Nikolay Atanasov

228 papers A* 26A 17C 9Misc 1Journal 156Unranked 18
YearRankTypeTitle / Venue / Authors
2026 J jnl
Control Barrier Corridors: From Safety Functions to Safe Sets.
CoRR
Ömür Arslan, Nikolay Atanasov
2026 J jnl
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression.
CoRR
Zhirui Dai, Tianxing Fan, Mani Amani, Jaemin Seo, Ki Myung Brian Lee, Hyondong Oh, Nikolay Atanasov
2026 J jnl
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation.
CoRR
Runfa Blark Li, David Minkwan Kim, Xinshuang Liu, Keito Suzuki, Dwait Bhatt, Nikola Raicevic, Xin Lin, Ki Myung Brian Lee, Nikolay Atanasov, Truong Q. Nguyen
2026 J jnl
Rainbow-DemoRL: Combining Improvements in Demonstration-Augmented Reinforcement Learning.
CoRR
Dwait Bhatt, Shih-Chieh Chou, Nikolay Atanasov
2026 J jnl
Safe Planning in Unknown Environments Using Conformalized Semantic Maps.
IEEE Robotics Autom. Lett.
David Smith Sundarsingh, Yifei Li, Tianji Tang, George J. Pappas, Nikolay Atanasov, Yiannis Kantaros
2026 J jnl
Safety-critical control of discontinuous systems with nonsmooth safe sets.
Autom.
Mohammed M. J. Alyaseen, Nikolay Atanasov, Jorge Cortés
2026 J jnl
Sensor-based distributionally robust control for safe robot navigation in dynamic environments.
Int. J. Robotics Res.
Kehan Long, Yinzhuang Yi, Zhirui Dai, Sylvia L. Herbert, Jorge Cortés, Nikolay Atanasov
2025 J jnl
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions.
CoRR
Kehan Long, Jorge Cortés, Nikolay Atanasov
2025 J jnl
Constrained Variational Inference via Safe Particle Flow.
CoRR
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2025 J jnl
Constrained Variational Inference via Safe Particle Flow.
IEEE Control. Syst. Lett.
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2025 J jnl
Continuity and Boundedness of Minimum-Norm CBF-Safe Controllers.
IEEE Trans. Autom. Control.
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortés
2025 A* conf
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions.
ICRA
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey, Patrick Haggerty, Shumon Koga, Dimitra Panagou, Nikolay Atanasov
2025 J jnl
Control-Oriented System Identification: Classical, Learning, and Physics-Informed Approaches.
CoRR
S. Sivaranjani, Yuanyuan Shi, Nikolay Atanasov, Thai Duong, Jie Feng, Tim Martin, Yuezhu Xu, Vijay Gupta, Frank Allgöwer
2025 J jnl
Distributed Bayesian Estimation in Sensor Networks: Consensus on Marginal Densities.
IEEE Trans. Netw. Sci. Eng.
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2025 J jnl
Distributed Multiagent Reinforcement Learning With One-Hop Neighbors and Compute Straggler Mitigation.
IEEE Trans. Control. Netw. Syst.
Baoqian Wang, Junfei Xie, Nikolay Atanasov
2025 J jnl
Distributed Variational Inference for Online Supervised Learning.
IEEE Trans. Control. Netw. Syst.
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2025 J jnl
DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes.
CoRR
Runfa Blark Li, Mahdi Shaghaghi, Keito Suzuki, Xinshuang Liu, Varun Moparthi, Bang Du, Walker Curtis, Martin Renschler, Ki Myung Brian Lee, Nikolay Atanasov, Truong Q. Nguyen
2025 J jnl
EAST: environment-aware safe tracking for robot navigation in dynamic environments.
Auton. Robots
Zhichao Li, Yinzhuang Yi, Zhuolin Niu, Nikolay Atanasov
2025 A* conf
Generalizable Motion Planning via Operator Learning.
ICLR
Sharath Matada, Luke Bhan, Yuanyuan Shi, Nikolay Atanasov
2025 A* conf
High Accuracy Aerial Maneuvers on Legged Robots using Variational Integrator Discretized Trajectory Optimization.
ICRA
Scott Beck, Chuong Nguyen, Thai Duong, Nikolay Atanasov, Quan Nguyen
2025 A conf
LATMOS: Latent Automaton Task Model from Observation Sequences.
IROS
Weixiao Zhan, Qiyue Dong, Eduardo Sebastián, Nikolay Atanasov
2025 J jnl
LATMOS: Latent Automaton Task Model from Observation Sequences.
CoRR
Weixiao Zhan, Qiyue Dong, Eduardo Sebastián, Nikolay Atanasov
2025 A conf
LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning.
IROS
Behrad Rabiei, Mahesh Kumar A. R., Zhirui Dai, Surya L. S. R. Pilla, Qiyue Dong, Nikolay Atanasov
2025 J jnl
LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning.
CoRR
Behrad Rabiei, Mahesh Kumar A. R., Zhirui Dai, Surya L. S. R. Pilla, Qiyue Dong, Nikolay Atanasov
2025 J jnl
Learned IMU Bias Prediction for Invariant Visual Inertial Odometry.
CoRR
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong, Nikolay Atanasov
2025 J jnl
Learned IMU Bias Prediction for Invariant Visual Inertial Odometry.
IEEE Robotics Autom. Lett.
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong, Nikolay Atanasov
2025 A conf
Learning Generalizable Feature Fields for Mobile Manipulation.
IROS
Ri-Zhao Qiu, Yafei Hu, Yuchen Song, Ge Yang, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian A. Scherer, Xiaolong Wang
2025 J jnl
Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors and Neural Residuals.
CoRR
Zhirui Dai, Hojoon Shin, Yulun Tian, Ki Myung Brian Lee, Nikolay Atanasov
2025 J jnl
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy.
CoRR
Saida Liu, Nikolay Atanasov, Shumon Koga
2025 J jnl
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction.
CoRR
Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov
2025 A conf
Neural Configuration Distance Function for Continuum Robot Control.
IROS
Kehan Long, Hardik Parwana, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Nikolay Atanasov
2025 J jnl
Neural Configuration-Space Barriers for Manipulation Planning and Control.
CoRR
Kehan Long, Ki Myung Brian Lee, Nikola Raicevic, Niyas Attasseri, Melvin Leok, Nikolay Atanasov
2025 J jnl
PKF: Probabilistic Data Association Kalman Filter for Multi-Object Tracking.
IEEE Robotics Autom. Lett.
Hanwen Cao, George J. Pappas, Nikolay Atanasov
2025 J jnl
Physics-Informed Multiagent Reinforcement Learning for Distributed Multirobot Problems.
IEEE Trans. Robotics
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2025 J jnl
Policy Gradient with Self-Attention for Model-Free Distributed Nonlinear Multi-Agent Games.
CoRR
Eduardo Sebastián, Maitrayee Keskar, Eeman Iqbal, Eduardo Montijano, Carlos Sagüés, Nikolay Atanasov
2025 J jnl
Riemannian Optimization for Active Mapping With Robot Teams.
IEEE Trans. Robotics
Arash Asgharivaskasi, Fritz Girke, Nikolay Atanasov
2025 J jnl
Safe Control of Second-Order Systems With Linear Positional Constraints.
IEEE Control. Syst. Lett.
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortés
2025 J jnl
Safe Control of Second-Order Systems with Linear Constraints.
CoRR
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortés
2025 J jnl
Safe Planning in Unknown Environments using Conformalized Semantic Maps.
CoRR
David Smith Sundarsingh, Yifei Li, Tianji Tang, George J. Pappas, Nikolay Atanasov, Yiannis Kantaros
2025 J jnl
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning.
CoRR
Sunghwan Kim, Woojeh Chung, Zhirui Dai, Dwait Bhatt, Arth Shukla, Hao Su, Yulun Tian, Nikolay Atanasov
2025 J jnl
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multirobot Navigation.
IEEE Trans. Robotics
Xu Liu, Jiuzhou Lei, Ankit Prabhu, Yuezhan Tao, Igor Spasojevic, Pratik Chaudhari, Nikolay Atanasov, Vijay Kumar
2025 J jnl
Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots.
IEEE Robotics Autom. Lett.
Chuong Nguyen, Abdullah Altawaitan, Thai Duong, Nikolay Atanasov, Quan Nguyen
2025 J jnl
Variational Formulation of the Particle Flow Particle Filter.
CoRR
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2025 J jnl
∇-SDF: Learning Euclidean Signed Distance Functions Online with Gradient-Augmented Octree Interpolation and Neural Residual.
CoRR
Zhirui Dai, Qihao Qian, Tianxing Fan, Nikolay Atanasov
2024 A conf
A Deep Signed Directional Distance Function for Shape Representation.
IROS
Ehsan Zobeidi, Nikolay Atanasov
2024 J jnl
Adaptive-Frequency Model Learning and Predictive Control for Dynamic Maneuvers on Legged Robots.
CoRR
Chuong Nguyen, Abdullah Altawaitan, Thai Duong, Nikolay Atanasov, Quan Nguyen
2024 J jnl
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions.
CoRR
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey, Patrick Haggerty, Shumon Koga, Dimitra Panagou, Nikolay Atanasov
2024 J jnl
Cross-Embodiment Robot Manipulation Skill Transfer using Latent Space Alignment.
CoRR
Tianyu Wang, Dwait Bhatt, Xiaolong Wang, Nikolay Atanasov
2024 J jnl
Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping.
CoRR
Arash Asgharivaskasi, Nikolay Atanasov
2024 J jnl
Distributionally Robust Policy and Lyapunov-Certificate Learning.
CoRR
Kehan Long, Jorge Cortés, Nikolay Atanasov
2024 J jnl
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers.
IEEE Control. Syst. Lett.
Pol Mestres, Kehan Long, Nikolay Atanasov, Jorge Cortés
2024 J jnl
Generalizable Motion Planning via Operator Learning.
CoRR
Sharath Matada, Luke Bhan, Yuanyuan Shi, Nikolay Atanasov
2024 A* conf
Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control.
ICRA
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong, Nikolay Atanasov
2024 J jnl
Learning Generalizable Feature Fields for Mobile Manipulation.
CoRR
Ri-Zhao Qiu, Yafei Hu, Ge Yang, Yuchen Song, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian A. Scherer, Xiaolong Wang
2024 J jnl
Multi-Robot Object SLAM Using Distributed Variational Inference.
IEEE Robotics Autom. Lett.
Hanwen Cao, Sriram Shreedharan, Nikolay Atanasov
2024 J jnl
Multi-Robot Object SLAM using Distributed Variational Inference.
CoRR
Hanwen Cao, Sriram Shreedharan, Nikolay Atanasov
2024 J jnl
Neural Configuration Distance Function for Continuum Robot Control.
CoRR
Kehan Long, Hardik Parwana, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Nikolay Atanasov
2024 A* conf
Optimal Scene Graph Planning with Large Language Model Guidance.
ICRA
Zhirui Dai, Arash Asgharivaskasi, Thai Duong, Shusen Lin, Maria-Elizabeth Tzes, George J. Pappas, Nikolay Atanasov
2024 J jnl
PKF: Probabilistic Data Association Kalman Filter for Multi-Object Tracking.
CoRR
Hanwen Cao, George J. Pappas, Nikolay Atanasov
2024 J jnl
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems.
CoRR
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2024 J jnl
Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control.
CoRR
Thai Duong, Abdullah Altawaitan, Jason Stanley, Nikolay Atanasov
2024 J jnl
Port-Hamiltonian Neural ODE Networks on Lie Groups for Robot Dynamics Learning and Control.
IEEE Trans. Robotics
Thai Duong, Abdullah Altawaitan, Jason Stanley, Nikolay Atanasov
2024 J jnl
Riemannian Optimization for Active Mapping with Robot Teams.
CoRR
Arash Asgharivaskasi, Fritz Girke, Nikolay Atanasov
2024 J jnl
Safe Bubble Cover for Motion Planning on Distance Fields.
CoRR
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil, Lan Wu, Nikolay Atanasov, Teresa A. Vidal-Calleja
2024 C conf
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments.
ACC
Kehan Long, Khoa Tran, Melvin Leok, Nikolay Atanasov
2024 J jnl
Safety-Critical Control of Discontinuous Systems with Nonsmooth Safe Sets.
CoRR
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortés
2024 J jnl
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments.
CoRR
Kehan Long, Yinzhuang Yi, Zhirui Dai, Sylvia L. Herbert, Jorge Cortés, Nikolay Atanasov
2024 J jnl
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation.
CoRR
Xu Liu, Jiuzhou Lei, Ankit Prabhu, Yuezhan Tao, Igor Spasojevic, Pratik Chaudhari, Nikolay Atanasov, Vijay Kumar
2024 J jnl
SplatSDF: Boosting Neural Implicit SDF via Gaussian Splatting Fusion.
CoRR
Runfa Blark Li, Keito Suzuki, Bang Du, Ki Myung Brian Lee, Nikolay Atanasov, Truong Nguyen
2024 — conf
Stabilization of Nonlinear Systems through Control Barrier Functions.
CDC
Pol Mestres, Kehan Long, Melvin Leok, Nikolay Atanasov, Jorge Cortés
2024 J jnl
Stabilization of Nonlinear Systems through Control Barrier Functions.
CoRR
Pol Mestres, Kehan Long, Melvin Leok, Nikolay Atanasov, Jorge Cortés
2024 J jnl
TerrainMesh: Metric-Semantic Terrain Reconstruction From Aerial Images Using Joint 2-D-3-D Learning.
IEEE Trans. Robotics
Qiaojun Feng, Nikolay Atanasov
2023 J jnl
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers.
IEEE Trans. Robotics
Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos
2023 J jnl
Continuity and Boundedness of Minimum-Norm CBF-Safe Controllers.
CoRR
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortés
2023 J jnl
Control Barriers in Bayesian Learning of System Dynamics.
IEEE Trans. Autom. Control.
Vikas Dhiman, Mohammad Javad Khojasteh, Massimo Franceschetti, Nikolay Atanasov
2023 J jnl
Control Synthesis for Stability and Safety by Differential Complementarity Problem.
IEEE Control. Syst. Lett.
Yinzhuang Yi, Shumon Koga, Bogdan Gavrea, Nikolay Atanasov
2023 J jnl
Distributed Bayesian Estimation in Sensor Networks: Consensus on Marginal Densities.
CoRR
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2023 J jnl
Distributed Variational Inference for Online Supervised Learning.
CoRR
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2023 — conf
Distributionally Robust Lyapunov Function Search Under Uncertainty.
L4DC
Kehan Long, Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2023 Misc conf
Dynamic Handover: Throw and Catch with Bimanual Hands.
CoRL
Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, Xiaolong Wang
2023 J jnl
Dynamic Handover: Throw and Catch with Bimanual Hands.
CoRR
Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, Xiaolong Wang
2023 J jnl
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design.
CoRR
Zhichao Li, Yinzhuang Yi, Zhuolin Niu, Nikolay Atanasov
2023 J jnl
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.
IEEE Trans. Robotics
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2023 J jnl
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers.
CoRR
Pol Mestres, Kehan Long, Nikolay Atanasov, Jorge Cortés
2023 J jnl
Governor-parameterized barrier function for safe output tracking with locally sensed constraints.
Autom.
Zhichao Li, Nikolay Atanasov
2023 J jnl
Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control.
CoRR
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong, Nikolay Atanasov
2023 A* conf
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning.
ICRA
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim, Nikolay Atanasov, Panagiotis Tsiotras
2023 J jnl
Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning.
Auton. Robots
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2023 A* conf
LEMURS: Learning Distributed Multi-Robot Interactions.
ICRA
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2023 A* conf
Learning Continuous Control Policies for Information-Theoretic Active Perception.
ICRA
Pengzhi Yang, Yuhan Liu, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2023 — conf
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks.
MRS
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2023 J jnl
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks.
CoRR
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2023 — conf
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems.
L4DC
Valentin Duruisseaux, Thai Duong, Melvin Leok, Nikolay Atanasov
2023 J jnl
Optimal Scene Graph Planning with Large Language Model Guidance.
CoRR
Zhirui Dai, Arash Asgharivaskasi, Thai Duong, Shusen Lin, Maria-Elizabeth Tzes, George J. Pappas, Nikolay Atanasov
2023 — conf
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories.
L4DC
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2023 J jnl
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments.
CoRR
Kehan Long, Khoa Tran, Melvin Leok, Nikolay Atanasov
2023 C conf
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization.
ACC
Kehan Long, Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2023 J jnl
Semantic OcTree Mapping and Shannon Mutual Information Computation for Robot Exploration.
IEEE Trans. Robotics
Arash Asgharivaskasi, Nikolay Atanasov
2022 J jnl
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers.
CoRR
Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos
2022 A conf
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories.
IROS
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
2022 J jnl
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories.
CoRR
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
2022 C conf
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach.
ACC
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2022 J jnl
Adaptive Control of SE(3) Hamiltonian Dynamics With Learned Disturbance Features.
IEEE Control. Syst. Lett.
Thai Duong, Nikolay Atanasov
2022 J jnl
Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping.
IEEE Trans. Robotics
Thai Duong, Michael C. Yip, Nikolay Atanasov
2022 A conf
DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors.
IROS
Baoqian Wang, Junfei Xie, Nikolay Atanasov
2022 J jnl
DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors.
CoRR
Baoqian Wang, Junfei Xie, Nikolay Atanasov
2022 J jnl
Dense Incremental Metric-Semantic Mapping for Multiagent Systems via Sparse Gaussian Process Regression.
IEEE Trans. Robotics
Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
2022 J jnl
Distributed Bayesian Estimation of Continuous Variables Over Time-Varying Directed Networks.
IEEE Control. Syst. Lett.
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2022 C conf
Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication.
ACC
James Di, Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
2022 J jnl
Distributionally Robust Lyapunov Function Search Under Uncertainty.
CoRR
Kehan Long, Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2022 J jnl
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.
CoRR
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2022 J jnl
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning.
CoRR
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim, Nikolay Atanasov, Panagiotis Tsiotras
2022 J jnl
LEMURS: Learning Distributed Multi-Robot Interactions.
CoRR
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagüés
2022 J jnl
Large scale model predictive control with neural networks and primal active sets.
Autom.
Steven W. Chen, Tianyu Wang, Nikolay Atanasov, Vijay Kumar, Manfred Morari
2022 J jnl
Latent Policies for Adversarial Imitation Learning.
CoRR
Tianyu Wang, Nikhil Karnwal, Nikolay Atanasov
2022 J jnl
Learning Continuous Control Policies for Information-Theoretic Active Perception.
CoRR
Pengzhi Yang, Yuhan Liu, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2022 J jnl
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems.
CoRR
Valentin Duruisseaux, Thai Duong, Melvin Leok, Nikolay Atanasov
2022 J jnl
Physics-guided Learning-based Adaptive Control on the SE(3) Manifold.
CoRR
Thai Duong, Nikolay Atanasov
2022 J jnl
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories.
CoRR
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2022 J jnl
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics.
CoRR
Zhichao Li, Thai Duong, Nikolay Atanasov
2022 — conf
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics.
L4DC
Zhichao Li, Thai Duong, Nikolay Atanasov
2022 J jnl
Safe Control Synthesis With Uncertain Dynamics and Constraints.
IEEE Robotics Autom. Lett.
Kehan Long, Vikas Dhiman, Melvin Leok, Jorge Cortés, Nikolay Atanasov
2022 J jnl
Safe Control Synthesis with Uncertain Dynamics and Constraints.
CoRR
Kehan Long, Vikas Dhiman, Melvin Leok, Jorge Cortés, Nikolay Atanasov
2022 J jnl
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization.
CoRR
Kehan Long, Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
2022 J jnl
TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning.
CoRR
Qiaojun Feng, Nikolay Atanasov
2022 J jnl
Trajectory Planning and Optimization for Minimizing Uncertainty in Persistent Monitoring Applications.
J. Intell. Robotic Syst.
Michael H. Ostertag, Nikolay Atanasov, Tajana Rosing
2022 A conf
WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata.
IROS
Tianyu Wang, Nikolay Atanasov
2021 J jnl
A Deep Signed Directional Distance Function for Object Shape Representation.
CoRR
Ehsan Zobeidi, Nikolay Atanasov
2021 J jnl
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation.
CoRR
Arash Asgharivaskasi, Nikolay Atanasov
2021 A* conf
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations.
ICRA
Arash Asgharivaskasi, Nikolay Atanasov
2021 J jnl
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations.
CoRR
Arash Asgharivaskasi, Nikolay Atanasov
2021 A conf
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories.
IROS
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2021 J jnl
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories.
CoRR
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2021 J jnl
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach.
CoRR
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
2021 A conf
CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration.
IROS
Tianyu Zhao, Qiaojun Feng, Sai Jadhav, Nikolay Atanasov
2021 J jnl
CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration.
CoRR
Tianyu Zhao, Qiaojun Feng, Sai Jadhav, Nikolay Atanasov
2021 A* conf
Coding for Distributed Multi-Agent Reinforcement Learning.
ICRA
Baoqian Wang, Junfei Xie, Nikolay Atanasov
2021 J jnl
Coding for Distributed Multi-Agent Reinforcement Learning.
CoRR
Baoqian Wang, Junfei Xie, Nikolay Atanasov
2021 J jnl
Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression.
CoRR
Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
2021 J jnl
Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication.
CoRR
James Di, Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
2021 A* conf
ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description.
ICCV
Mo Shan, Qiaojun Feng, You-Yi Jau, Nikolay Atanasov
2021 J jnl
ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description.
CoRR
Mo Shan, Qiaojun Feng, You-Yi Jau, Nikolay Atanasov
2021 J jnl
Fully Convolutional Geometric Features for Category-level Object Alignment.
CoRR
Qiaojun Feng, Nikolay Atanasov
2021 J jnl
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control.
CoRR
Thai Duong, Nikolay Atanasov
2021 J jnl
Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata.
CoRR
Tianyu Wang, Nikolay Atanasov
2021 J jnl
Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning.
CoRR
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2021 J jnl
Learning Adaptive Control for SE(3) Hamiltonian Dynamics.
CoRR
Thai Duong, Nikolay Atanasov
2021 J jnl
Learning Barrier Functions With Memory for Robust Safe Navigation.
IEEE Robotics Autom. Lett.
Kehan Long, Cheng Qian, Jorge Cortés, Nikolay Atanasov
2021 J jnl
Localization and Mapping using Instance-specific Mesh Models.
CoRR
Qiaojun Feng, Yue Meng, Mo Shan, Nikolay Atanasov
2021 A* conf
Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning.
ICRA
Qiaojun Feng, Nikolay Atanasov
2021 J jnl
Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning.
CoRR
Qiaojun Feng, Nikolay Atanasov
2021 A* conf
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.
ICRA
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2021 J jnl
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.
CoRR
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2021 J jnl
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics.
CoRR
Zhichao Li, Thai Duong, Nikolay Atanasov
2021 J jnl
Sampling-based planning for non-myopic multi-robot information gathering.
Auton. Robots
Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, George J. Pappas
2020 A* conf
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping.
ICRA
Thai Duong, Nikhil Das, Michael C. Yip, Nikolay Atanasov
2020 J jnl
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping.
CoRR
Thai Duong, Nikhil Das, Michael C. Yip, Nikolay Atanasov
2020 J jnl
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping.
CoRR
Thai Duong, Michael C. Yip, Nikolay Atanasov
2020 J jnl
Control Barriers in Bayesian Learning of System Dynamics.
CoRR
Vikas Dhiman, Mohammad Javad Khojasteh, Massimo Franceschetti, Nikolay Atanasov
2020 A conf
Dense Incremental Metric-Semantic Mapping via Sparse Gaussian Process Regression.
IROS
Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
2020 A* conf
Fast and Safe Path-Following Control using a State-Dependent Directional Metric.
ICRA
Zhichao Li, Ömür Arslan, Nikolay Atanasov
2020 J jnl
Fast and Safe Path-Following Control using a State-Dependent Directional Metric.
CoRR
Zhichao Li, Omur Arslan, Nikolay Atanasov
2020 A conf
Fully Convolutional Geometric Features for Category-level Object Alignment.
IROS
Qiaojun Feng, Nikolay Atanasov
2020 A* conf
Information Theoretic Active Exploration in Signed Distance Fields.
ICRA
Kelsey Saulnier, Nikolay Atanasov, George J. Pappas, Vijay Kumar
2020 J jnl
Learning Barrier Functions with Memory for Robust Safe Navigation.
CoRR
Kehan Long, Cheng Qian, Jorge Cortés, Nikolay Atanasov
2020 A* conf
Learning Navigation Costs from Demonstration in Partially Observable Environments.
ICRA
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2020 J jnl
Learning Navigation Costs from Demonstration in Partially Observable Environments.
CoRR
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2020 J jnl
Learning Navigation Costs from Demonstration with Semantic Observations.
CoRR
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2020 — conf
Learning Navigation Costs from Demonstrations with Semantic Observations.
L4DC
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
2020 — conf
Marginal Density Averaging for Distributed Node Localization from Local Edge Measurements.
CDC
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2020 A conf
OrcVIO: Object residual constrained Visual-Inertial Odometry.
IROS
Mo Shan, Qiaojun Feng, Nikolay Atanasov
2020 J jnl
OrcVIO: Object residual constrained Visual-Inertial Odometry.
CoRR
Mo Shan, Qiaojun Feng, Nikolay Atanasov
2020 — conf
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics.
L4DC
Mohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti, Nikolay Atanasov
2020 J jnl
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor.
CoRR
Zhichao Li, Thai Duong, Nikolay Atanasov
2020 J jnl
Special Issue on the 2018 Robotics: Science and Systems Conference.
Int. J. Robotics Res.
Nikolay Atanasov, Chris Amato
2020 C conf
Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments.
ACC
Sutej Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay Atanasov
2019 — conf
Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering.
Robotics: Science and Systems
Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, George J. Pappas
2019 J jnl
Continuous Estimation Using Context-Dependent Discrete Measurements.
IEEE Trans. Autom. Control.
Radoslav Ivanov, Nikolay Atanasov, Miroslav Pajic, James Weimer, George J. Pappas, Insup Lee
2019 — conf
Hypothesis assignment and partial likelihood averaging for cooperative estimation.
CDC
Parth Paritosh, Nikolay Atanasov, Sonia Martínez
2019 J jnl
Large Scale Model Predictive Control with Neural Networks and Primal Active Sets.
CoRR
Steven W. Chen, Tianyu Wang, Nikolay Atanasov, Vijay Kumar, Manfred Morari
2019 A conf
Localization and Mapping using Instance-specific Mesh Models.
IROS
Qiaojun Feng, Yue Meng, Mo Shan, Nikolay Atanasov
2019 A conf
Maximum Information Bounds for Planning Active Sensing Trajectories.
IROS
Brent Schlotfeldt, Nikolay Atanasov, George J. Pappas
2019 C conf
N-Dimensional Distributed Network Localization with Noisy Range Measurements and Arbitrary Anchor Placement.
ACC
Pedro P. V. Tecchio, Nikolay Atanasov, Shahin Shahrampour, George J. Pappas
2019 J jnl
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics.
CoRR
Mohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti, Nikolay Atanasov
2019 C conf
Robust Velocity Control for Minimum Steady State Uncertainty in Persistent Monitoring Applications.
ACC
Michael H. Ostertag, Nikolay Atanasov, Tajana Rosing
2018 A* conf
A Unifying View of Geometry, Semantics, and Data Association in SLAM.
IJCAI
Nikolay Atanasov, Sean L. Bowman, Kostas Daniilidis, George J. Pappas
2018 J jnl
Anytime Planning for Decentralized Multirobot Active Information Gathering.
IEEE Robotics Autom. Lett.
Brent Schlotfeldt, Dinesh Thakur, Nikolay Atanasov, Vijay Kumar, George J. Pappas
2018 C conf
Approximating Explicit Model Predictive Control Using Constrained Neural Networks.
ACC
Steven W. Chen, Kelsey Saulnier, Nikolay Atanasov, Daniel D. Lee, Vijay Kumar, George J. Pappas, Manfred Morari
2018 C conf
Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering.
ACC
Ke Sun, Kelsey Saulnier, Nikolay Atanasov, George J. Pappas, Vijay Kumar
2018 J jnl
Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering.
CoRR
Ke Sun, Kelsey Saulnier, Nikolay Atanasov, George J. Pappas, Vijay Kumar
2018 J jnl
Fast, autonomous flight in GPS-denied and cluttered environments.
J. Field Robotics
Kartik Mohta, Michael Watterson, Yash Mulgaonkar, Sikang Liu, Chao Qu, Anurag Makineni, Kelsey Saulnier, Ke Sun, Alex Zihao Zhu, Jeffrey A. Delmerico, Konstantinos Karydis, Nikolay Atanasov, Giuseppe Loianno, Davide Scaramuzza, Kostas Daniilidis, Camillo Jose Taylor, Vijay Kumar
2018 — conf
Memory Augmented Control Networks.
ICLR (Poster)
Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Vijay Kumar, Daniel D. Lee
2018 — ed.
Robotics: Science and Systems XIV, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA, June 26-30, 2018
Robotics: Science and Systems
Hadas Kress-Gazit, Siddhartha S. Srinivasa, Tom Howard, Nikolay Atanasov
2018 J jnl
Search-Based Motion Planning for Aggressive Flight in SE(3).
IEEE Robotics Autom. Lett.
Sikang Liu, Kartik Mohta, Nikolay Atanasov, Vijay Kumar
2018 J jnl
Towards Search-based Motion Planning for Micro Aerial Vehicles.
CoRR
Sikang Liu, Kartik Mohta, Nikolay Atanasov, Vijay Kumar
2017 J jnl
A spatiotemporal model with visual attention for video classification.
CoRR
Mo Shan, Nikolay Atanasov
2017 J jnl
Active Tactile Object Recognition by Monte Carlo Tree Search.
CoRR
Mabel M. Zhang, Nikolay Atanasov, Kostas Daniilidis
2017 A conf
Active end-effector pose selection for tactile object recognition through Monte Carlo tree search.
IROS
Mabel M. Zhang, Nikolay Atanasov, Kostas Daniilidis
2017 — conf
Calibration-free network localization using non-line-of-sight ultra-wideband measurements.
IPSN
Carmelo Di Franco, Amanda Prorok, Nikolay Atanasov, Benjamin P. Kempke, Prabal Dutta, Vijay Kumar, George J. Pappas
2017 J jnl
End-to-End Navigation in Unknown Environments using Neural Networks.
CoRR
Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Daniel D. Lee, Vijay Kumar
2017 A* conf
Event-Based Visual Inertial Odometry.
CVPR
Alex Zihao Zhu, Nikolay Atanasov, Kostas Daniilidis
2017 A* conf
Event-based feature tracking with probabilistic data association.
ICRA
Alex Zihao Zhu, Nikolay Atanasov, Kostas Daniilidis
2017 J jnl
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments.
CoRR
Kartik Mohta, Michael Watterson, Yash Mulgaonkar, Sikang Liu, Chao Qu, Anurag Makineni, Kelsey Saulnier, Ke Sun, Alex Zihao Zhu, Jeffrey A. Delmerico, Konstantinos Karydis, Nikolay Atanasov, Giuseppe Loianno, Davide Scaramuzza, Kostas Daniilidis, Camillo Jose Taylor, Vijay Kumar
2017 J jnl
Memory Augmented Control Networks.
CoRR
Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Vijay Kumar, Daniel D. Lee
2017 J jnl
Neural Network Memory Architectures for Autonomous Robot Navigation.
CoRR
Steven W. Chen, Nikolay Atanasov, Arbaaz Khan, Konstantinos Karydis, Daniel D. Lee, Vijay Kumar
2017 A* conf
Probabilistic data association for semantic SLAM.
ICRA
Sean L. Bowman, Nikolay Atanasov, Kostas Daniilidis, George J. Pappas
2017 J jnl
Search-based Motion Planning for Aggressive Flight in SE(3).
CoRR
Sikang Liu, Kartik Mohta, Nikolay Atanasov, Vijay Kumar
2017 J jnl
Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control.
CoRR
Sikang Liu, Nikolay Atanasov, Kartik Mohta, Vijay Kumar
2017 A conf
Search-based motion planning for quadrotors using linear quadratic minimum time control.
IROS
Sikang Liu, Nikolay Atanasov, Kartik Mohta, Vijay Kumar
2016 — conf
Estimation of Blood Oxygen Content Using Context-Aware Filtering.
ICCPS
Radoslav Ivanov, Nikolay Atanasov, James Weimer, Miroslav Pajic, Allan F. Simpao, Mohamed A. Rehman, George J. Pappas, Insup Lee
2016 J jnl
Localization from semantic observations via the matrix permanent.
Int. J. Robotics Res.
Nikolay Atanasov, Menglong Zhu, Kostas Daniilidis, George J. Pappas
2016 J jnl
Myopic Policy Bounds for Information Acquisition POMDPs.
CoRR
Mikko Lauri, Nikolay Atanasov, George J. Pappas, Risto Ritala
2016 A* conf
Optimal temporal logic planning in probabilistic semantic maps.
ICRA
Jie Fu, Nikolay Atanasov, Ufuk Topcu, George J. Pappas
2015 A* conf
Decentralized active information acquisition: Theory and application to multi-robot SLAM.
ICRA
Nikolay Atanasov, Jerome Le Ny, Kostas Daniilidis, George J. Pappas
2015 J jnl
Optimal Temporal Logic Planning in Probabilistic Semantic Maps.
CoRR
Jie Fu, Nikolay Atanasov, Ufuk Topcu, George J. Pappas
2015 — conf
Robust estimation using context-aware filtering.
Allerton
Radoslav Ivanov, Nikolay Atanasov, Miroslav Pajic, George J. Pappas, Insup Lee
2014 — conf
Active Deformable Part Models Inference.
ECCV (7)
Menglong Zhu, Nikolay Atanasov, George J. Pappas, Kostas Daniilidis
2014 J jnl
Active Deformable Part Models.
CoRR
Menglong Zhu, Nikolay Atanasov, George J. Pappas, Kostas Daniilidis
2014 A* conf
Information acquisition with sensing robots: Algorithms and error bounds.
ICRA
Nikolay Atanasov, Jerome Le Ny, Kostas Daniilidis, George J. Pappas
2014 J jnl
Joint Estimation and Localization in Sensor Networks.
CoRR
Nikolay Atanasov, Roberto Tron, Victor M. Preciado, George J. Pappas
2014 — conf
Joint estimation and localization in sensor networks.
CDC
Nikolay Atanasov, Roberto Tron, Victor M. Preciado, George J. Pappas
2014 J jnl
Nonmyopic View Planning for Active Object Classification and Pose Estimation.
IEEE Trans. Robotics
Nikolay Atanasov, Bharath Sankaran, Jerome Le Ny, George J. Pappas, Kostas Daniilidis
2014 — conf
Semantic Localization Via the Matrix Permanent.
Robotics: Science and Systems
Nikolay Atanasov, Menglong Zhu, Kostas Daniilidis, George J. Pappas
2014 J jnl
Technical Report: Distributed Algorithms for Stochastic Source Seeking with Mobile Robot Networks.
CoRR
Nikolay Atanasov, Jerome Le Ny, George J. Pappas
2013 A* conf
Hypothesis testing framework for active object detection.
ICRA
Nikolay Atanasov, Bharath Sankaran, Jerome Le Ny, Thomas Koletschka, George J. Pappas, Kostas Daniilidis
2013 J jnl
Information Acquisition with Sensing Robots: Algorithms and Error Bounds.
CoRR
Nikolay Atanasov, Jerome Le Ny, Kostas Daniilidis, George J. Pappas
2013 J jnl
Nonmyopic View Planning for Active Object Detection.
CoRR
Nikolay Atanasov, Bharath Sankaran, Jerome Le Ny, George J. Pappas, Kostas Daniilidis
2012 A* conf
Stochastic source seeking in complex environments.
ICRA
Nikolay Atanasov, Jerome Le Ny, Nathan Michael, George J. Pappas