publications

Selected Journal Articles

  • M. Yavari*, K. Gupta and M. Mehrandezh. (2022). Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator with On-The-Fly Rapid Re-planning in Unknown Environments. IEEE Transactions on Automation Science and Engineering (IEEE-TASE).

  • M. Hegedus*, K. Gupta and M. Mehrandezh. (2022). Efficiently Finding Poses for Multiple Grasp Types with Partial Point Clouds by Uncoupling Grasp Shape and Scale. Autonomous Robots (AURO), Springer. 46(6): 749-767.

  • Salar Asayesh, Mo Chen, Mehran Mehrandezh and Kamal Gupta. (2021). Toward Observation based Least Restrictive Collision Avoidance Using Deep Reinforcement Learning. IEEE Robotics and Automation Letters (RAL). 6(4): 7445-7452.

  • V. Pilania* and K. Gupta. (2018). Mobile Manipulator Planning under Uncertainty in Unknown Environments. International Journal of Robotics Research (IJRR), SAGE Press. 37(2-3): 316-339. Published

  • Localization aware sampling and connection strategies for incremental motion planning under uncertainty. Vinay Pilania and Kamal Gupta. Autonomous Robots, Springer, 41(1):111– 132, 2017.

  • A hierarchical and adaptive mobile manipulator planner with base pose uncertainty. Vinay Pilania and Kamal Gupta. Autonomous Robots, Springer, 1(39):65–85, 2015.

  • Safety hierarchy for planning with hard time constraints in unknown dynamic environments. Bruno L’Esperance and Kamal Gupta. IEEE Transactions on Robotics, 6(30):1398– 1411, 2014.

  • Randomized kinodynamic planning for robust image-based visual servoing. Moslem Kazemi, Kamal Gupta, and Mehran Mehrandezh. IEEE Transactions on Robotics, 29(5):1197– 1210, October 2013. Digital Identifier: http://dx.doi.org/10.1109/TRO.2013.2264865.

  • An autonomous six-dof eye-in-hand system for in-situ 3d object modeling. Lila Torabi and Kamal Gupta. International Journal of Robotics Research (IJRR), 31(1):82–100, January 2012.

  • Metamodel-based optimization for problems with expensive objective and constraint functions. Moslem Kazemi, Gary Wang, Shahryar Rahnamayan, and Kamal Gupta. ASME Journal of Mechanical Design, 133(1):014505:1–7 (7 pages), January 2011.

  • Some complexity results for metric view planning problem with traveling cost and visibility range. Pengpeng Wang, Kamal Gupta, and Ramesh Krishnamurti. IEEE Transactions on Automation Science and Engineering (IEEE-TASE), 8(3):654–659, July 2011.

  • Distributed roadmaps for robot navigation in sensor networks. Zhenwang Yao and Kamal Gupta. IEEE Transactions on Robotics, 27(5):997–1003, October 2011.

  • Generalized watchman route problem with discrete view cost.Pengpeng Wang, Ramesh Krishnamurti, and Kamal Gupta. International Journal of Computational Geometry and Applications, 20(2):119–146, 2010.

  • View Planning for Exploration via Maximal C-space Entropy Reduction for Robot Mounted Range Sensors. Pengpeng Wang, Kamal Gupta. Advanced Robotics 21(7): 771-792 (2007)

  • Path Planning with General End-Effector Constraints. Zhenwang Yao and Kamal Gupta. Robotics and Autonomous Systems, v 55, p.316-327, Jan. 2007.

  • C-space entropy: a measure for view planning and exploration for general robot-sensor systems in unknown environments. Yong Yu, Kamal Gupta. International Journal of Robotics Research, v 23, n 11, Dec. 2004, p 1197-223.

  • MPK: an open extensible motion planning kernel. L. Gipson, Kamal Gupta, M. Greenspan. Journal of Robotic Systems, v 18, n 8, p 433-43, Aug. 2001.

  • Flexible part orienting using rotation direction and force measurements. S. Rusaw, Kamal Gupta, S. Payandeh. International Journal of Robotics Research, v 20, n 6, June 2001, p 484-505.

  • On estimating local shape using contact sensing. M. Charlebois, Kamal Gupta, S. Payandeh. Journal of Robotic Systems, v 17, n 12, Dec. 2000, p 643-58.

Selected Conference Papers

  • Salar Asayesh, Mo Chen, Mehran Mehrandezh and Kamal Gupta. (2022). Least-Restrictive Multi-Agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control,. The 10th International Conference on Robot Intelligence Technology and Applications (RiTA), Southport, Australia

  • Mohammad Hadi Mohandes*, Behnam Moradi*, Kamal Gupta and Mehran Mehrndezh. (2022). Robot to Human Object Handover using Vision and Joint Torque Sensor Modalities. 10th International Conference on Robot Technology and Applications (RiTA), Southport, Australia

  • Simon Odense*, Kamal Gupta and William G. Macready. (2022). Neural Guided Runtime Prediction of Planners for Improved Motion and Task Planning with Graph Neural Networks. IEEE/RSJ International Conference on Robotics and Intelligent Systems (IROS). IEEE/RSJ International Conference on Robotics and Intelligent Systems (IROS), Kyoto, Japan

  • M. Hegedus*, K. Gupta and M. Mehrandezh. (2019). Towards an Integrated Autonomous Data-Driven Grasping System with a Mobile Manipulator. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada

  • M. Davari*, M. Hegedus*, K. Gupta and M. Mehrandezh. (2018). Identifying Multiple Interaction Events from Tactile Data During Robot-Human Object Transfer. Proceedings of IEEE International Conference on Robots and Human Interactive Communication (RO-MAN), New Delhi, India

  • A. Hekmati* and K. Gupta. (2018). On Safe Robot Navigation among Humans as Dynamic Obstacles in Unknown Indoor Environments. Proceedings. IEEE International Conference on Robotics and BioMimetics (ROBIO), Malaysia

  • M. Yavari*, K. Gupta and M. Mehrandezh. (2018). Sampling Based Constrained Motion Planning For Floating Base Manipulators Using Constraints Driven Alternative Parameterization. Proceedings. IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore

  • M. Yavari*, K. Gupta, M. Mehrandezh and A. Ramirez-Serrano. (2018). Optimal Real-Time Trajectory Control of a Pitch-Hover UAV with a Two Link Manipulator. Proceedings. International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX,, Dallas, Texas

  • Localization aware sampling strategy for motion planning under uncertainty. Vinay Pilania and Kamal Gupta. In IEEE/RSJ Interntational Conference on Robots and Systems (IROS), pages 6093–6099, Hamburg, Germany, 2015.

  • A hierarchical and adaptive mobile manipulator planner. Vinay Pilania and Kamal Gupta. In IEEE-RAS International Conference on Humanoid Robots, pages 45–51, Madrid, Spain, 2014.

  • Human motion behaviour aware planner (hmbap) for path planning in dynamic human environments. Siddharth Oli, Bruno L’Esperance and Kamal Gupta. In IEEE International Conference on Advanced Robotics (ICAR), pages 81–87, Montevideo, Uruguay, Nov 25-28, 2013.

  • Path planning for image based control of wheeled mobile manipulators. Moslem Kazemi, Kamal Gupta, and Mehran Mehrandezh. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5306–5312, Portugal, 2012.

  • An autonomous 9-dof mobile-manipulator system for in situ 3d object modeling. Lila Torabi and Kamal Gupta. In video proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4540–4541, Portugal, 2012.

  • Kinodynamic planning for visual servoing. Moslem Kazemi, Mehran Mehrandezh, and Kamal Gupta. In IEEE International Conference on Robotics and Automation(ICRA), pages 2478–2484, Shanghai, China, 2011.

  • Distributed roadmaps for robot navigation in sensor networks. Zhenwang Yao and Kamal Gupta. In IEEE International Conference on Robotics and Automation (ICRA), pages 3078– 3083, Alaska, USA, May, 2010.

  • Constraint importance mode pursuing sampling for continuous optimization. Moslem Kazemi, Gary Wang, S. Rahnamayan, and Kamal Gupta. In ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE, Montreal, August, 2010. no. DETC2010-28355.

  • Integrated view and path planning for an autonomous six-dof eye-in-hand object modeling system. Lila Torabi and Kamal Gupta. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4516–4521, Taipei, Taiwan, October, 2010.

  • Backbone based path planning for multiple robots while maintaining connectivity. Zhenwang Yao and Kamal Gupta. In IEEE International Conference on Robotics and Automation (ICRA), pages 1133–1139, Kobe, Japan, May, 2009.

  • Distributed strategies for escaping local minima in motion planning for mobile networks. Zhenwang Yao and Kamal Gupta. In Second International Conference on Robot Communication and Coordination (RoboComm), pages 1–7, Denmark, 2009.

  • Global path planning for robust visual servoing. Moslem Kazemi and Kamal Gupta. In IEEE International Conference on Robotics and Automation (ICRA), pages 326–332, Kobe, Japan, May, 2009.

  • Collision probability constrained prm for a manipulator with base pose uncertainty. Yifeng Huang and Kamal Gupta. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1426–1532, St. Louis, USA, October, 2009.

  • RRT-SLAM for Motion Planning with Motion and Map Uncertainty for Robot Exploration. Yifeng Huang and Kamal Gupta. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008

  • Real-time Motion Planning of Multiple Formations in Virtual Environments: Flexible Virtual Structures and Continuum Model. Y. Li, and K. Gupta. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008

  • Backbone-based Roadmaps for Robot Navigation in Sensor Networks. Zhenwang Yao and Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, May. 2008

  • Metric View Planning Problem with Traveling Cost and Visibility Range. Pengpeng Wang, Ramesh Krishnamurti, Kamal Gupta. ICRA 2007: 1292-1297

  • View Planning Problem with Combined View and Traveling Cost. Pengpeng Wang, Ramesh Krishnamurti, Kamal Gupta. ICRA 2007: 711-716

  • Generalized Watchman Route Problem with Discrete View Cost. Pengpeng Wang, Ramesh Krishnamurti, Kamal Gupta. CCCG 2007: 241-244

  • View Planning for Exploration via Maximal C-space Entropy Reduction for Robot Mounted Range Sensors. Pengpeng Wang, Kamal Gupta. Advanced Robotics 21(7): 771-792 (2007)

  • Configuration Space Based Efficient View Planning and Exploration with Occupancy Grids. Lila Torabi, Moslem Kazemi, and Kamal Gupta. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, Oct. 2007

  • Path Planning with General End-Effector Constraints. Zhenwang Yao and Kamal Gupta. Robotics and Autonomous Systems, v 55, p.316-327, Jan. 2007.

  • Motion Planning of Multiple Agents in Virtual Environments on Parallel Architectures. Yi Li and Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, pp. 1009-1014, Rome, Italy, Apr. 2007

  • Motion Planning of Multiple Agents in Virtual Environments. Yi Li and Kamal Gupta. AAAI-07 (the Twenty-Second Conference on Artificial Intelligence) AI Video Competition, Vancouver, BC, Canada, Jul. 2007

  • A Configuration Space View of View Planning. Pengpeng Wang, and Kamal Gupta. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.

  • A Hybrid Two-layered Approach to Real-Time Motion Planning of Multiple Agents in Virtual Environments. Yi Li and Kamal Gupta. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4362-4367, Beijing, China, Oct. 2006.

  • Self-Motion Graph in Path Planning for Redundant Robots along Specified End-Effector Paths. Zhenwang Yao and Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p.2004- 2009, May. 2006.

  • Large-Scale Agent Formations in Virtual Environments Using Linear Elastic Shapes. Yi Li and Kamal Gupta. Proceedings of International Conference on Computer Animation and Social Agents, pp. 91-96, Hong Kong SAR, China, Oct. 2005.

  • An Adaptive Configuration-space and Work-space Based Criterion for View Planning. Yifeng Huang and Kamal Gupta. Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2005.

  • Path Planning with General End-Effector Constraints: Using Task space to Guide Configuration Space Search. Zhenwang Yao and Kamal Gupta. Proceedings of IEEE International Conference on Intelligent Robots and Systems, p.2211-2216, Aug. 2005.

  • Motion planning of multiple agents in virtual environments using coordination graphs. Yi Li, Kamal Gupta, and S. Payandeh. Proceedings of IEEE International Conference on Robotics and Automation, p 380-5, Barcelona, Spain, April 18-22, 2005.

  • An Incremental harmonic function-based probabilistic roadmap approach to robot path planning.Moslem Kazemi, Mehran Mehrandezh and Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p 2148-53 ,Barcelona, Spain, April 18-22, 2005.

  • C-space exploration using noisy sensor models. M. Suppa, Pengpeng Wang, Kamal Gupta, G. Hirzinger. Proceedings of IEEE International Conference on Robotics and Automation, p 4777-82, New Orleans, LA, USA, 26 April-1 May 2004.

  • A Delaunay triangulation based node connection strategy for probabilistic roadmap planners. Yifeng Huang, Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p 908-13, New Orleans, LA, USA, 26 April-1 May 2004.

  • Simultaneous path planning and exploration for manipulators with eye and skin sensors. M. Fernandez, Kamal Gupta, J.C. Fraile. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, p 914-19, Las Vegas, NV, USA, 27-31 Oct. 2003.

  • Computing C-space entropy for view planning with a generic range sensor model. Pengpeng Wang, Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p 2406-11, Taipei, Taiwan, 14-19 Sept. 2003.

  • imultaneous path planning and free space exploration with skin sensor. Mehran Mehrandezh, Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p 3838-43, Washington, DC, USA, 11-15 May 2002.

  • Computing C-space entropy for view planning based on beam sensor model. Pengpeng Wang, Kamal Gupta. Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems, p 2389-94, Lausanne, Switzerland, 30 Sept.-5 Oct. 2002.

  • An information theoretical approach to view planning with kinematic and geometric constraints. Yong Yu, Kamal Gupta. Proceedings of IEEE International Conference on Robotics and Automation, p 1948-53, Seoul, South Korea, 21-26 May 2001.

  • On eye-sensor based path planning for robots with non-trivial geometry/kinematics. Kamal Gupta, Yong Yu. Proceedings of IEEE International Conference on Robotics and Automation, p 1948-53, Seoul, South Korea, 21-26 May 2001.

For complete list of Publications Please visit Dr. Gupta Google Scholar.