD, Optimization, Distributed, topology, graph search, planning, robotics, homotopy, conference}
}
@InProceedings{Planning:RSS:10,
Author = {Subhrajit Bhattacharya and Vijay Kumar and Maxim Likhachev},
Title = {Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning},
Booktitle = {Proceedings of Robotics: Science and Systems},
Publisher = {MIT Press},
Pages = {},
Month = {27-30 June},
Address = {Zaragoza, Spain},
Year = {2010},
Url = {& http://www.roboticsproceedings.org/rss06/p23.html > (*)Projects-Work/DistributedOptimization_MultiAgentPlanning/DistributedOptimization_312_FINAL.pdf | PDF of the paper &&
(*)Projects-Work/DistributedOptimization_MultiAgentPlanning/poster_portrait_RSS2010.pdf | Poster &&
(*)Projects-Work/DistributedOptimization_MultiAgentPlanning/Presentation_Bhattacharya_RSS2010.pdf | 2-slide brief presentation &&
(*)Projects-Work/DistributedOptimization_MultiAgentPlanning/DistributedOptimization_MATLAB.zip | MATLAB code for the exact implementation &&
(*)Projects-Work/DistributedOptimization_MultiAgentPlanning/tech_report_FULL.pdf | Related Technical Report &&
Projects.RoboticsAIAutomation-DistributedPlanning | Project Page},
Key = {DistributedOptimizationPhD, Optimization, Distributed, Planning, Graph, Search, Robotics, conference}
}
@InProceedings{Planning:ICRA:10,
Author = {Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar},
Title = {Multi-agent Path Planning with Multiple Tasks and Distance Constraints},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
Pages = {},
Month = {3-8 May},
Year = {2010},
Address = {Anchorage, Alaska},
Url = {& http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5509713 > (*)Projects-Work/DistributedOptimization_MultiAgentPlanning/Planning_1893.pdf | PDF &&
(*)Projects-Work/DistributedOptimization_MultiAgentPlanning/tech_report_FULL.pdf | Related Technical Report &&
Projects.Publications?action=bibentry&bibfile=PublicationsBibfile&bibref=Planning:RSS:10 | Related paper on distributed optimization with pair-wise constraints &&
*Projects-Work/DistributedOptimization_MultiAgentPlanning/presentation_ICRA2010.zip | Presentation &&
Projects.RoboticsAIAutomation-DistributedPlanning | Project Page},
Key = {DistributedOptimizationPhD, Optimization, Distributed, Planning, Graph, Search, Robotics, Bibfile-Presentations, conference}
}
@InProceedings{Littledog:ICRA:09,
Author = {Paul Vernaza and Maxim Likhachev and Subhrajit Bhattacharya and Sachin Chitta and Aleksandr Kushleyev and Daniel D. Lee},
Title = {Search-based planning for a legged robot over rough terrain},
Booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
Pages = {2380-2387},
Month = {12-17 May},
Year = {2009},
Url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5152769&isnumber=5152175 > http://repository.upenn.edu/cgi/viewcontent.cgi?article=1022&context=grasp_papers | PDF &&
& http://repository.upenn.edu/grasp_papers/31/ | URL},
Key = {LittleDog, Robotics, conference}
}
@InProceedings{Littledog:IDETC:08,
Author = {Subhrajit Bhattacharya and Sachin Chitta and Vijay Kumar and Daniel Lee},
Title = {Optimization of a Planer Quadruped Dynamic Leap},
TitleComment = {[Winner of MSC Simulation Software Award]},
Booktitle = {Proceedings of 2008 ASME International Design Engineering Technical Conferences (IDETC)},
Address = {New York City, NY},
Month = {3-6 August},
Year = {2008},
Url = {(*)Projects-Work/LittleDog/DETC2008-50072.pdf | PDF &&
*Projects-Work/LittleDog/Littledog_Leap_presentation.zip | PPT &&
Projects.RoboticsAIAutomation-LittleDogDynamicLeap2008 | Project Page &&
*Projects-Work/LittleDog/MSC_certificate.jpg | MSC Simulation Software Award},
Key = {LittleDog, Robotics, conference}
}
@InProceedings{Stiffener:Southampton:06,
Author = {Subhrajit Bhattacharya},
Title = {A Study on Effect of Stiffener Geometry on the Modal Frequencies of a Rotating Disk with Radial Stiffeners using FEM and Analytical Methods},
Booktitle = {Proceedings of Ninth International Conference on Recent Advances in Structural Dynamics},
Address = {University of Southampton},
Month = {July},
Year = {2006},
Url = {(*)Projects-Work/DiskStiffener_Dynamics/DiskStiffener_2006.pdf | PDF &&
Projects.DynamicsFluids-AnnularDiskWithStiffeners | Project Page},
Key = {Undergraduate, Dynamics, conference}
}
@InProceedings{MotionPlanning:LateralComputing:06,
Author = {Subhrajit Bhattacharya and Siddharth Talapatra},
Title = {Robot Motion Planning Using Neural Networks: A Modified Theory},
TitleComment = {[Winner of Best Paper Award]},
Booktitle = {Proceedings of Second World Congress on Lateral Computing},
Address = {Bangalore},
Month = {December},
Year = {2005},
Url = {(*)Projects-Work/MotionPlanning_NeuralNetwork/IJLCVol2No1pg9to13.pdf | PDF &&
Projects.RoboticsAIAutomation-MotionPlanningNeuralNetworks | Project page &&
*Projects-Work/MotionPlanning_NeuralNetwork/WCLCbestPaperAward.jpg | Best paper certificate &&
*Projects-Work/MotionPlanning_NeuralNetwork/Conference_Paper.doc | Paper source},
Key = {Undergraduate, MotionPlanning, conference}
}
@Article{MotionPlanning:IJLC:06,
Author = {Subhrajit Bhattacharya and Siddharth Talapatra},
Title = {Robot Motion Planning Using Neural Networks: A Modified Theory},
Journal = {International Journal of Lateral Computing},
Pages = {9-13},
Number = {1},
Volume = {2},
Month = {December},
Year = {2005},
Url = {*Projects-Work/MotionPlanning_NeuralNetwork/IJLCVol2No1pg9to13.pdf | PDF &&
Projects.RoboticsAIAutomation-MotionPlanningNeuralNetworks | Project page &&
*Projects-Work/MotionPlanning_NeuralNetwork/Conference_Paper.doc | Paper source},
Note = {ISSN 0973-208X},
Key = {Undergraduate, MotionPlanning, journal}
}
@InProceedings{Pattern:Unpublished:06,
Author = {Subhrajit Bhattacharya},
Title = {An Accurate Structural Approach to Pattern Recognition},
Booktitle = {Accepted for presentation in 8th International Conference on Enterprise Information Systems},
TitleComment = {[Not published because of inability to attend the conference due to unavoidable circumstances]},
Address = {Paphos-Cyprus},
Month = {23-27 May},
Year = {2006},
Url = {(*)Projects-Work/PatternRecognition_Geometric/ManuscriptPRL_2006.pdf | PDF &&
Projects.RoboticsAIAutomation-PatternRecogGeometric | Project page &&
*Projects-Work/PatternRecognition_Geometric/ManuscriptPRL.doc | Paper source},
Key = {Undergraduate, PatternRecognition, conference}
}
@InProceedings{Wave:Kgp:04,
Author = {Subhrajit Bhattacharya},
Title = {A study on a generalized wave equation for disturbances propagating through a one-dimensional medium placed in a two-dimensional space},
Booktitle = {Proceedings of International Conference on Theoretical, Applied, Computational and Experimental Mechanics},
Address = {Kharagpur, India},
Year = {2004},
Pages = {235-237},
Url = {(*)Publications-Unsorted/Wave_2004.pdf | PDF &&
*Publications-Unsorted/Wave_2004.doc | Paper source},
Key = {Undergraduate, PatternRecognition, conference}
}