Refereed Papers in Professional Journals

Published Papers

[8] H. Karami, A. Thomas, F. Mastrogiovanni. A Task and Motion Planning Framework Using Iteratively Deepened  AND/OR Graph Networks, in Robotics and Autonomous Systems, 2025.

[7] A. Thomas, F. Mastrogiovanni, M. Baglietto. Safe Motion Planning with Environment Uncertainty, in Robotics and Autonomous Systems, 2022. 

[6] A. Thomas, F. Mastrogiovanni, M. Baglietto. Exact and Bounded Collision Probability for Motion Planning Under Gaussian Uncertainty, in IEEE Robotics and Automation Letters, 2022. 

[5] M. H. Tanveer, A. Thomas, W. Ahmed, Z. Hongxiao. Estimate the Unknown Environment with Biosonar Echoes—A Simulation Study, in Sensors, 2021.

[4] A. Thomas, F. Mastrogiovanni, M. Baglietto. MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Space, in Robotics and Autonomous Systems, 2021.

[3] A. Thomas, F. Mastrogiovanni, M. Baglietto. An Integrated Localisation, Motion Planning and Obstacle Avoidance Algorithm in Belief Space, in Intelligent Service Robotics, 2021.

[2] M. H. Tanveer, X. Wu, A. Thomas, C. Ming, R. Müller, P. Tokekar, Z. Hongxiao. A Simulation Framework for Bio-inspired Sonar Sensing with Unmanned Aerial Vehicles, in PLoS ONE, 2020. 

[1] S. Pathak, A. Thomas, V. Indelman. A Unified Framework for Data Association Aware Robust Belief Space Planning and Perception, in International Journal of Robotics Research, 2018.

Book Chapters

[6] A. Thomas, F. Mastrogiovanni, M. Baglietto. Revisiting the Minimum Constraint Removal Problem in Mobile Robotics, in Intelligent Autonomous Systems 18, Lecture Notes in Networks and Systems, vol. 795, pp. 31-41, Springer, Cham., 2024.

[5] A. Thomas, F. Mastrogiovanni. Minimum Displacement Motion Planning for Movable Obstacles, in Intelligent Autonomous Systems 17, Lecture Notes in Networks and Systems, vol. 577, pp. 155-166, Springer, Cham., 2023.

[4] H. Karami, A. Thomas, F. Mastrogiovanni. Task Allocation for Multi-robot Task and Motion Planning: A Case for Object Picking in Cluttered Workspaces, in AIxIA 2021 -- Advances in Artificial Intelligence, Lecture Notes in Computer Science, vol. 13196, pp. 3-17, Springer, Cham., 2022.

[3] A. Thomas, F. Mastrogiovanni, M. Baglietto. Probabilistic Collision Constraint for Motion Planning in Dynamic Environments, in Intelligent Autonomous Systems 16, Lecture Notes in Networks and Systems, vol. 412, pp. 141-154, Springer, Cham., 2022.

[2] A. Thomas, F. Mastrogiovanni, M. Baglietto. Task-Motion Planning for Navigation in Belief Space, in Robotics Research, Springer Proceedings in Advanced Robotics (SPAR), vol. 20, pp. 542-558, Springer, Cham., 2022.

[1] M.H. Tanveer, A. Sgorbissa, A. Thomas. An IPM Approach to Multi-robot Cooperative Localization: Pepper Humanoid and Wheeled Robots in a Shared Space, in ICINCO 2018: Informatics in Control, Automation and Robotics}, vol. 613, pp. 429-447, Springer, Cham., 2020.

Refereed Papers in Conference Proceedings

[20] A. Thomas,  F. Mastrogiovanni, M. Baglietto. Revisiting the Minimum Constraint Removal Problem in Mobile Robotics, in International Conference on Intelligent Autonomous Systems (IAS), 2023.

[19] A. Thomas,  G. Ferro, F. Mastrogiovanni, M. Robba. Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation, in IEEE International Conference on Robotics and Automation (ICRA), 2023.

[18] A. Iannone, A. Thomas,  F. Mastrogiovanni. A Framework for Multi-Robot Task and Motion Planning, in Italian Conference on Robotics and Intelligent Machines (I-RIM), 2022.

[17] A. Thomas,  F. Mastrogiovanni. Minimum Displacement Motion Planning for Movable Obstacles, in International Conference on Intelligent Autonomous Systems (IAS), 2022.

[16] H. Karami, A. Thomas, F. Mastrogiovanni. Task Allocation for Multi-Robot Task and Motion Planning:a case for Object Picking in Cluttered Workspaces, in International Conference of the Italian Association for Artificial Intelligence (AIxIA), 2021.

[15] A. Thomas,  F. Mastrogiovanni, M. Baglietto. Probabilistic Collision Constraint for Motion Planning in Dynamic Environments, in International Conference on Intelligent Autonomous Systems (IAS), 2021.

[14] M. H. Tanveer, Z. Hongxiao, W. Ahmed, A. Thomas, B. M. Imran, M. Salman. Mel-spectrogram and Deep CNN based Representation Learning from Bio-Sonar Implementation on UAVs, in International Conference on Computer, Control and Robotics (ICCCR), 2021.

[13] M. H. Tanveer, M. Sabbagh, A. Thomas, B. M. Imran,  M. H. Soomro. RNN and Mel-spectrogram based acoustic balancing and bouncing of plastic ball, in IEEE International Conference on Computing, Networking, Telecommunications & Engineering Sciences Applications 2020 (CoNTESA), 2020.

[12] M. Sabbagh, M. H. Tanveer, A. Thomas, M. Salman, J. Faile. Real Time Voronoi-like Path Planning Using Flow Field and A*, in IEEE International Conference on Smart Communities: Improving Quality of Life Using ICT, IoT and AI (HONET), 2020.

[11] A. Thomas,  H. Karami, F. Mastrogiovanni. Iterative AND/OR Graphs for Task-Motion Planning, in Italian Conference on Robotics and Intelligent Machines (I-RIM), 2020.

[10] A. Thomas,  F. Mastrogiovanni, M. Baglietto. Motion Planning with Environment Uncertainty, in Italian Conference on Robotics and Intelligent Machines (I-RIM), 2020.

[9] A. Thomas, F. Mastrogiovanni, M. Baglietto. Towards Multi-Robot Task-Motion Planning for Navigation in Belief Space, in European Starting AI Researchers’ Symposium (STAIRS), 2020. 

[8] M. H. Tanveer, A. Thomas, R. Muller, P. Tokekar, X. Wu, Z. Hongxiao. Recreating Bat Behavior on Quad-rotor UAVs-A Simulation Approach, in International Florida AI Research Society (FLAIRS) Conference, 2020.

[7] M. H. Tanveer, A. Thomas, X. Wu, Z. Hongxiao. Simulate forest trees by integrating L-system and 3D CAD files, in International Conference on Information and Computer Technologies (ICICT), 2020.

[6] A. Thomas, F. Mastrogiovanni, M. Baglietto. Task-Motion Planning for Navigation in Belief Space, in The International Symposium on Robotics Research (ISRR), 2019.

[5] A. Thomas,  S. Amatya, F. Mastrogiovanni, M. Baglietto. Task-assisted Motion Planning in Belief Space, in Italian Conference on Robotics and Intelligent Machines (I-RIM), 2019.

[4] S. Pathak, A. Thomas, V. Indelman. Nonmyopic Data Association Aware Belief Space Planning for Robust Active Perception, in IEEE International Conference on Robotics and Automation (ICRA), 2017.

[3] S. Pathak, A. Thomas, A. Feniger, V. Indelman. DA-BSP: Towards Data Association Aware Be-lief Space Planning for Robust Active Perception, in European Conference on Artificial Intelligence (ECAI), 2016.

[2] S. Pathak, A. Thomas, A. Feniger, V. Indelman. Robust Active Perception for Belief Space Planning in Perceptually Aliased and Uncertain Environments, in The Israeli Conference on Robotics (ICR), 2016.

[1] A. Thomas, A. Khatri, N. K. Sinha. Conceptual Design for MAV Maneuvers, in 3rd International Conference on Recent Advances in Design, Development and Operation of Micro Air Vehicles (ICRAMAV), Elsevier, 2014.

Workshop and Symposium Papers

[3] A. Thomas, S. Amatya, F. Mastrogiovanni, M. Baglietto. Towards Perception Aware Task-Motion Planning, in Reasoning and Learning in Real-World Systems for Long-Term Autonomy, AAAI Fall Symposium, 2018.

[2] A. Thomas, S. Amatya, F. Mastrogiovanni, M. Baglietto. Task-Motion Planning in Belief Space, in RSS Workshop on Exhibition and Benchmarking of Task and Motion Planners, 2018.

[1] S. Pathak, A. Thomas, A. Feniger, and V. Indelman. Towards data association aware belief space planning for robust active perception, in AI for Long-term Autonomy, workshop in conjunction with IEEE International Conference on Robotics and Automation (ICRA), 2016.

Theses

A. Thomas, Multimodal Planning under Uncertainty: Task-Motion Planning and Collision Avoidance, Ph.D. Thesis, University of Genova, 2021.

A.Thomas, Incorporating Data Association Within Belief Space Planning For Robust Autonomous Navigation, M.Sc. Thesis, Technion- Israel Institute of Technology, 2017.