Publications

REFEREED JOURNAL PUBLICATIONS
  • J. Park, S. Karumanchi, and K. Iagnemma, "Homotopy-based Divide-and-Conquer Strategy for Optimal Trajectory Planning", IEEE Transactions on Robotics (T-RO) (Submitted and Awaiting Review), 2015

  • M. Fallon, S. Kuindersma, S. Karumanchi,  M. Antone, T. Schneider, H. Dai, C. Perez-D’Arpino, R. Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion,  M. Posa, A. Valenzuela, P. Kuan-Ting Yu, J. A. Shah, K. Iagnemma, R. Tedrake, S. Teller, "An Architecture for Online Affordance-based Perception and Whole-body Planning", Journal of Field Robotics (JFR) (Special Issue on DARPA Robotics Challenge Trials), 2014 [preprint][download].
  • S.J. Anderson, S. Karumanchi, K. Iagnemma, J.M. Walker,   "The Intelligent CoPilot: A Constraint-Based Approach to Shared-Adaptive Control of Ground Vehicles", IEEE Intelligent Transportation Systems Magazine, 2013. [pdf
  • S. Karumanchi, T. Allen, T. Bailey and S. Scheding, “Non-parametric Learning to Aid Path Planning Over Slopes”. The International Journal of Robotics Research (IJRR), Vol 29(8), Pages 997-1018, 2010.[pdf]

REFEREED CONFERENCE PAPERS
  • Paul Hebert, Jeremy Ma, James Borders, Alper Aydemir, Max Bajracharya, Nicolas Hudson, Krishna Shankar, Sisir Karumanchi, Bertrand Douillard, and Joel Burdick. Supervised remote robot with guided autonomy and teleoperation (surrogate): A framework for whole-body mobile manipulation. In Int. Conf. on Robotics and Automation (ICRA), 2015
  • R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, S. Teller,  “A Summary of Team MIT’s Approach to the Virtual Robotics Challenge”, IEEE International Conference on Robotics and Automation, 2014. [pdf][video]
  • S. Karumanchi, K. Iagnemma, and S. Scheding, “Mobility Erosion: High Speed Motion Safety for Mobile Robots Operating in Off-Road Terrain”, IEEE International Conference on Robotics and Automation, 2013. [pdf][brief]
  • S. Karumanchi and K. Iagnemma , “Reactive Control in Environments with Hard and Soft hazards”, IEEE Intelligent Robots and Systems, 2012  [pdf] .
  • S.J. Anderson, S. Karumanchi , K. Iagnemma,  “Constraint-Based Planning and Control for Safe, Semi-Autonomous Control of Vehicles”, Proceedings of 2012 IEEE Intelligent Vehicles Symposium, June  2012, Alcalá de Henares, Spain. [pdf] [In MIT news]
  • S.J. Anderson, S. Karumanchi, B.J. Johnson, M.R. Rohde, K. Iagnemma,  “Constraint-based semi-autonomy for unmanned ground vehicles using local sensing”, SPIE Unmanned Systems Technology XIV, April 2012, Baltimore, Maryland, USA. [pdf]

  • S. Karumanchi, T. Allen, T. Bailey and S. Scheding, “Non-parametric Learning to Aid Path Planning Over Slopes”. Proceedings of Robotics: Science and Systems (RSS), July 2009, Seattle, USA.[pdf

TECH REPORTS
  • M. Fallon, S. Kuindersma, S. Karumanchi,  M. Antone, T. Schneider, H. Dai, C. Perez-D’Arpino, R. Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion,  M. Posa, A. Valenzuela, P. Kuan-Ting Yu, J. A. Shah, K. Iagnemma, R. Tedrake, S. Teller, "An Architecture for Online Affordance-based Perception and Whole-body Planning", Tech Report, MIT-CSAIL-TR-2014-003, MIT Computer Science and Artificial Intelligence Lab (CSAIL) , 2014 [link][download].
THESIS
  • S. Karumanchi, "Off-road mobility analysis from proprioceptive feedback". Ph.D. thesis, The University of Sydney, Aug. 2010. [pdf]