Home/Sanjiv Singh

Sanjiv Singh

Research Professor
Email: js89@andrew.cmu.edu
Office: NSH 2111
Phone: (412) 268-6577
Personal Homepage: http://www.frc.ri.cmu.edu/~ssingh/

Autonomous Navigation. This theme is developing motion planning, state estimation and real-time control for ground and air vehicles at various scales. Applications include agriculture (CASC project), exploration with air vehicles (Riverine project) and autonomous low flying aircraft (Transformer project)

Coordinated Multi-Robots. This theme examines tasks such as assembly of structures that can’t be conducted by single robots. We are developing motion planning and architectures that enable teams of robots and humans to operate efficiently and reliably. Applications include assembly of structures (Trestle and Cluster projects) and coordinated search/localization in first response (Ember project)

Forceful Interaction with the world. I am interested in a class of tasks in which the interaction between a robot and the world is complex and involves large forces. The approach is to select optimal actions using physical models of the interaction, thereby making the machines more capable.

 

A Real-time Method for Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Journal Article, Autonomous Robots, AURO, Vol. 41, No. 1, pp. 31-43, January, 2017
Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
Garrett Hemann, Sanjiv Singh and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2016 IEEE International Conference on Robotics and Automation, May, 2016
Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman

Journal Article, Carnegie Mellon University, Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015
Visual–Inertial Combined Odometry System for Aerial Vehicles
Ji Zhang and Sanjiv Singh

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 32, No. 8, pp. 1043-1055, July, 2015
Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

Journal Article, Carnegie Mellon University, Journal of Field Robotics, June, 2015
Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast
Ji Zhang and Sanjiv Singh

Journal Article, Carnegie Mellon University, IEEE Intl. Conf. on Robotics and Automation (ICRA), May, 2015
Robot Farmers: Autonomous Orchard Vehicles Help Tree Fruit Production
Marcel Bergerman, Silvio Mano Maeta, Ji Zhang, Gustavo Medeiros Freitas, Bradley Hamner, Sanjiv Singh and George A. Kantor

Journal Article, Carnegie Mellon University, IEEE Robotics and Automation Magazine, Vol. 22, No. 1, pp. 54-63, March, 2015
Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 2014
Automated Visual Yield Estimation in Vineyards
Stephen T. Nuske, Stephen Kyle Wilshusen, Supreeth Achar, Luke Yoder, Srinivasa G. Narasimhan and Sanjiv Singh

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 31, No. 5, pp. 837--860, September, 2014
LOAM: Lidar Odometry and Mapping in Real-time
Ji Zhang and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems Conference, July, 2014
Mapping Orchards for Autonomous Navigation
Ji Zhang, Silvio Mano Maeta, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2014 ASABE and CSBE/SCGAB Annual International Meeting, July, 2014
Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh

Conference Paper, Carnegie Mellon University, In Proceedings of American Control Conference, Portland, OR, June, 2014
Hand Waiving Away Scale
C. Hamm, Sanjiv Singh and Simon Lucey

Conference Paper, ECCV 2014, January, 2014
Autonomous River Exploration
Sezal Jain, Stephen T. Nuske, Andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Field and Service Robotics, Brisbane, December, 2013
INS Assisted Monocular Visual Odometry for Aerial Vehicles
Ji Zhang and Sanjiv Singh

Conference Paper, Carnegie Mellon University, The 9th Intl. Conf. on Field and Service Robots (FSR), Brisbane, Australia, Dec. 2013., December, 2013
3D Perception for Accurate Row Following: Methodology and Results
Ji Zhang, Andrew D. Chambers, Silvio Mano Maeta, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013
Efficient Aerial Coverage Search in Road Networks
Michael Dille and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AIAA Conference on Guidance, Navigation, and Control, August, 2013
Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2013
RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2013
Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2013
Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AHS Forum 69, May, 2013
Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Tech. Report, CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012
Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain
Ji Zhang, Sanjiv Singh and George A. Kantor

Conference Paper, Carnegie Mellon University, The 8th International Conference on Field and Service Robots (FSR 2012), November, 2012
A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012
Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments
Ji Zhang, George A. Kantor, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012
A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, October, 2012
Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, September, 2012
Modeling and Calibration Visual Yield Estimates in Vineyards
Stephen T. Nuske, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

Conference Paper, Carnegie Mellon University, International Conference on Field and Service Robotics, July, 2012
Automated Crop Yield Estimation for Apple Orchards
Qi Wang, Stephen T. Nuske, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 13th Internation Symposium on Experimental Robotics (ISER 2012), July, 2012
Global pose estimation with limited gps and long range visual odometry
Joern Rehder, Kamal Gupta, Stephen T. Nuske and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE Conference on Robotics and Automation, May, 2012
First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Carnegie Mellon University, ICRA, May, 2012
River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 32, No. 5, May, 2012
Results with Autonomous Vehicles Operating in Specialty Crops
Marcel Bergerman, Sanjiv Singh and Bradley Hamner

Conference Paper, Carnegie Mellon University, 2012 IEEE International Conference on Robotics and Automation, May, 2012
Motion-aided network SLAM with range
Joseph Djugash and Sanjiv Singh

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 31, No. 5, pp. 603 - 625, April, 2012
Target tracking without line of sight using range from radio
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 32, No. 1, January, 2012
Visual yield estimation in vineyards: Experiments with different varietals and calibration procedures
Stephen T. Nuske, Supreeth Achar, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

Tech. Report, CMU-RI-TR-11-39, Robotics Institute, Carnegie Mellon University, December, 2011
A cascaded method to detect aircraft in video imagery
Debadeepta Dey, Christopher M. Geyer, Sanjiv Singh and and Matthew Digioia

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 30, No. 12, pp. 1527 - 1540, October, 2011
Monocular Visual Odometry using a Planar Road Model to Solve Scale Ambiguity
Bernd Manfred Kitt, Joern Rehder, Andrew D. Chambers, Miriam Schonbein, Henning Lategahn and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proc. European Conference on Mobile Robots, September, 2011
Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011
Yield Estimation in Vineyards by Visual Grape Detection
Stephen T. Nuske, Supreeth Achar, Terry Bates, Srinivasa G. Narasimhan and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011
Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011
Air-Ground Collaborative Surveillance with Human-Portable Hardware
Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AUVSI Unmanned Systems North America, August, 2011
Autonomous Orchard Vehicles for Specialty Crops Production
Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2011 ASABE Annual International Meeting, July, 2011
Autonomous Mechanical Thinning Using Scanning LIDAR
Matthew Aasted, Reuben J. Dise, Tara Auxt Baugher, James R Schupp, Paul H Heinemann and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2011 ASABE Annual International Meeting, July, 2011
Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011
Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, ICRA 2011, May, 2011
Distributed Coordination and Data Fusion for Underwater Search
Geoffrey Hollinger, Srinivas Yerramalli, Sanjiv Singh, Urbashi Mitra and Gaurav Sukhatme

Carnegie Mellon University, ICRA 2011, May, 2011
Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments
Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AHS Forum 67, March, 2011
Towards Experimental Analysis of Challenge Scenarios in Robotics
Geoffrey Hollinger and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 12th International Symposium on Experimental Robotics, December, 2010
Motion-aided Network SLAM
Joseph Djugash and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 12th International Symposium on Experimental Robotics, December, 2010
Representing Substantial Heading Uncertainty for Accurate Geolocation by Small UAVs
Stephen T. Nuske, Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AIAA Guidance, Navigation, and Control Conference, August, 2010
GSST: anytime guaranteed search
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 29, No. 1, pp. 99 - 118, July, 2010
Improving the Efficiency of Clearing with Multi-agent Teams
Geoffrey Hollinger, Sanjiv Singh and Athanasios Kehagias

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 8, pp. 1088-1105, July, 2010
Comprehensive Automaton for Specialty Crops: Year 1 results and lessons learned
Sanjiv Singh, Marcel Bergerman, Jillian Cannons, Benjamin P. Grocholsky, Bradley Hamner, German Holguin, Larry Hull, Vincent Jones, George A. Kantor, Harvey Koselka, Guiqin Li, James Owen, Johnny Park, Wenfan Shi and James Teza

Journal Article, Carnegie Mellon University, Journal of Intelligent Service Robotics, July, 2010
On-the-Fly Tree Caliper Measurement
Wenfan Shi, Sanjiv Singh, Marcel Bergerman and James Owen

Conference Paper, Carnegie Mellon University, 2010 ASABE Annual International Meeting, June, 2010
Multi-Robot Coordination with Periodic Connectivity
Geoffrey Hollinger and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2010
Robust Robotic Assembly through Contingencies, Plan Repair and Re-Planning
Frederik Heger and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of ICRA 2010, May, 2010
Online Assessment of Landing Sites
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Carnegie Mellon University, AIAA Infotech@Aerospace 2010, April, 2010
An autonomous mobile manipulator for assembly tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 28, No. 1, pp. 131 - 149, January, 2010
A graph search algorithm for indoor pursuit/evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

Journal Article, Carnegie Mellon University, Mathematical and Computer Modelling, Vol. 50, No. 10-Sep, pp. 1305-1317, November, 2009
Mobile Robotic Dynamic Tracking for Assembly Tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of IROS 2009, October, 2009
Modeling Mobile Robot Motion with Polar Representations
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

Conference Paper, Carnegie Mellon University, Proceedings of IROS 2009, October, 2009
Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Tara Baugher, Marcel Bergerman, Katie Ellis, Benjamin P. Grocholsky, Bradley Hamner, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, George A. Kantor, Brian Kliethermes, Harvey Koselka, Karen Lewis, Jacqueline Libby, William Messner, Henry Ngugi, James Owen, Johnny Park, Clark Seavert, Wenfan Shi and James Teza

Conference Paper, Carnegie Mellon University, The 4th IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems (2009 IFAC Bio-Robotics IV Workshop), September, 2009
Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Marcel Bergerman, Benjamin P. Grocholsky, Bradley Hamner, George A. Kantor, Brian Kliethermes, Jacqueline Libby, William Messner, Wenfan Shi, James Teza, Tara Baugher, Katie Ellis, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, Harvey Koselka, Karen Lewis, Henry Ngugi, James Owen, Johnny Park and Clark Seavert

Conference Paper, Carnegie Mellon University, 4th IFAC International Workshop on Bio-Robotics,Information Technology,and Intelligent Control for Bioproduction Systems, September, 2009
Efficient, Guaranteed Search with Multi-Agent Teams
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems, July, 2009
Passive, long-range detection of Aircraft: Towards a field deployable Sense and Avoid System
Debadeepta Dey, Christopher M. Geyer, Sanjiv Singh and Matthew E. DiGioia

Conference Paper, Carnegie Mellon University, Proceedings Field & Service Robotics (FSR '09), July, 2009
Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors
Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings Field & Service Robotics (FSR '09), July, 2009
Combining Search and Action for Mobile Robots
Geoffrey Hollinger, David Ferguson, Siddhartha Srinivasa and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2009
Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings International Conference on Robotics and Automation, May, 2009
Prototype Sense-andAvoid System for UAVs
Christopher M. Geyer, Debadeepta Dey and Sanjiv Singh

Tech. Report, CMU-RI-TR-09-09, Robotics Institute, Carnegie Mellon University, May, 2009
Integrated long-range UAV/UGV collaborative target tracking
Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proc. SPIE, Unmanned Systems Technology XI Conference, Vol. 7332, April, 2009
Efficient Multi-Robot Search for a Moving Target
Geoffrey Hollinger, Sanjiv Singh, Joseph Djugash and Athanasios Kehagias

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 28, No. 2, pp. 201-219, February, 2009
Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Nicholas Melchior, Stephen Roderick, David Akin, Reid Simmons and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), pp. 4017-4023, September, 2008
A Graph Search Algorithm for Indoor Pursuit / Evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

Tech. Report, CMU-RI-TR-08-38, Robotics Institute, Carnegie Mellon University, August, 2008
Anytime Guaranteed Search using Spanning Trees
Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008
A Robust Method of Localization and Mapping Using Only Range
Joseph Djugash and Sanjiv Singh

Conference Paper, Carnegie Mellon University, International Symposium on Experimental Robotics, July, 2008
Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots
Geoffrey Hollinger and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems, June, 2008
Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal Article, Carnegie Mellon University, Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, pp. 425-466, June, 2008
Decentralized Mapping of Robot-Aided Sensor Networks
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2008
Tracking a Moving Target in Cluttered Environments with Ranging Radios
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2008
Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008
An efficient system for combined route traversal and collision avoidance
Bradley Hamner, Sanjiv Singh, Stephan Roth and Takeshi Takahashi

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 24, No. 4, pp. 365-385, May, 2008
Learning to Detect Aircraft at Low Resolutions
Stavros Petridis, Christopher M. Geyer and Sanjiv Singh

Journal Article, Carnegie Mellon University, Computer Vision Systems, Lecture Notes in Computer Science, Vol. 5008, pp. 474 - 483, May, 2008
Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace
Christopher M. Geyer, Sanjiv Singh and Lyle J. Chamberlain

Tech. Report, CMU-RI-TR-08-03, Robotics Institute, Carnegie Mellon University, March, 2008
Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008
Coordinated Search in Cluttered Environments Using Range from Multiple Robots
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Sixth International Conference on Field and Service Robotics, July, 2007
Human-Robot Teams for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior and Brennan Peter Sellner

Conference Paper, Carnegie Mellon University, Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007
Flying Fast and Low Among Obstacles
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli

Conference Paper, Carnegie Mellon University, Proceedings International Conference on Robotics and Automation, April, 2007
Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, April, 2007
Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker and Jason Ziglar

Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007
Parrots: A Range Measuring Sensor Network
Wei Zhang, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007
Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer

Journal Article, Carnegie Mellon University, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12-Nov, pp. 1037-1058, December, 2006
Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, October, 2006
Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
Frederik Heger and Sanjiv Singh

Conference Paper, Carnegie Mellon University, In Proceedings, Robotics: Systems and Science, August, 2006
Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons and Sanjiv Singh

Journal Article, Carnegie Mellon University, Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, pp. 1425 - 1444, July, 2006
Long-term motion estimation from images
Dennis Strelow and Sanjiv Singh

Conference Paper, Carnegie Mellon University, In Proceedings, International Symposium on Experimental Robotics, July, 2006
Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots
Elizabeth Liao, Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, Carnegie Mellon University, The 8th International Symposium on Distributed Autonomous Robotic Systems, pp. 125-134, June, 2006
Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
Joseph Djugash, Sanjiv Singh, George A. Kantor and Wei Zhang

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, pp. 2078 - 2084, May, 2006
Range-only SLAM with Interpolated Range Data
Athanasios Kehagias, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006
Attaining Situational Awareness for Sliding Autonomy
Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of HRI 2006, March, 2006
Results in Sliding Autonomy for Multi-robot Spatial Assembly
Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Further Results with Localization and Mapping using Range from Radio
Joseph Djugash, Sanjiv Singh and Peter Ian Corke

Conference Paper, Carnegie Mellon University, International Conference on Field & Service Robotics (FSR '05), July, 2005
Results in Combined Route Traversal and Collision Avoidance
Stephan Roth, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

Conference Paper, Carnegie Mellon University, International Conference on Field & Service Robotics (FSR '05), July, 2005
User Modelling for Principled Sliding Autonomy in Human-Robot Teams
Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of the NRL Multirobot Workshop 2005, January, 2005
Bearings based robot homing with robust landmark matching and limited horizon view
Ivan Kirigin and Sanjiv Singh

Tech. Report, CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 2005
Motion estimation from image and inertial measurements
Dennis Strelow and Sanjiv Singh

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 23, No. 12, pp. 1157 - 1195, December, 2004
Robot and Sensor Networks for First Responders
Vijay Kumar, Daniela Rus and Sanjiv Singh

Journal Article, Carnegie Mellon University, PERVASIVE computing, pp. 24 - 33, October, 2004
Application of robust, high-accuracy positioning for autonomous ground vehicles
Stephan Roth and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings AUVSI Unmanned Systems North America, August, 2004
Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Conference Paper, Carnegie Mellon University, Proceedings of The 2004 Spring Symposium Series, March, 2004
Omnidirectional Visual Odometry for a Planetary Rover
Peter Ian Corke, Dennis Strelow and Sanjiv Singh

Conference Paper, Proceedings of IROS 2004, January, 2004
Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Conference Paper, January, 2004
Experimental results in range-only localization with radio
Derek Kurth, George A. Kantor and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, pp. 974 - 979, October, 2003
Motion Planning for a Mobile Manipulator with Imprecise Locomotion
Dong Hun Shin, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

Conference Paper, Carnegie Mellon University, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003
Distributed Search and Rescue with Robot and Sensor Teams
George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer

Conference Paper, Carnegie Mellon University, The 4th International Conference on Field and Service Robotics, July, 2003
Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003
Reckless motion estimation from omnidirectional image and inertial measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, Carnegie Mellon University, IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003
Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the Workshop on Applications of Computer Vision, December, 2002
Autonomous Coverage Operations in Semi-Structured Outdoor Environments
Parag Batavia and and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002
State of the Art in Automation of Earthmoving, 2002
Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the Workshop on Advanced Geomechatronics, October, 2002
An empirical comparison of methods for image-base motion estimation
Henele Adams, Sanjiv Singh and Dennis Strelow

Conference Paper, Carnegie Mellon University, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002
Recent Results in Extensions to Simultaneous Localization and Mapping
Sanjiv Singh, George A. Kantor and Dennis Strelow

Conference Paper, Carnegie Mellon University, Proceedings of the International Symposium on Experimental Robotics, July, 2002
Preliminary Results in Range-only Localization and Mapping
George A. Kantor and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 1818 - 1823, May, 2002
Obstacle Detection in Smooth High Curvature Terrain
Parag Batavia and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002
Precise omnidirectional camera calibration
Dennis Strelow, Jeffrey S. Mishler, David Koes and Sanjiv Singh

Journal Article, Carnegie Mellon University, IEEE Computer Vision and Pattern Recognition, December, 2001
Collection of Environmental Data From an Airship Platform
George A. Kantor, David Wettergreen, James P. Ostrowski and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, pp. 76-83, October, 2001
Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography
Parag Batavia and Sanjiv Singh

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation, May, 2001
Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
Trey Smith, Reid Simmons, Sanjiv Singh and David Hershberger

Conference Paper, Carnegie Mellon University, Proceedings of the 2001 Space Studies Institute Conference, May, 2001
Technology for Autonomous Space Systems
Ashley Stroupe, Sanjiv Singh, Reid Simmons, Trey Smith, Paul Tompkins, Vandi Verma, R. Vitti-Lyons and Michael D. Wagner

Tech. Report, CMU-RI-TR-00-02, Robotics Institute, Carnegie Mellon University, January, 2001
Automatic railway classification using surface and subsurface measurements
George A. Kantor, Herman Herman, Sanjiv Singh, John G. Tabacchi and William Kaufman

Conference Paper, Proceeding of the 3rd International Conference on Field and Service Robotics (FSR 2001), pp. 43-48, January, 2001
Extending Shape from Motion to Non-Central Omnidirectional Cameras
Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh and Herman Herman

Conference Paper, Proceedings of IROS 2001, January, 2001
First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, David Hershberger, Josue Ramos and Trey Smith

Conference Paper, Carnegie Mellon University, Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000
An Efficient On-line Path Planner for Outdoor Mobile Robots Operating in Vast Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, Vol. 33, No. 2&3, pp. 129-143, August, 2000
Recent Progress in Local and Global Traversability for Planetary Rovers
Sanjiv Singh, Reid Simmons, Trey Smith, Anthony (Tony) Stentz, Vandi Verma, Alex Yahja and Kurt Schwehr

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation, 2000, April, 2000
A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz, John Bares, Sanjiv Singh and Patrick Rowe

Journal Article, Autonomous Robots, Vol. 7, No. 2, pp. 175-186, September, 1999
Models for Automated Earthmoving
Howard Cannon and Sanjiv Singh

Conference Paper, Proceedings of the International Symposium on Experimental Robotics, March, 1999
Autonomous Cross-Country Navigation Using Stereo Vision
Sanjiv Singh and Bruce Digney

Tech. Report, CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999
Analysis and Design of Panoramic Stereo Vision Using Equi-Angular Pixel Cameras
Mark Ollis, Herman Herman and Sanjiv Singh

Tech. Report, CMU-RI-TR-99-04, Robotics Institute, Carnegie Mellon University, January, 1999
Modeling and Identification of Soil-tool Interaction in Automated Excavation
O. Luengo, Sanjiv Singh and Howard Cannon

Conference Paper, Proceedings, IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998
Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Conference Paper, Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998
A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz, John Bares, Sanjiv Singh and Patrick Rowe

Conference Paper, IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 7, No. 2, pp. 175-186, September, 1998
Grading of Vegetative Cuttings Using Computer Vision
Sanjiv Singh and Michael Montemerlo

Journal Article, Advanced Robotics, Vol. 12, No. 5, pp. 551 - 564, July, 1998
Multi-Resolution Planning for Earthmoving
Sanjiv Singh and Howard Cannon

Conference Paper, Proc. Int'l Conference on Robotics and Automation, May, 1998
Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments
Alex Yahja, Anthony (Tony) Stentz, Sanjiv Singh and Barry Brummit

Conference Paper, In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), May, 1998
Precise Image Segmentation for Forest Inventory
Jeffrey Byrne and Sanjiv Singh

Tech. Report, CMU-RI-TR-98-14, Robotics Institute, Carnegie Mellon University, May, 1998
The State of the Art in Automation of Earthmoving
Sanjiv Singh

Journal Article, ASCE Journal of Aerospace Engineering, Vol. 10, No. 4, October, 1997
Recent progress in the grading of vegetative cuttings
Sanjiv Singh and Michael Montemerlo

Conference Paper, Proceedings IROS 97, September, 1997
Search in the context of complex robot-world interaction
Sanjiv Singh

Conference Paper, Proceedings, AAAI workshop on On-line search, July, 1997
Progress in the Grading of Vegetative Cuttings Using Computer Vision
Sanjiv Singh and Michael Montemerlo

Tech. Report, CMU-RI-TR-97-05, Robotics Institute, Carnegie Mellon University, January, 1997
Automated visual grading of vegetative cuttings
Qiang Ji and Sanjiv Singh

Conference Paper, Proc. SPIE East 96 Symposium: Optics in Agriculture, Forestry, and Biological Processing II, November, 1996
A Survey of Automation in Excavation
Sanjiv Singh

Journal Article, Journal of Mining and Material Processing Institute of Japan, August, 1996
Early Results in the Grading of Vegetative Cuttings Using Computer Vision
Qiang Ji and Sanjiv Singh

Tech. Report, CMU-RI-TR-96-22, Robotics Institute, Carnegie Mellon University, May, 1996
Robot Planning in the Space of Feasible Actions: Two Examples
Sanjiv Singh and Alonzo Kelly

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, pp. 3309 - 3316, April, 1996
Learning to Predict Resistive Forces During Robotic Excavation
Sanjiv Singh

Conference Paper, Proc. Int'l Conference on Robotics and Automation, May, 1995
Synthesis of Tactical Plans For Robotic Excavation
Sanjiv Singh

PhD Thesis, CMU-RI-TR-95-27, Robotics Institute, Carnegie Mellon University, January, 1995
First Results in the Autonomous Retrieval of Buried Objects
Sanjiv Singh and Herman Herman

Journal Article, Automation in Construction, January, 1995
First Results in the Autonomous Retrieval of Buried Objects
Sanjiv Singh and Herman Herman

Conference Paper, Proc. IEEE Conference on Robotics and Automation, May, 1994
Developing Plans for Robotic Excavators
Sanjiv Singh

Conference Paper, Proc. ASCE Conference on Robotics for Challenging Environments, February, 1994
Task Planning for Robotic Excavation
Sanjiv Singh and Reid Simmons

Conference Paper, Proc. IEEE/RSJ International Conference on Intelligent Robot Systems, July, 1992
Explicit Path Tracking by Autonomous Vehicles
Dong Hun Shin and Sanjiv Singh

Journal Article, Robotica, Vol. 10, pp. 539 - 554, January, 1992
Cyclone: A Laser Scanner for Mobile Robot Navigation
Sanjiv Singh and Jay West

Tech. Report, CMU-RI-TR-91-18, Robotics Institute, Carnegie Mellon University, September, 1991
A System for Fast Navigation of Autonomous Vehicles
Sanjiv Singh, D. Feng, P. Keller, Gary Shaffer, Wenfan Shi, Dong Hun Shin, J. West and B. X. Wu

Tech. Report, CMU-RI-TR-91-20, Robotics Institute, Carnegie Mellon University, September, 1991
A Partitioned Control Scheme for Mobile Robot Navigation
Dong Hun Shin and Sanjiv Singh

Conference Paper, Proc. IEEE International Conference on Systems Engineering, pp. 338 - 342, August, 1991
An Operation Space Approach to Robotic Excavation
Sanjiv Singh

Conference Paper, Proc. IEEE Symposium on Intelligent Control, August, 1991
Obstacle Detection for High Speed Navigation
Sanjiv Singh and P. Keller

Conference Paper, Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1991
Real-Time Vision for Robot Swat-Juggling
Sanjiv Singh

Tech. Report, CMU-RI-TR-90-27, Robotics Institute, Carnegie Mellon University, December, 1990
Path Generation for Robot Vehicles Using Composite Clothoid Segments
Dong Hun Shin and Sanjiv Singh

Tech. Report, CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990
Implementation of Dynamic Obstacle Avoidance on the CMU NavLab
D. Feng, Sanjiv Singh and Bruce Krogh

Conference Paper, Proc. IEEE International Conference on Systems Engineering, August, 1990
Vehicle and Path Models for Autonomous Navigation
Sanjiv Singh and Dong Hun Shin

Book Section/Chapter, Vision and Navigation: The CMU Navlab, April, 1990
Position Based Path Tracking for Wheeled Mobile Robots
Sanjiv Singh and Dong Hun Shin

Conference Paper, Proc. IEEE Conference on Intelligent Robot Systems, pp. 386 - 391, September, 1989
NAVLAB: An Autonomous Navigation Testbed
Kevin Dowling, R. Guzikowski, J. Ladd, Henning Pangels, Sanjiv Singh and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-87-24, Robotics Institute, Carnegie Mellon University, November, 1987
Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation
Sanjiv Singh and M. D. Wagh

Journal Article, IEEE Journal of Robotics and Automation, April, 1987
Robot Path Planning Using Intersecting Convex Shapes
Sanjiv Singh and M. D Wagh

Conference Paper, Proc. IEEE Intn'l Conference on Robotics and Automation, April, 1986
Mailing Address
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
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