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Publications

Under Review

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“, submitted to IEEE Transactions on Robotics (TRO) [arXiv-preprintvideo]

Dan Yu and Suman Chakravorty, “A Computationally Optimal Randomized Proper Orthogonal Decomposition Technique“, submitted to Automatica, in revision [pdf]

Dan Yu, Mohammadhussein Rafieisakhaei and Suman Chakravorty, “A Separation based Approach to Data Based Control for Large Scale Partially Observed Systems“, submitted to Conference on Neural Information Processing Systems (NIPS), 2017

W. Faber, S. Chakravorty, and I. I. Hussein, “Mutli-target tracking with a randomized hypothesis generation technique,” submitted to IEEE transaction on Aerospace And Electronic Systems [pdfarxiv-preprint]

2018

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, 2018 [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, 2018 [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, 2018

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, codearXiv: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

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 [pdfvideoarxiv-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 [pdfarxiv-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 [pdfbibtexvideo]

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]]