Rohan Thakker

40 papers A* 4A 5C 2Misc 1Journal 20Unranked 8
YearRankTypeTitle / Venue / Authors
2025 A* conf
Risk-Aware Integrated Task and Motion Planning for Versatile Snake Robots Under Localization Failures.
ICRA
Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago Stegun Vaquero, Michael Paton, Marlin P. Strub, Sabrina Corpino, Michel D. Ingham, Masahiro Ono, Rohan Thakker
2025 J jnl
Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option.
CoRR
Rohan Thakker, Adarsh Patnaik, Vince Kurtz, Jonas Frey, Jonathan Becktor, Sangwoo Moon, Rob Royce, Marcel Kaufmann, Georgios Georgakis, Pascal Roth, Joel Burdick, Marco Hutter, Shehryar Khattak
2025 J jnl
Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures.
CoRR
Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago Stegun Vaquero, Michael Paton, Marlin P. Strub, Sabrina Corpino, Michel D. Ingham, Masahiro Ono, Rohan Thakker
2025 J jnl
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach.
CoRR
Ersin Das, William A. Welch, Patrick Spieler, Keenan Albee, Aurelio Noca, Jeffrey A. Edlund, Jonathan Becktor, Thomas Touma, Jessica Todd, Sriramya Bhamidipati, Stella Kombo, Maira Saboia, Anna Sabel, Grace Lim, Rohan Thakker, Amir Rahmani, Joel W. Burdick
2024 J jnl
EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration.
Sci. Robotics
Tiago Stegun Vaquero, Guglielmo Daddi, Rohan Thakker, Michael Paton, Ashkan Jasour, Marlin P. Strub, R. Michael Swan, Rob Royce, Matthew Gildner, L. Phillipe Tosi, Marcel Veismann, Peter V. Gavrilov, Eloise Marteau, Joseph Bowkett, Daniel Loret de Mola Lemus, Yashwanth Kumar Nakka, Benjamin Hockman, Andrew L. Orekhov, Tristan Hasseler, Carl Leake, Benjamin Nuernberger, Pedro Proença, William Reid, William Talbot, Nikola Georgiev, Torkom Pailevanian, Avak Archanian, Eric Ambrose, Jay Jasper, Rachel Etheredge, Christiahn Roman, Dan Levine, Kyohei Otsu, Sarah Yearicks, Hovhannes Melikyan, Richard Rieber, Kalind C. Carpenter, Jeremy Nash, Abhinandan Jain, Lori Shiraishi, Matthew Robinson, Matthew J. Travers, Howie Choset, Joel W. Burdick, Alex S. Gardner, M. Cable, Michel D. Ingham, Masahiro Ono
2024 J jnl
Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent.
CoRR
Rob Royce, Marcel Kaufmann, Jonathan Becktor, Sangwoo Moon, Kalind C. Carpenter, Kai Pak, Amanda Towler, Rohan Thakker, Shehryar Khattak
2024 — conf
Reinforcement learning-driven parametric curve fitting for snake robot gait design.
L4DC
Jack Naish, Jacob Rodriguez, Jenny Zhang, Bryson Jones, Guglielmo Daddi, Andrew L. Orekhov, Rob Royce, Michael Paton, Howie Choset, Masahiro Ono, Rohan Thakker
2023 A conf
EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures.
IROS
Rohan Thakker, Michael Paton, Marlin P. Strub, R. Michael Swan, Guglielmo Daddi, Rob Royce, L. Phillipe Tosi, Matthew Gildner, Tiago Vaquero, Marcel Veismann, Peter V. Gavrilov, Eloise Marteau, Joseph Bowkett, Daniel Loret de Mola Lemus, Yashwanth Kumar Nakka, Benjamin Hockman, Andrew L. Orekhov, Tristan Hasseler, Carl Leake, Benjamin Nuernberger, Pedro Proença, William Reid, William Talbot, Nikola Georgiev, Torkom Pailevanian, Avak Archanian, Eric Ambrose, Jay Jasper, Rachel Etheredge, Christiahn Roman, Dan Levine, Kyohei Otsu, Hovhannes Melikyan, Jeremy Nash, Richard Rieber, Kalind C. Carpenter, Abhinandan Jain, Lori Shiraishi, Daniel Pastor, Sarah Yearicks, Michel D. Ingham, Matthew Robinson, Ali Agha, Matthew J. Travers, Howie Choset, Joel Burdick, Masahiro Ono
2023 A conf
Principled ICP Covariance Modelling in Perceptually Degraded Environments for the EELS Mission Concept.
IROS
William Talbot, Jeremy Nash, Michael Paton, Eric Ambrose, Brandon Metz, Rohan Thakker, Rachel Etheredge, Masahiro Ono, Viorela Ila
2022 J jnl
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge.
Field Robotics
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2022 Misc conf
Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data.
CoRL
John So, Amber Xie, Sunggoo Jung, Jeffrey A. Edlund, Rohan Thakker, Ali-Akbar Agha-Mohammadi, Pieter Abbeel, Stephen James
2022 J jnl
Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data.
CoRR
John So, Amber Xie, Sunggoo Jung, Jeffrey A. Edlund, Rohan Thakker, Ali-Akbar Agha-Mohammadi, Pieter Abbeel, Stephen James
2021 J jnl
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions.
CoRR
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-Akbar Agha-Mohammadi
2021 J jnl
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2021 — conf
ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots.
CASE
Harshad Zade, Aadesh Varude, Karan Pandya, Ajinkya Kamat, Shital S. Chiddarwar, Rohan Thakker
2021 J jnl
ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots.
CoRR
Harshad Zade, Aadesh Varude, Karan Pandya, Ajinkya Kamat, Shital S. Chiddarwar, Rohan Thakker
2020 J jnl
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments.
CoRR
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-Akbar Agha-Mohammadi
2020 — conf
Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions.
ISER
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-Akbar Agha-Mohammadi
2020 A* conf
Bayesian Learning-Based Adaptive Control for Safety Critical Systems.
ICRA
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2020 J jnl
Towards Resilient Autonomous Navigation of Drones.
CoRR
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2020 J jnl
Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration.
CoRR
Takahiro Sasaki, Kyohei Otsu, Rohan Thakker, Sofie Haesaert, Ali-Akbar Agha-Mohammadi
2020 J jnl
Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration.
IEEE Robotics Autom. Lett.
Takahiro Sasaki, Kyohei Otsu, Rohan Thakker, Sofie Haesaert, Ali-Akbar Agha-Mohammadi
2019 A conf
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments.
IROS
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-Akbar Agha-Mohammadi
2019 J jnl
Bayesian Learning-Based Adaptive Control for Safety Critical Systems.
CoRR
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2019 J jnl
Bi-Directional Value Learning for Risk-Aware Planning Under Uncertainty.
IEEE Robotics Autom. Lett.
Sung-Kyun Kim, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 J jnl
Bi-directional Value Learning for Risk-aware Planning Under Uncertainty.
CoRR
Sung-Kyun Kim, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 J jnl
Contact Inertial Odometry: Collisions are your Friend.
CoRR
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 C conf
Contact Inertial Odometry: Collisions are your Friends.
ISRR
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 — conf
Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces.
CDC
Sofie Haesaert, Rohan Thakker, Petter Nilsson, Ali-Akbar Agha-Mohammadi, Richard M. Murray
2019 A conf
Thermal-Inertial Odometry for Autonomous Flight Throughout the Night.
IROS
Jeff Delaune, Robert A. Hewitt, Laura Lytle, Cristina Sorice, Rohan Thakker, Larry H. Matthies
2019 C conf
Towards Resilient Autonomous Navigation of Drones.
ISRR
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2018 — conf
Characterization and Traversal of Pliable Vegetation for Robot Navigation.
ISER
Camilo Ordonez, Ryan Alicea, Brandon Rothrock, Kyle Ladyko, Jeremy Nash, Rohan Thakker, Shreyansh Daftry, Mario Harper, Emmanuel G. Collins Jr., Larry H. Matthies
2018 J jnl
Comparison of Trajectory Optimization Algorithms for High-Speed Quadrotor Flight Near Obstacles.
IEEE Robotics Autom. Lett.
Benjamin Morrell, Rohan Thakker, Gene Merewether, Robert Reid, Marc Rigter, Theodore Tzanetos, Gregory E. Chamitoff
2018 A* conf
Differential Flatness Transformations for Aggressive Quadrotor Flight.
ICRA
Benjamin Morrell, Marc Rigter, Gene Merewether, Robert Reid, Rohan Thakker, Theodore Tzanetos, Vinay Rajur, Gregory E. Chamitoff
2018 A* conf
Generalizing Informed Sampling for Asymptotically-Optimal Sampling-Based Kinodynamic Planning via Markov Chain Monte Carlo.
ICRA
Daqing Yi, Rohan Thakker, Cole Gulino, Oren Salzman, Siddhartha S. Srinivasa
2018 — conf
Onboard Stereo Vision for Drone Pursuit or Sense and Avoid.
CVPR Workshops
Cevahir Çigla, Rohan Thakker, Larry H. Matthies
2018 — conf
Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations.
ADHS
Sofie Haesaert, Petter Nilsson, Cristian Ioan Vasile, Rohan Thakker, Ali-Akbar Agha-Mohammadi, Aaron D. Ames, Richard M. Murray
2018 — conf
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.
Robotics: Science and Systems
Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian Ioan Vasile, Ali-Akbar Agha-Mohammadi, Richard M. Murray, Aaron D. Ames
2017 J jnl
Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo.
CoRR
Daqing Yi, Rohan Thakker, Cole Gulino, Oren Salzman, Siddhartha S. Srinivasa
2014 A conf
ReBiS - Reconfigurable Bipedal Snake robot.
IROS
Rohan Thakker, Ajinkya Kamat, Sachin Bharambe, Shital S. Chiddarwar, K. M. Bhurchandi