Rastgar, Fatemeh;  Masnavi, Houman; Sharma, Basant; Aabloo Alvo; Swevers, Jan; Singh, Arun, Kumar. PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation. To appear at IEEE Robotics and Automation Letters, 2024

Masnavi, Houman,  Shrestha, Jatan, Kruusamäe, Karl, Singh, Arun Kumar. VACNA: Visibility-Aware Cooperative Navigation with Application in Inventory Management. To appear at IEEE Robotics and Automation Letters, 2023

Raudmäe, R., Schumann, S., Vunder, V., Oidekivi, M., Nigol, M.K., Valner, R., Masnavi, H., Singh, A.K., Aabloo, A. and Kruusamäe, K., 2023. ROBOTONT–Open-source and ROS-supported omnidirectional mobile robot for education and research. HardwareX, p.e00436.

Masnavi, H., Shrestha, J., Mishra, M., Sujit, P.B., Kruusamäe, K. and Singh, A.K., 2022. Visibility-aware navigation with batch projection augmented cross-entropy method over a learned occlusion cost. IEEE Robotics and Automation Letters, 7(4), pp.9366-9373.

Masnavi, H., Adajania, V.K., Kruusamäe, K. and Singh, A.K., 2022. Real-time multi-convex model predictive control for occlusion-free target tracking with quadrotors. IEEE Access, 10, pp.29009-29031.

Guhathakurta, D., Rastgar, F., Sharma, M.A., Krishna, K.M. and Singh, A.K., 2022. Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems. Frontiers in Robotics and AI, 9, p.890385.

Gopalakrishnan, B., Singh, A.K., Krishna, K.M. and Manocha, D., 2021. Solving chance-constrained optimization under nonparametric uncertainty through hilbert space embedding. IEEE Transactions on Control Systems Technology, 30(3), pp.901-916.

Adajania, V.K., Sharma, A., Gupta, A., Masnavi, H., Krishna, K.M. and Singh, A.K., 2022. Multi-modal model predictive control through batch non-holonomic trajectory optimization: Application to highway driving. IEEE Robotics and Automation Letters, 7(2), pp.4220-4227.

Valner, R., Masnavi, H., Rybalskii, I., Põlluäär, R., Kõiv, E., Aabloo, A., Kruusamäe, K. and Singh, A.K., 2022. Scalable and heterogenous mobile robot fleet-based task automation in crowded hospital environments—a field test. Frontiers in Robotics and AI, 9, p.922835.

Rastgar, F., Masnavi, H., Shrestha, J., Kruusamäe, K., Aabloo, A. and Singh, A.K., 2021. GPU accelerated convex approximations for fast multi-agent trajectory optimization. IEEE Robotics and Automation Letters, 6(2), pp.3303-3310.

Poonganam, S.N.J., Gopalakrishnan, B., Avula, V.S.S.B.K., Singh, A.K., Krishna, K.M. and Manocha, D., 2020. Reactive navigation under non-parametric uncertainty through hilbert space embedding of probabilistic velocity obstacles. IEEE Robotics and Automation Letters, 5(2), pp.2690-2697.

Singh, A.K. and Pham, Q.C., 2018. Reactive path coordination based on time-scaled collision cone. Journal of Guidance, Control, and Dynamics, 41(9), pp.2033-2040.

James, F., Shah, S.V., Singh, A.K., Krishna, K.M. and Misra, A.K., 2016. Reactionless maneuvering of a space robot in precapture phase. Journal of Guidance, Control, and Dynamics, 39(10), pp.2419-2425.

Singh, A.K., Krishna, K.M. and Saripalli, S., 2016. Planning non-holonomic stable trajectories on uneven terrain through non-linear time scaling. Autonomous Robots, 40, pp.1419-1440.

Singh, A.K. and Krishna, K.M., 2016. Feasible acceleration count: A novel dynamic stability metric and its use in incremental motion planning on uneven terrain. Robotics and Autonomous Systems, 79, pp.156-171.

Gattupalli, A., Eathakota, V.P., Singh, A.K. and Madhava Krishna, K., 2013. A simulation framework for evolution on uneven terrains for synchronous drive robot. Advanced Robotics, 27(8), pp.641-654.

Eathakota, V.P., Singh, A.K. and Krishna, K.M., 2010. Two models of force actuator based active suspension mechanisms for mobility on uneven terrain. Acta Astronautica, 67(9-10), pp.1233-1247.

Adajania, V.K., Zhou, S., Singh, A.K. and Schoellig, A.P., 2023. AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments. To appear at International Conference on Robotics and Automation ICRA 2023.

Shrestha Jatan; Idoko Simon; Sharma Basant, Singh Arun Kumar. End-To-End Learning of Behavioural Inputs for Autonomous Driving in Dense Traffic. IEEE International Conference on Intelligent Robots and Systems (IROS), 2023.

Sharma Basant; Sharma Aditya; Krishna Madhava; Singh Arun Kumar. Hilbert Space Embedding-Based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction. IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. 

Mandadi,Vishal Reddy; Saha, Kallol; Guhathakurta, Dipanwita; Qureshi, Mohammad Nomaan; Agarwal, Aditya; Sen, Bipasha; Das, Dipanjan; Bhowmick, Brojeshwar; Singh, Arun Kumar; Krishna, K, Madhava. Object Rearrangement in Complex Scenes Using Non-Prehensile Actions. IEEE International Conference on Automation Science and Engineering (CASE), 2023

Dewangan, Vikrant; Sharma, Basant; Choudhary, Tushar; Sharma,Sarthak; Aanegola, Aakash ; Singh, Arun Kumar; Krishna, K, Madhava (2023). UAP-BEV: Uncertainty Aware Planning using Bird's Eye View Generated From Surround Monocular Images. IEEE, International Conference on Automation Science and Engineering (CASE) 2023.

Singh, Arun Kumar; Shrestha, Jatan; Albarella, Nicola (2023). Bi-Level Optimization Augmented with Conditional Variational Autoencoder for Autonomous Driving in Dense Traffic. IEEE International Conference on Automation Science and Engineering (CASE) 2023.

Thakur, P., Qureshi, M.N., Singh, A.K., Harish, Y.V.S., Katara, P., Masnavi, H., Krishna, K.M. and Bhowmick, B., 2023, June. Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution. In 2023 International Joint Conference on Neural Networks (IJCNN) (pp. 1-10). IEEE.

Manoharan, A., Thakur, P. and Singh, A.K., 2023, June. Multi-agent Target Defense Game with Learned Defender to Attacker Assignment. In 2023 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 297-304). IEEE.

Harithas, S.S., Thatavarthy, A.S., Singh, G., Singh, A.K. and Krishna, K.M., 2023, May. Urbanfly: Uncertainty-aware planning for navigation amongst high-rises with monocular visual-inertial slam maps. In 2023 American Control Conference (ACC) (pp. 557-563). IEEE.

Rastgar, F., Masnavi, H., Kruusamäe, K., Aabloo, A. and Singh, A.K., 2023, May. GPU Accelerated Batch Trajectory Optimization for Autonomous Navigation. In 2023 American Control Conference (ACC) (pp. 718-725). IEEE.

Harithas, S.S., Yadav, R.D., Singh, D., Singh, A.K. and Krishna, K.M., 2022, May. Cco-voxel: Chance constrained optimization over uncertain voxel-grid representation for safe trajectory planning. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 11087-11093). IEEE.

Omama, M., Sundar, S.V., Chinchali, S., Singh, A.K. and Krishna, K.M., 2022, October. Drift Reduced Navigation with Deep Explainable Features. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6316-6323). IEEE.

Gupta, A., Singh, A.K. and Krishna, K.M., 2022, August. Leveraging Distributional Bias For Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach. In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) (pp. 2347-2354). IEEE.

Nair, U.K.R., Gupta, A., Kiran, D.S., Shrihari, A., Shah, V., Singh, A.K. and Krishna, K.M., 2021, June. Non Holonomic Collision Avoidance under Non-Parametric Uncertainty: A Hilbert Space Approach. In 2021 European Control Conference (ECC) (pp. 675-681). IEEE.

Adajania, V.K., Masnavi, H., Rastgar, F., Kruusamae, K. and Singh, A.K., 2021, September. Embedded hardware appropriate fast 3D trajectory optimization for fixed wing aerial vehicles by leveraging hidden convex structures. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 571-578). IEEE.

Mali, P., Harikumar, K., Singh, A.K., Krishna, K.M. and Sujit, P.B., 2021, June. Incorporating prediction in control barrier function based distributive multi-robot collision avoidance. In 2021 European Control Conference (ECC) (pp. 2394-2399). IEEE.

Singh, A.K., Theerthala, R.R., Babu, M., Nair, U.K.R. and Krishna, K.M., 2020, May. Bi-convex approximation of non-holonomic trajectory optimization. In IEEE International Conference on Robotics and Automation (ICRA) 2020 (pp. 476-482). IEEE.

Mali, P., Singh, A.K., Krishnal, M. and Sujit, P.B., 2020, August. Model predictive control for target tracking in 3d with a downward facing camera equipped fixed wing aerial vehicle. In 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) (pp. 165-172). IEEE.

Singh, A.K., Ahonen, A., Ghabcheloo, R. and Mueller, A., 2020, May. Introducing multi-convexity in path constrained trajectory optimization for mobile manipulators. In 2020 European Control Conference (ECC) (pp. 1178-1185). IEEE.

Rastgar, F., Singh, A.K., Masnavi, H., Kruusamae, K. and Aabloo, A., 2020, October. A novel trajectory optimization for affine systems: Beyond convex-concave procedure. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1308-1315). IEEE.

Babu, M., Theerthala, R.R., Singh, A.K., Baladhurgesh, B.P., Gopalakrishnan, B., Krishna, K.M. and Medasani, S., 2019, July. Model predictive control for autonomous driving considering actuator dynamics. In 2019 American Control Conference (ACC) (pp. 1983-1989). IEEE.

Babu, M., Oza, Y., Singh, A.K., Krishna, K.M. and Medasani, S., 2018, June. Model predictive control for autonomous driving based on time scaled collision cone. In 2018 European Control Conference (ECC) (pp. 641-648). IEEE.

Singh, A.K., Berman, S. and Nisky, I., 2018, August. Stochastic optimal control for modeling reaching movements in the presence of obstacles: theory and simulation. In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) (pp. 997-1004). IEEE.

Singh, A.K., Ghabcheloo, R., Muller, A. and Pandya, H., 2018, October. Combining method of alternating projections and augmented lagrangian for task constrained trajectory optimization. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7568-7575). IEEE.

Singh, A.K. and Ghabcheloo, R., 2018, June. Trajectory Deformation Through Generalized Time Scaling. In 2018 European Control Conference (ECC) (pp. 614-621). IEEE.

Gopalakrishnan, B., Singh, A.K., Kaushik, M., Krishna, K.M. and Manocha, D., 2017, September. Prvo: Probabilistic reciprocal velocity obstacle for multi robot navigation under uncertainty. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1089-1096). IEEE.

Gopalakrishnan, B., Singh, A.K., Kaushik, M., Krishna, K.M. and Manocha, D., 2017. Chance constraint based multi agent navigation under uncertainty. In Proceedings of the Advances in Robotics (pp. 1-6).

Singh, A.K. and Krishna, K.M., 2015, September. A class of non-linear time scaling functions for smooth time optimal control along specified paths. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5809-5816). IEEE.

Gopalakrishnan, B., Singh, A.K. and Krishna, K.M., 2015, September. Closed form characterization of collision free velocities and confidence bounds for non-holonomic robots in uncertain dynamic environments. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4961-4968). IEEE.

Nagariya, A., Gopalakrishnan, B., Singh, A.K., Gupta, K. and Krishna, K.M., 2015, December. Mobile robot navigation amidst humans with intents and uncertainties: A time scaled collision cone approach. In 2015 54th IEEE Conference on Decision and Control (CDC) (pp. 2773-2779). IEEE.

Duggal, V., Bipin, K., Singh, A.K., Gopalakrishnan, B., Bharti, B.K., Khiat, A. and Krishna, K.M., 2015, June. Overtaking maneuvers by non linear time scaling over reduced set of learned motion primitives. In 2015 IEEE Intelligent Vehicles Symposium (IV) (pp. 115-120). IEEE.

Gopalakrishnan, B., Singh, A.K. and Krishna, K.M., 2014, September. Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4169-4176). IEEE.

Singh, A.K. and Krishna, K.M., 2013, November. Coordinating mobile manipulator's motion to produce stable trajectories on uneven terrain based on feasible acceleration count. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5009-5014). IEEE.

Singh, A.K. and Krishna, K.M., 2013, December. Reactive collision avoidance for multiple robots by non linear time scaling. In 52nd IEEE Conference on Decision and Control (pp. 952-958). IEEE.

Avinash, S., Anurag, V.V., Singh, A.K., Shah, S.V. and Krishna, K.M., 2013, August. A semi-active robot for steep obstacle ascent. In 2013 IEEE International Conference on Control Applications (CCA) (pp. 122-127). IEEE.

Gavshinde, L., Singh, A.K. and Krishna, K.M., 2013, August. Trajectory planning for monocular SLAM systems. In 2013 IEEE International Conference on Control Applications (CCA) (pp. 631-636). IEEE.

Singh, A.K., Krishna, K.M. and Saripalli, S., 2012, October. Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3538-3545). IEEE.

Singh, A.K., Ghose, D. and Krishna, K.M., 2012, June. Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization. In 2012 American Control Conference (ACC) (pp. 3611-3616). IEEE.

Pandey, R., Singh, A.K. and Krishna, K.M., 2012, August. Multi-robot exploration with communication requirement to a moving base station. In 2012 IEEE International Conference on Automation Science and Engineering (CASE) (pp. 823-828). IEEE.

Singh, A.K., Namdev, R.K., Eathakota, V. and Krishna, K.M., 2010, October. A novel compliant rover for rough terrain mobility. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4788-4793). IEEE.

Singh, A.K., Eathakota, V.P., Krishna, K.M. and Patil, A.H., 2009, December. Evolution of a four wheeled active suspension rover with minimal actuation for rough terrain mobility. In 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 794-799). IEEE.