For more information, check this page: Dr. Chakravorty’s Google Scholar
2023
Ran Wang, Raman Goyal, Suman Chakravorty, “Learning to Control under Uncertainty with Data-Based Iterative Linear Quadratic Regulator”, IEEE Conference on Decision and Control (CDC) [IEEE link]
Mohamed Naveed Gul Mohamed, Raman Goyal, Suman Chakravorty, “An Optimal Solution to Infinite Horizon Nonlinear Control Problems”, IEEE Conference on Decision and Control (CDC) [preprint][IEEE link]
Weston R. Faber, Utkarsh R. Mishra, Suman Chakravorty, Islam I. Hussein, “A Dynamic Data-Driven Approach for Space Situational Awareness”, Handbook of Dynamic Data Driven Applications Systems: Volume 2 [link]
Utkarsh R. Mishra, Suman Chakravorty, Islam I. Hussein, Weston Faber, Siamak Hesar, Benjamin Sunderland, “Comparing Traditional and Admissible-Region Schemes For Angles-Only Initial Orbit Determination”, Proceedings of the Advanced Maui Optical and Space Surveillance (AMOS) Technologies Conference [link]
Aayushman Sharma, Suman Chakravorty, “A Reduced Order Iterative Linear Quadratic Regulator (ILQR) Technique for the Optimal Control of Nonlinear Partial Differential Equations”, American Control Conference (ACC) [link]
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Raman Goyal, Ran Wang, “The Information-State Based Approach to Linear System Identification”, American Control Conference (ACC) [preprint]
Aayushman Sharma, Zirui Mao, Haiying Yang, Suman Chakravorty, Michael J Demkowicz, Dileep Kalathil, “Optimal Control of Material Micro-Structures”. [preprint]
2022
Utkarsh R. Mishra, Suman Chakravorty, Islam I. Hussein, Weston Faber, Siamak Hesar, Benjamin Sunderland, “Geometric Solution to Probabilistic Admissible Region (G-PAR)”, Advanced Maui Optical and Space Surveillance Technologies Conference (AMOS) [link]
Weston Faber, Utkarsh R. Mishra, Suman Chakravorty, Islam I. Hussein, “Application of a Randomized-Finite Set Statistics Technique (R-FISST) to Space Situational Awareness”, The Journal of the Astronautical Sciences [link]
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Raman Goyal, Ran Wang, “On the Optimal Feedback Law in Stochastic Optimal Nonlinear Control”, American Control Conference (ACC) [preprint]
2021
Ran Wang, Karthikeya S Parunandi, Aayushman Sharma, Raman Goyal, Suman Chakravorty, “On the Search for Feedback in Reinforcement Learning”, IEEE Conference on Decision and Control (CDC) [arxiv preprint]
Raman Goyal, Suman Chakravorty, Ran Wang, Mohamed Naveed Gul Mohamed, “On the Convergence of Reinforcement Learning in Nonlinear Continuous State Space Problems”, IEEE Conference on Decision and Control (CDC) [arxiv preprint]
Ran Wang, Karthikeya Sharma Parunandi, Dan Yu, Dileep Kalathil, Suman Chakravorty, “Decoupled Data-Based Approach for Learning to Control Nonlinear Dynamical Systems”, IEEE Transactions on Automatic Control [link]
Kartik Prakash, Mohamed Naveed Gul Mohamed, Suman Chakravorty, Zohaib Hasnain, “Structure Aided Odometry (SAO) : A Novel Analytical Odometry Technique Based on Semi-Absolute Localization for Precision-Warehouse Robotic Assistance in Environments with Low Feature Variation”, Journal of Intelligent & Robotic Systems [link]
Ran Wang, Raman Goyal, Suman Chakravorty, Robert E Skelton, “Data-based Control of Partially-Observed Robotic Systems”, 2021 IEEE International Conference on Robotics and Automation (ICRA) [link]
Amirhossein Tamjidi, Reza Oftadeh, Mohamed Naveed Gul Mohamed, Dan Yu, Suman Chakravorty, Dylan Shell, “Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation Over Unreliable Networks”, IEEE Transactions on Robotics [link][preprint pdf]
2020
Mohamed Naveed Gul Mohamed, Suman Chakravorty and Dylan A Shell, “Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes”, The 14th International Workshop on the Algorithmic Foundations of Robotics [pdf]
Dan Yu and Suman Chakravorty, “A randomized balanced proper orthogonal decomposition technique”, Journal of Computational and Applied Mathematics [link]
Ran Wang, Raman Goyal, Suman Chakravorty and Robert E Skelton, “Model and Data Based Approaches to the Control of Tensegrity Robots”, IEEE Robotics and Automation Letters [link]
Saurav Agarwal, Amirhossein Tamjidi and Suman Chakravorty, “Motion planning for active data association and localization in non-Gaussian belief spaces”, Algorithmic Foundations of Robotics XII, pp. 288-303 [link]
2019
Dan Yu and Suman Chakravorty, “A Decoupled Data Based Control (D2C) Approach to Generalized Motion Planning Problems”, IEEE 58th Conference on Decision and Control (CDC) [link]
Saurav Agarwal and Suman Chakravorty, “Method and System for Accurate Long Term Simultaneous Localization and Mapping with Absolute Orientation Sensing”, US Patent App. 16/342,273 [pdf]
Karthikeya S Parunandi and Suman Chakravorty, “T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach”, accepted to be published in IEEE Robotics and Automation Letters (RA-L) along with IROS conference presentation [pdf]
Dilshad Raihan, Weston Faber, Suman Chakravorty and Islam I Hussein, “Sensor Scheduling Under Action Dependent Decision-Making Epochs”, 22th International Conference on Information Fusion (FUSION) [link]
Dilshad Raihan and Suman Chakravorty, “Particle Gaussian Mixture Filters: Application and Performance Evaluation”, 22th International Conference on Information Fusion (FUSION) [link]
Saurav Agarwal, Karthikeya Sharma Parunandi and Suman Chakravorty, “Robust Pose-Graph SLAM using Absolute Orientation Sensing”, IEEE Robotics and Automation Letters, also presented at IEEE International Conference on Robotics and Automation (ICRA), Canada, 2019 [pdf]
Amirhossein Tamjidi, Reza Oftadeh, Suman Chakravorty and Dylan Shell, “Efficient recursive distributed state estimation of hidden Markov models over unreliable networks”, Autonomous Robots [link]
2018
Dilshad Raihan A. V and Suman Chakravorty, “Particle Gaussian mixture filters-II”, Automatica, Vol 98 pp. 341-349 [pdf]
Dilshad Raihan A. V and Suman Chakravorty,“Particle Gaussian mixture filters-I”, Automatica, Vol 98 pp. 331-340 [pdf]
A. Agha-mohammadi, S. Agarwal, S. Kim, S. Chakravorty and N. M. Amato, “SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space”, IEEE Transactions on Robotics [pdf]
Dan Yu, Mohammandhussen Rafieisakhaei, Suman Chakravorty, “A Decoupled Data Based Approach to Stochastic Optimal Control Problems” [arXiv-preprint]
Dilshad Raihan A. V and Suman Chakravorty , “An Unscented Kalman-Particle Hybrid Filter for Space Object Tracking“, The Journal of the Astronautical Sciences [pdf]
Ali-akbar Agha-mohammadi, Saurav Agarwal, Suman Chakravorty and Nancy Amato, “Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space“, IEEE Transactions on Robotics (TRO) [arXiv-preprint, video]
2017
Mohammadhussein Rafieisakhaei, Suman Chakravorty, and P. R. Kumar, “A Near-Optimal Separation Principle for Nonlinear Stochastic Systems Arising in Robotic Path Planning and Control”,In 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017 [arxiv]
Dan Yu, Mohammadhussein Rafieisakhaei and Suman Chakravorty, “Stochastic Feedback Control of Systems with Unknown Nonlinear Dynamics“, In 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017 [pdf, arxiv]
Mohammadhussein Rafieisakhaei, Suman Chakravorty, and P. R. Kumar, “On the Use of the Observability Gramian for Partially Observed Problems”, In 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017
Saurav Agarwal, Vikram Shree and Suman Chakravorty, “RFM-SLAM: Exploiting Relative Feature Measurements to Separate Orientation and Position Estimation in SLAM“, In Proc. IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 – June 3, 2017 [pdf, slides, code, arXiv:1609.05235]
Mohammadhussein Rafieisakhaei, Suman Chakravorty, and P. R. Kumar, “T-LQG: Closed-Loop Belief Space Planning via Trajectory-Optimized LQG”. In Proc. of IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 – June 3, 2017
Mohammadhussein Rafieisakhaei, Suman Chakravorty, and P. R. Kumar, “MT-LQG: Multi-Agent Planning in Belief Space via Trajectory-Optimized LQG”. In Proc. IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 – June 3, 2017
2016
W. Faber, S. Chakravorty, and I. I. Hussein, “Multi-target tracking with a randomized hypothesis generation technique” [pdf, arxiv-preprint]
Saurav Agarwal, Amirhossein Tamjidi and Suman Chakravorty, “Motion Planning for Active Data Association and Localization in Non-Gaussian Belief Spaces“, International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2016, San Francisco, USA [pdf, video, arxiv-preprint]
Amirhossein Tamjidi, Suman Chakravorty and Dylan Shell, “Decentralized State Estimation via a Hybrid of Consensus and Covariance intersection“, to appear in IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2016, [pdf, arxiv-preprint]
D. Raihan and S. Chakravorty, “Particle Gaussian Mixture (PGM) filters,” In Proc. 19th International Conference on Information Fusion (FUSION), Heidelberg, July 2016, pp. 1369-1376. [arxiv-preprint]
W. Faber, S. Chakravorty, and I. Hussein, “Multi-Object Tracking with Multiple Birth, Death, and Spawn Scenarios Using A Randomized Hypothesis Generation Technique (RFISST),” In Proc. 19th International Conference on Information Fusion (FUSION), Heidelberg, July 2016 [pdf]
W. Faber, S. Chakravorty, and I. Hussein, “R-FISST and the Data Association Problem With Applications to Space Situational Awareness,” AIAA Space and Astronautics Forum and Exposition, September 2016
Mohammadhussein Rafieisakhaei, Amirhossein Tamjidi, Suman Chakravorty and P. R. Kumar, “Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints“, IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016 [pdf]
Dan Yu and Suman Chakravorty, ” A Computationally Optimal Randomized Proper Orthogonal Decomposition Technique“, 2016 American Control Conference (ACC), accepted [pdf]
Rafieisakhaei, M., Chakravorty, S., & Kumar, P. R., “Non-gaussian slap: Simultaneous localization and planning under non-gaussian uncertainty in static and dynamic environments“. 2016 arXiv preprint arXiv:1605.01776
Dan Yu and Suman Chakravorty, “A Stochastic Unknown Input Realization and Filtering Technique“, Automatica, Vol 63, pp. 25-33, January 2016 [pdf, arxiv-preprint]
2015
W. Faber, S. Chakravorty, and I. Hussein, “A randomized sampling based approach to multi-object tracking,” Information Fusion (Fusion), 18th International Conference on, Washington D.C., July 2015 [pdf]
W. Faber, S. Chakravorty, and I. Hussein, “A randomized sampling based approach to multi- object tracking with comparison to HOMHT,” IAAS/AIAA Astrodynamics Specialists Conference, August 2015 [pdf]
Dan Yu and Suman Chakravorty, “An Autoregressive (AR) Model Based Stochastic Unknown Input Realization and Filtering Technique“, in American Control Conference (ACC), 2015, vol., no., pp.1499-1504, 1-3 July 2015 [pdf]
Dan Yu and Suman Chakravorty, “A Randomized Proper Orthogonal Decomposition Technique”, in American Control Conference (ACC), 2015, vol., no., pp.1137-1142, 1-3 July 2015 [pdf, arxiv-preprint]
D.Raihan and S. Chakravorty “A UKF-PF based hybrid filter space object tracking“, in Proceedings of the 2015 AAS/AIAA Astrodynamics specialist conference [pdf]
Saurav Agarwal, Amirhossein Tamjidi and Suman Chakravorty, “Motion Planning in Non-Gaussian Belief Spaces (M3P): The Case of a Kidnapped Robot“, In International Conference on Robotics and Automation (ICRA) 2015, Workshop on Optimal Robot Motion Planning, Seattle, WA, May 2015 [arXiv:1506.01780 cs.RO]
2014
A. Agha-mohammadi, Suman Chakravorty, Nancy Amato, “FIRM: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements“, International Journal of Robotics Research, 33(2):268-304, February 2014 [pdf]
A. Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny, Nancy Amato, “Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots,” In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Hong Kong, China, May 2014 [pdf, bibtex, video]
A. Agha-mohammadi, Saurav Agarwal, Suman Chakravorty, ” Periodc-node Sampling-Based Framework for Stochastic Motion Control of Small Aerial Vehicles,” The ASME Journal of Dynamic Systems, Measurement and Control, Special Issue on Stochastic Models, Control and Algorithms in Robotics, 137(3), 031005, 2014 [pdf]
A. Agha-mohammadi, Saurav Agarwal, Suman Chakravorty, and Nancy M. Amato,” Dynamic Closed-Loop Replanning in Belief Space: Toward Handling Dynamically Changing Environments,” In Robotics: Science and Systems 2014 Workshop on Information-based Grasp and Manipulation Planning, Berkeley, CA, July 2014
A. Agha-mohammadi, Saurav Agarwal, Suman Chakravorty, ” Periodc-node Sampling-Based Framework for Stochastic Motion Control of Small Aerial Vehicles,” Technical Report, TAMU-EDPL-TR-2014-001, Estimation, Decision and Planning Laboratory, Dept. of Aerospace Engineering, Texas A&M University [pdf]
A. Agha-mohammadi, “Feedback-based Information Roadmap (FIRM): Graph-based Estimation and Control of Robotic Systems Under Uncertainty“, PhD Dissertation, Department of Computer Science and Engineering, Texas A&M University, May 2014 [pdf]
2013
A. Agha-mohammadi, Suman Chakravorty, Nancy Amato, “Sampling-based Stochastic Control with Constraints: A Unified Approach in State and Information-state Spaces“, in American Control Conference (ACC), invited paper, Stochastic Models, Control and Algorithms in Robotics session, Washington, DC, June 2013 [pdf]
Dan Yu and Suman Chakravorty, “An Iterative Proper Orthogonal Decomposition(I-POD) Technique with Application to the Filtering of Partial Differential Equations“, Journal of Astronautical Sciences, vol. 60(3-4), pp. 468-493, 2013 [pdf]
2012
A. Aghamohammadi, S. Chakravorty and N. M. Amato, “Sampling-based Nonholonomic Motion Planning in Belief Space via Dynamic Feedback Linearization-based FIRM“, ”Proc. 2012 IEEE/ RSJ Int. Conf. on Robotics and Intelligent Systems (IROS)”, Vilamoura, Algarve, Portugal (pdf)
S. Kumar and S. Chakravorty, “Multi-Agent Generalized Probabilistic Roadmaps“, ”Proc. 2012 IEEE/ RSJ Int. Conf. on on Rob. Intell. Syst. (IROS)”, Vilamoura, Algarve, Portugal (pdf)
A. Aghamohammadi, S. Chakravorty and N. M. Amato, “Probabilistic Completeness of Feedback Aware Information Roadmaps“, ”Proc. 2012 IEEE Int. Conf. on Robotics and Automation (ICRA)”, Minneapolis, MN (pdf)
D. Yu and S. Chakravorty, “A Randomized Iterative Proper Orthogonal Decomposition Technqiue with Application to Filtering of PDEs“, ”Proceedings of the 2012 American Control Conference (ACC)” (pdf)
Z. Sunberg, S. Chakravorty and R. Erwin, “Information Space Receding Horizon Control for Multi Agent Systems“, ”Proceedings of the 2012 American Control Conference (ACC)”(pdf)
Kumar, M. and Chakravorty, S., “Nonlinear Filter Based on the Fokker-Planck Equation,” Journal of Guidance Control and Dynamics (AIAA), Vol.35, No.1, 2012, pp. 68-79. doi: 10.2514/1.54070
2011
A. Aghamohammadi, S. Chakravorty and N. M. Amato “Feedback Aware Information Roadmaps“, ”’Proc. 2011 IEEE/ RSJ Int. Conf. on Robotic and Intelligent Systems (IROS)”, San Francisco, CA [pdf]
S. Chakravorty and R. Saha, “A Frequentist Approach to Mapping under Uncertainty“, ”Automatica”, vol. 47, March 2011, pp. 477-484; preliminary version in ”Proc. 2009 IEEE Int. Conf. SMC”, San Antonio, TX [pdf]
S. Chakravorty and R. Erwin, “Information Space Receding Horizon Control“, ”Proceedings of the 2011 IEEE Int. Symp. on Approximate Dynamic Programming and Reinforcement Learning (ADPRL)” [pdf]
2010
S. Kumar and S. Chakravorty, “Adaptive Sampling for Generalized Probabilistic Roadmaps“, ”Journal of Control Theory and Applications”, vol. 41, 2010, pp. 855-867; preliminary version in ”Proc. 2010 IEEE Int. Conf. on Decision and Control (CDC)”, Atlanta, GA [pdf]
S. Chakravorty and S. Kumar, “Generalized Sampling based Motion Planners“, ”IEEE Tr. Systems,Man and Cybernetics Part B”, vol. 41, 2010, pp. 855-867; preliminary version in ”Proc. 2009 IEEE Int. Conf. SMC”, San Antonio, TX
M.Kumar and S. Chakravorty, “A Nonlinear Filter based on the Fokker-Planck Equation and Markov Chain Monte Carlo Technique“, ”Proceedings of the 2010 IEEE Int. Conf. Decision and Control (CDC)”
M.Kumar, S. Chakravorty and J. L. Junkins, “A Semi-Analytical Approach for the Transient Response of Stochastic Dynamical Systems“, ”Probabilistic Engineering Mechanics”, vol. 25, July 2010, pp. 323-331
2009
M.Kumar, S. Chakravorty and J. L. Junkins, “Computational Nonlinear Stochastic Control Based on the Fokker-Planck Equation“, ”AIAA Journal of Guidance, Control and Dynamics”, vol. 32, no. 3, 2009, pp. 1050-1055
M.Kumar, P.Singla, S. Chakravorty and J. L. Junkins, “A partition of Unity Method applied to the Solution of the Stationary Fokker-Planck-Kolmogorov Equation“, ”J. Sound & Vibration”, vol. 327, 2009, pp. 144-162
2008
S. Chakravorty and R. Saha, “Simultaneous Planning, Localization and Mapping: A hybrid Bayesian-Frequentist Approach“, ”Proceedings of the 2008 American Control Conference”, Technical Report, Center for Mechanics and Control, TAMU 2007
J. Ramirez and S. Chakravorty, “ Fuel Efficient Maneuvers for Multi-spacecraft Interferometric Imaging Systems in Near Earth Orbits“, ”Journal of Guid. Control Dyn.”, vol. 41, July-Aug. 2008, pp. 1133-1144, preliminary version in the ”Proceedings of the 2006 IEEE Conf. Dec. Control.”
M. Kumar, S. Chakravorty and J. L. Junkins, “A homotopic approach to domain determination and solution refinement for the Fokker-Planck equation“, ”Probabilistic Engineering Mechanics”, 2008, preliminary version in the ”Proceedings of the 2007 American Control Conference”
2007
S. Chakravorty and R. Saha, “Hierarchical Motion Planning under Uncertainty“, ” Proceedings of the 2007 IEEE Conference on Decision and Control”, Technical Report, Center for Mechanics and Control, TAMU 2007
S. Chakravorty and J. L. Junkins, “Intelligent Motion Planning under Uncertainty using Vision Like Sensors“, ”Automatica”, vol. 43, 2007, pp. 2104-2111
J. Davis and S. Chakravorty, “Intelligent Motion Planning in an Uncertain Environment: Application to an Unmanned Helicoper“, ”Journal of Guidance, Control and Dynamics”, vol. 30, 2007, pp. 1268-1276
J. Ramirez and S. Chakravorty, “Two-stage Controller Algorithm for Multi-Spacecraft Interferometric Imaging Maneuver for Spiral Coverage with Time Varying Target-System Relative Position “, ”IEEE Tr. Aerosp. Electronic Syst.”, vol. 46, n. 3, pp. 1248-1261; preliminary version in the ”Proceedings of the 2007 American Control Conf.”
S. Chakravorty and J. Ramirez, “Fuel Optimal Maneuvers for Multi-Spacecraft Interferometric Imaging Systems “, ”Journal of Guid. Control Dyn.”, vol. 30, no.1, pp. 227-237
2006
J. Davis and S. Chakravorty, “Motion Planning in an Uncertain Environment: Application to an Unmanned Helicoper“, ”Proceedings of the 2006 IEEE conference on Decision and Control”, San Diego, CA
S. Chakravorty, “A homotopic Galerkin approach to the solution of the Fokker-Planck-Kolmogorov equation“, ”Proceedings of the 2006 American Control Conference”
S. Chakravorty, M. Kumar and P. Singla, “A Quasi-Gaussian Kalman Filter”, ”Proceedings of the 2006 American Control Conference”
M. Kumar, P. Singla, S. Chakravorty and J. L. Junkins, ”The Partition of Unity Method to the Solution of the Fokker-Planck Equation“, ”Proceedings of the 2006 AIAA/ AAS Astrodynamics Specialist Conference”, winner of best paper in conference award
2005
S. Chakravorty and J. L. Junkins, “A Methodology for Intelligent Path Planning“, ”Proceedings of the 2005 IEEE International Symposium on Intelligent Control (ISIC 05)”, Limassol, Cyprus
S. Chakravorty and J. L. Junkins, “Intelligent Exploration of Unknown Environments using Vision Like Sensors“, ”Proceedings of the 2005 IEEE/ ASME International conference on Advanced Intelligent Mechatronics”, Monterrey, CA
S. Chakravorty, P. T. Kabamba and D. C. Hyland, “Modeling of Image Formation in Multi-Spacecraft Interferometric Imaging Systems “, ”Journal of the Astronautical Sciences”, Vol. 53, no. 3, July-Sep 2005
2004
S. Chakravorty, P. T. Kabamba and D. C. Hyland, “Design of Minimum Time Maneuvers for Multi-Spacecraft Interferometric Imaging Systems “, ”Journal of the Astronautical Sciences”, Vol. 52, No. 3, July-September 2004
2003
S. Chakravorty, P. T. Kabamba and D. C. Hyland, “ Guaranteed Classification Prerformance of Multi-Spacecraft Interferometric Imaging Systems“, ”Journal of the Astronautical Sciences”, Vol.51, No. 2, April-June 2003, pp. 205-226]]