Publications
[Google Scholar]
Book Chapters
Journal Articles
Adaptive and Risk-Aware Target Tracking for Robot Teams with Heterogeneous Sensors
S. Mayya, R Ramachandran, L Zhou, V Kumar, S Kumar, D Thakur., G Sukhatme and V. Kumar
IEEE Robotics and Automation Letters
[DOI]
PennSyn2Real: Training Object Recognition Models Without Human Labeling
T. Nguyen et al.
IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5032-5039, July 2021
[DOI]
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment
P. Štibinger et al.
IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2595-2602, April 2021
[DOI]
Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping
E. S. Lee, G. Loianno, D. Thakur and V. Kumar
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3259-3266, April 2020.
[DOI]
Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles
Spurný, Vojtěch and Báča, Tomáš and Saska, Martin and Pěnička, Robert and Krajník, Tomáš and Thomas, Justin and Thakur, Dinesh and Loianno, Giuseppe and Kumar, Vijay
Journal of Field Robotics, vol. 36, no. 1, pp. 125-148, 2019
[DOI]
Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments
G. Loianno and V. Spurny and J. Thomas and T. Baca and D. Thakur and D. Hert and R. Penicka and T. Krajnik and A. Zhou and A. Cho and M. Saska and V. Kumar
in IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1576-1583, July 2018.
[DOI]
Fast, autonomous flight in GPS‐denied and cluttered environments
Kartik Mohta, Michael Watterson, Yash Mulgaonkar, Sikang Liu, Chao Qu, Anurag Makineni, Kelsey Saulnier, Ke Sun, Alex Zhu, Jeffrey Delmerico, Dinesh Thakur, Konstantinos Karydis, Nikolay Atanasov, Giuseppe Loianno, Davide Scaramuzza, Kostas Daniilidis, Camillo Jose Taylor, Vijay Kumar
Journal of Field Robotics,vol. 35, no. 1, pp. 101-120, 2018
Automated System for Semantic Object Labeling with Soft Object Recognition and Dynamic Programming Segmentation.
Jonas Cleveland, Dinesh Thakur, Philip Dames, Cody Phillips, Terry Kientz, Kostas Daniilidis, John Bergstrom, and Vijay Kumar.
IEEE Transactions on Automation Science and Engineering, vol. 14, no. 2, pp. 820-833, April 2017.
A Computationally Efficient Approach to Trajectory Management for Coordinated Aerial Surveillance.
James Keller, Dinesh Thakur, Vladimir Dobrokhodov, Kevin Jones, Mihail Pivtoraiko, Jean Gallier, Isaac Kaminer and Vijay Kumar.
Unmanned Systems, 1. 2013
[DOI]
Conference Publications
DC-CAPT: Assignment and Planning of Trajectories for Dubins Cars
M. Whitzer, D. Shishika, D. Thakur, V. Kumar and A. Prorok
IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 8791-8797
[DOI]
The Tiercel: A novel autonomous micro aerial vehicle that can map the environment by flying into obstacles
Y. Mulgaonkar, W. Liu, D. Thakur, K. Daniilidis, C. J. Taylor and V. Kumar,
IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 7448-7454
[DOI]
Autonomous Inspection of a Containment Vessel using a Micro Aerial Vehicle
D. Thakur, G. Loianno, L. Jarin-Lipschitz, A. Zhou and V. Kumar
2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Würzburg, Germany, 2019, pp. 1-7,
[DOI]
Optimal Paths for Polygonal Robots in SE(2)
Monroe Kennedy, III, Dinesh Thakur, Vijay Kumar, M. Ani Hsieh and Subhrajit Bhattacharya
ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Cleveland, Ohio, USA, August 6–9, 2017
A column generation approach for optimized routing and coordination of a UAV fleet
Julia Zillies Stephan Westphal, Dinesh Thakur, Vijay Kumar, George Pappas and David Scheidt
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016.
Obstacle avoidance and path intersection validation for UAS: A B-spline approach
James Keller, Dinesh Thakur, Maxim Likhachev, Jean Gallier and Vijay Kumar
International Conference on Unmanned Aircraft Systems (ICUAS), 2016.
Coordinated Path Planning for Fixed-wing UAS Conducting Persistent Surveillance Missions
James Keller, Dinesh Thakur, Maxim Likhachev, Jean Gallier and Vijay Kumar
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015.
An Automated System for Semantic Object Labeling with Soft Object Recognition and Dynamic Programming Segmentation.
Jonas Cleveland, Dinesh Thakur, Philip Dames, Cody Phillips, Terry Kientz, Kostas Daniilidis, John Bergstrom, and Vijay Kumar.
IEEE International Conference on Automation Science and Engineering (CASE), 2015.
Best Application Paper Finalist
Coordinated commencement of pre-planned routes for fixed-wing UAS starting from arbitrary locations-a near real-time solution.
James Keller, Dinesh Thakur, Vladimir Dobrokhodov, Kevin Jones, Maxim Likhachev, Jean Gallier, Isaac Kaminer and Vijay Kumar.
International Conference on Unmanned Aircraft Systems (ICUAS), 2014.
R-MASTIF: Robotic mobile autonomous system for threat interrogation and object fetch.
Aveek Das, Dinesh Thakur, James Keller, Sujit Kuthirummal, Zsolt Kira and Mihail Pivtoraiko.
SPIE Conference, 2013.
[DOI]
Workshops and Posters
An automated system for semantic object labeling with soft object recognition and dynamic programming segmentation.
Jonas Cleveland, Dinesh Thakur, Philip Dames, Cody Phillips, Terry Kientz, Kostas Daniilidis, John Bergstrom, and Vijay Kumar.
IEEE International Conferece on Robotics and Automation (ICRA), Late Breaking Results Poster, 25-30 May. 2015
[pdf]
Adaptive Information Gathering Using Visual Sensors.
Philip Dames, Dinesh Thakur, Mac Schwager and Vijay Kumar.
In Workshop on Stochastic Geometry in SLAM at the International Conference on Robotics and Automation. Saint Paul, MN, USA, May. 2012
[pdf]
Thesis
Opportunistic path refinement with dynamic constraints
Dinesh Thakur.
Masters Thesis, University of Pennsylvania, May 2011