Publications

@article{TBME26,
  author = {Dalland, Kristian and Chowdhury, Souma and Dantu, Karthik and Esfahani, Ehsan T.},
  title = {Adaptive Hiking-Time Prediction Through State-Dependent Energy Regulation},
  journal = {IEEE Transactions on Biomedical Engineering},
  year = {2026},
  pages = {1--10},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  note = {Early Access},
  doi = {10.1109/tbme.2026.3720250},
  url = {https://ieeexplore.ieee.org/document/11643221/},
}

@article{IJRR26,
  author = {Fu, Taimeng and Zhan, Zitong and Zhao, Zhipeng and Su, Shaoshu and Lin, Xiao and Esfahani, Ehsan Tarkesh and Dantu, Karthik and Chowdhury, Souma and Wang, Chen},
  title = {AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation},
  journal = {The International Journal of Robotics Research},
  year = {2026},
  url = {https://arxiv.org/abs/2501.12654},
}

@article{RALJ26,
  author = {Meshram, Pranay and Adhivarahan, Charuvahan and Esfahani, Ehsan Tarkesh and Chowdhury, Souma and Wang, Chen and Dantu, Karthik},
  title = {CLEAR: A Semantic–Geometric Terrain Abstraction for Large-Scale Unstructured Environments},
  journal = {IEEE Robotics and Automation Letters},
  year = {2026},
  volume = {11},
  number = {10},
  pages = {11394--11401},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  doi = {10.1109/lra.2026.3726338},
  url = {https://ieeexplore.ieee.org/document/11662374/},
  note = {Accepted September 2026},
}

@article{tracking,
  author = {Chase, Timothy and Balotin, Andrew and Dantu, Karthik},
  title = {Comparative Analysis of Feature Tracking Challenges in Unstructured Space Environments},
  journal = {IEEE Transactions on Aerospace and Electronic Systems},
  year = {2026},
  volume = {62},
  pages = {6166--6179},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  doi = {10.1109/taes.2026.3667132},
  url = {https://ieeexplore.ieee.org/document/11408193/},
}

@article{recycled,
  author = {Zhao, Yaoli and Adhivarahan, Charuvahan and Jyothula, Chandra Lekha and Dantu, Karthik and Thundat, Thomas and Goyal, Amit},
  title = {Determining the percentage of recycled plastic content in a plastic product},
  journal = {Communications Engineering},
  year = {2026},
  volume = {5},
  number = {1},
  article_number = {51},
  publisher = {Springer Science and Business Media LLC},
  doi = {10.1038/s44172-026-00639-y},
  url = {https://www.nature.com/articles/s44172-026-00639-y},
}

@article{JCIS26,
  author = {KrisshnaKumar, Prajit and Witter, Jhoel and Collins, Leighton and Pothuri, Jagadeswara P. K. V. and Ghassemi, Payam and Esfahani, Ehsan T. and Dantu, Karthik and Chowdhury, Souma},
  title = {Efficient Planning for Scalable and Load-Balanced Area Coverage by Multiple Unmanned Aerial Vehicles},
  journal = {Journal of Computing and Information Science in Engineering},
  year = {2026},
  volume = {26},
  number = {9},
  article_number = {091002},
  publisher = {ASME International},
  doi = {10.1115/1.4071466},
  url = {https://asmedigitalcollection.asme.org/computingengineering/article/26/9/091002/1232074/Efficient-Planning-for-Scalable-and-Load-Balanced},
}

@article{JPCB26,
  author = {Stavinski, Nicholas and Maheshkar, Vaishali and Dassanayake, Charutha and González Ortiz, Fransuas P. and Rivera-Torres, Gleniarys N. and Dantu, Karthik and Velarde, Luis},
  title = {Explainable Deep Learning and Targeted Spectral Augmentation for Mid-Infrared Classification of Additive-Containing Polymers},
  journal = {The Journal of Physical Chemistry B},
  year = {2026},
  volume = {130},
  number = {31},
  pages = {8092--8102},
  publisher = {American Chemical Society (ACS)},
  doi = {10.1021/acs.jpcb.6c02143},
  url = {https://pubs.acs.org/jpcbfk/article/130/31/8092/5233880/Explainable-Deep-Learning-and-Targeted-Spectral},
}

@article{FRRA25,
  author = {Oliva, Denielle and Olszewski, Abbie and Sadeghi, Shekoufeh and Dantu, Karthik and Feil-Seifer, David},
  title = {Designing socially assistive robots for clinical practice: insights from an asynchronous remote community of speech-language pathologists},
  journal = {Frontiers in Robotics and AI},
  year = {2025},
  volume = {12},
  article_number = {1646880},
  publisher = {Frontiers Media SA},
  doi = {10.3389/frobt.2025.1646880},
  url = {https://www.frontiersin.org/articles/10.3389/frobt.2025.1646880/full},
}

@article{slamstudy,
  author = {Semenova, Sofiya and Ko, Steven and Liu, Yu David and Ziarek, Lukasz and Dantu, Karthik},
  title = {A Comprehensive Study of Systems Challenges in Visual Simultaneous Localization and Mapping Systems},
  journal = {ACM Transactions on Embedded Computing Systems},
  year = {2024},
  volume = {24},
  number = {1},
  article_number = {2},
  pages = {1--31},
  publisher = {Association for Computing Machinery (ACM)},
  doi = {10.1145/3677317},
  url = {https://dl.acm.org/doi/10.1145/3677317},
}

@article{TROJ24,
  author = {Chen, Yuyang and Wang, Dingkang and Thomas, Lenworth and Dantu, Karthik and Koppal, Sanjeev J.},
  title = {Design of an Adaptive Lightweight LiDAR to Decouple Robot–Camera Geometry},
  journal = {IEEE Transactions on Robotics},
  year = {2024},
  volume = {40},
  pages = {2254--2271},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  doi = {10.1109/tro.2024.3371885},
  url = {https://ieeexplore.ieee.org/document/10453967/},
}

@article{spectra,
  author = {Stavinski, Nicholas and Maheshkar, Vaishali and Thomas, Sinai and Dantu, Karthik and Velarde, Luis},
  title = {Mid-infrared spectroscopy and machine learning for postconsumer plastics recycling},
  journal = {Environmental Science: Advances},
  year = {2023},
  volume = {2},
  number = {8},
  pages = {1099--1109},
  publisher = {Royal Society of Chemistry (RSC)},
  doi = {10.1039/d3va00111c},
  url = {https://pubs.rsc.org/va/article/2/8/1099-1109/835854},
}

@article{edgeslam2022,
  doi = {10.1145/3561972},
  url = {https://doi.org/10.1145/3561972},
  year = {2022},
  month = oct,
  publisher = {Association for Computing Machinery ({ACM})},
  volume = {22},
  number = {1},
  pages = {1--31},
  article_number = {18},
  author = {Ali, Ali J. Ben and Kouroshli, Marziye and Semenova, Sofiya and Hashemifar, Zakieh Sadat and Ko, Steven Y. and Dantu, Karthik},
  title = {Edge-{SLAM}: Edge-Assisted Visual Simultaneous Localization and Mapping},
  journal = {{ACM} Transactions on Embedded Computing Systems},
}

@article{IMWU22,
  author = {Li, Zhengxiong and Chen, Baicheng and Chen, Xingyu and Xu, Chenhan and Chen, Yuyang and Lin, Feng and Li, Changzhi and Dantu, Karthik and Ren, Kui and Xu, Wenyao},
  title = {Reliable Digital Forensics in the Air: Exploring an RF-based Drone Identification System},
  journal = {Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies},
  year = {2022},
  volume = {6},
  number = {2},
  article_number = {63},
  pages = {1--25},
  publisher = {Association for Computing Machinery (ACM)},
  doi = {10.1145/3534598},
  url = {https://dl.acm.org/doi/10.1145/3534598},
}

@article{JECS22,
  author = {Zhao, Yaoli and Chakraborty, Patatri and Stavinski, Nicholas and Velarde, Luis and Maheshkar, Vaishali and Dantu, Karthik and Phani, Arindam and Kim, Seonghwan and Thundat, Thomas},
  title = {Standoff and Point Detection of Thin Polymer Layers Using Microcantilever Photothermal Spectroscopy},
  journal = {Journal of The Electrochemical Society},
  year = {2022},
  volume = {169},
  number = {3},
  article_number = {037501},
  publisher = {The Electrochemical Society},
  doi = {10.1149/1945-7111/ac5657},
  url = {https://iopscience.iop.org/article/10.1149/1945-7111/ac5657},
}

@article{CACM22,
  author = {Dantu, Karthik},
  title = {Technical perspective: The power of low-power GPS receivers for nanosats},
  journal = {Communications of the ACM},
  year = {2022},
  volume = {65},
  number = {11},
  pages = {132},
  publisher = {Association for Computing Machinery (ACM)},
  doi = {10.1145/3559769},
  url = {https://dl.acm.org/doi/10.1145/3559769},
}

@article{gesto,
  author = {Park, Chang Min and Ki, Taeyeon and Ben Ali, Ali J. and Pawar, Nikhil Sunil and Dantu, Karthik and Ko, Steven Y. and Ziarek, Lukasz},
  title = {Gesto: Mapping UI Events to Gestures and Voice Commands},
  year = {2019},
  issue_date = {June 2019},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  volume = {3},
  number = {EICS},
  url = {https://doi.org/10.1145/3300964},
  doi = {10.1145/3300964},
  journal = {Proceedings of the ACM on Human-Computer Interaction (PACM HCI)},
  month = jun,
  articleno = {5},
  numpages = {22},
  keywords = {voice commands, gestures, mapping UI events, record and replay},
}

@article{wifi,
  author = {Hashemifar, Zakieh S. and Adhivarahan, Charuvahan and Balakrishnan, Anand and Dantu, Karthik},
  title = {Augmenting Visual {SLAM} with Wi-Fi Sensing for Indoor Applications},
  journal = {Autonomous Robots},
  volume = {43},
  number = {8},
  pages = {2245--2260},
  year = {2019},
  url = {https://doi.org/10.1007/s10514-019-09874-z},
  doi = {10.1007/s10514-019-09874-z},
  timestamp = {Sat, 12 Oct 2019 12:50:38 +0200},
  biburl = {https://dblp.org/rec/journals/arobots/HashemifarA0D19.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org},
}

@article{ghanei2019based,
  title = {OS-based energy accounting for asynchronous resources in IoT devices},
  author = {Ghanei, Farshad and Tipnis, Pranav and Marcus, Kyle and Dantu, Karthik and Ko, Steven Y and Ziarek, Lukasz},
  journal = {IEEE Internet of Things Journal},
  volume = {6},
  number = {3},
  pages = {5841--5852},
  year = {2019},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/document/8674793},
}

@inproceedings{IROS26a,
  author = {Hefny, Mohamed and Dantu, Karthik and Ko, Steven Y.},
  title = {SLAM Adversarial Lab: An Extensible Framework for Visual SLAM Robustness Evaluation under Adverse Conditions},
  booktitle = {2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
  month = sep,
  issue_date = {Sep 2026},
  publisher = {IEEE},
  url = {https://2026.ieee-iros.org/program/contributed_talks/#f282f3:4564},
  note = {Accepted for publication},
}

@inproceedings{turbomap,
  author = {Hosseininejad, Parsa and Khabiri, Kimia and Gopinath, Shishir and Mohammadhashemi, Soudabeh and Dantu, Karthik and Ko, Steven Y.},
  title = {TurboMap: GPU-Accelerated Local Mapping for Visual SLAM},
  booktitle = {2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
  month = sep,
  issue_date = {Sep 2026},
  publisher = {IEEE},
  url = {https://2026.ieee-iros.org/program/contributed_talks/#8fc08d:4372},
  note = {Accepted for publication},
}

@inproceedings{cart,
  author = {Singh, Kartikeya and Kim, Youngjin and Turkar, Yash and Dantu, Karthik},
  title = {CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots},
  booktitle = {International Symposium of Robotics Research (ISRR)},
  year = {2026},
  note = {Accepted for publication},
  url = {https://arxiv.org/abs/2604.14344},
}

@inproceedings{CRVI26a,
  author = {Turkar, Yash and Meshram, Pranay and Aluckal, Christo and Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {Empir3D: A Framework for Multi-Dimensional Point Cloud Assessment},
  booktitle = {Proceedings of the 23rd Conference on Robots and Vision},
  year = {2026},
  publisher = {PubPub},
  doi = {10.21428/d82e957c.900da59a},
  url = {https://crv.pubpub.org/pub/dlf0gaqg},
}

@inproceedings{CRVI26b,
  author = {Turkar, Yash and Chase, Jr, Timothy and Aluckal, Christo and Dantu, Karthik},
  title = {Enhancing Visual Odometry with Reliable Pixel Masking},
  booktitle = {Proceedings of the 23rd Conference on Robots and Vision},
  year = {2026},
  publisher = {PubPub},
  doi = {10.21428/d82e957c.519b98ec},
  url = {https://crv.pubpub.org/pub/fv2mnwrd},
}

@inproceedings{graphite,
  author = {Gopinath, Shishir and Dantu, Karthik and Ko, Steven Y.},
  title = {Graphite: A GPU-Accelerated Mixed-Precision Graph Optimization Framework},
  booktitle = {2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  publisher = {IEEE},
  url = {https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_5.html#thi1i_335},
}

@inproceedings{RSSC26,
  author = {Zhao, Zhipeng and Fu, Taimeng and Su, Shaoshu and Du, Qiwei and Esfahani, Ehsan and Dantu, Karthik K. and Chowdhury, Souma and Wang, Chen},
  title = {Learning When to Jump for Off-road Navigation},
  booktitle = {Robotics: Science and Systems XXII},
  year = {2026},
  publisher = {Robotics: Science and Systems Foundation},
  doi = {10.15607/rss.2026.xxii.066},
  url = {https://www.roboticsproceedings.org/rss22/p066.html},
}

@inproceedings{WACV26,
  author = {Meshram, Pranay and Turkar, Yash and Singh, Kartikeya and Masilamani, Praveen Raj and Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {QAL: A Loss for Recall–Precision Balance in 3D Reconstruction},
  booktitle = {2026 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  year = {2026},
  pages = {7965--7974},
  publisher = {IEEE},
  doi = {10.1109/wacv61042.2026.00769},
  url = {https://ieeexplore.ieee.org/document/11492244/},
}

@inproceedings{costmaps,
  author = {Singh, Kartikeya and Aluckal, Christo and Orsolino, Romeo and Dantu, Karthik},
  title = {Task-Conditioned Uncertainty Costmaps for Legged Locomotion},
  booktitle = {29th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)},
  year = {2026},
  note = {Paper 10},
  url = {https://arxiv.org/abs/2605.00261},
}

@inproceedings{tips,
  author = {Duong, Long and Adhivarahan, Charuvahan and Ayyalasomayajula, Roshan and Dantu, Karthik},
  title = {TIPS: Thermal Image based Plastics Sorting},
  booktitle = {Proceedings of the 24th Annual International Conference on Mobile Systems, Applications and Services},
  year = {2026},
  pages = {247--260},
  publisher = {ACM},
  doi = {10.1145/3745756.3809202},
  url = {https://dl.acm.org/doi/10.1145/3745756.3809202},
}

@inproceedings{nighthawk,
  author = {Turkar, Yash and Kim, Youngjin and Dantu, Karthik},
  title = {Active Illumination Control in Low-Light Environments using NightHawk},
  booktitle = {19th International Symposium on Experimental Robotics (ISER)},
  year = {2025},
  url = {https://arxiv.org/abs/2506.06394},
}

@inproceedings{CASE25,
  author = {Poddar, Prithvi and Esfahani, Ehsan Tarkesh and Dantu, Karthik and Chowdhury, Souma},
  title = {Automated Generation of Diverse Courses of Actions for Multi-Agent Operations using Binary Optimization and Graph Learning},
  booktitle = {2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)},
  year = {2025},
  pages = {2901--2908},
  publisher = {IEEE},
  doi = {10.1109/case58245.2025.11163864},
  url = {https://ieeexplore.ieee.org/document/11163864/},
}

@inproceedings{IMLA25,
  author = {Mehta, Shivm and Maheshkar, Vaishali and Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {CLIPS: Continual Learning Infrastructure for Plastics Sorting},
  booktitle = {2025 International Conference on Machine Learning and Applications (ICMLA)},
  year = {2025},
  pages = {1197--1204},
  publisher = {IEEE},
  doi = {10.1109/icmla66185.2025.00183},
  url = {https://ieeexplore.ieee.org/document/11471507/},
}

@inproceedings{fasttrack,
  author = {Khabiri, Kimia and Hosseininejad, Parsa and Gopinath, Shishir and Dantu, Karthik and Ko, Steven Y.},
  title = {FastTrack: GPU-Accelerated Tracking for Visual SLAM},
  booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2025},
  pages = {15165--15172},
  publisher = {IEEE},
  doi = {10.1109/iros60139.2025.11247316},
  url = {https://ieeexplore.ieee.org/document/11247316/},
}

@inproceedings{EMBC25,
  author = {Dalland, Kristian and Wang, Chen and Dantu, Karthik and Chowdhury, Souma and Esfahani, Ehsan T},
  title = {Hybrid Human Model for Time of Hike Prediction},
  booktitle = {2025 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)},
  year = {2025},
  pages = {1--6},
  publisher = {IEEE},
  doi = {10.1109/embc58623.2025.11253206},
  url = {https://ieeexplore.ieee.org/document/11253206/},
}

@inproceedings{tera,
  author = {Aluckal, Christo and Kumar Lal, Roopesh Vinodh and Courtney, Sean and Turkar, Yash and Dighe, Yashom and Kim, Youngjin and Gemerek, Jake and Dantu, Karthik},
  title = {TERA: A Simulation Environment for Terrain Excavation Robot Autonomy},
  booktitle = {2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
  year = {2025},
  pages = {1--6},
  publisher = {IEEE},
  doi = {10.1109/simpar62925.2025.10979147},
  url = {https://ieeexplore.ieee.org/document/10979147/},
}

@inproceedings{REMA26,
  author = {Maheshkar, Vaishali and Ramakrishnan, Aadarsh Anantha and Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {Detailed Evaluation of Modern Machine Learning Approaches for Optic Plastics Sorting},
  booktitle = {Proceedings of the 2024 REMADE® Circular Economy Technology Summit \& Conference},
  year = {2024},
  publisher = {REMADE Institute},
  doi = {10.65569/xtzt3948},
  url = {https://remadeinstitute.org/academic-papers/detailed-evaluation-of-modern-machine-learning-approaches-for-optic-plastics-sorting/},
}

@inproceedings{XRSL24,
  author = {Turkar, Yash and Aluckal, Christo and Adhivarahan, Charuvahan and Sebastiani, Alessandro and Dantu, Karthik},
  title = {A View-Planning Approach to 3D Reconstruction},
  booktitle = {Extended Reality: International Conference, XR Salento 2024, Proceedings, Part III},
  year = {2024},
  volume = {15029},
  series = {Lecture Notes in Computer Science},
  pages = {340--350},
  publisher = {Springer Nature Switzerland},
  doi = {10.1007/978-3-031-71710-9_27},
  url = {https://link.springer.com/10.1007/978-3-031-71710-9_27},
}

@inproceedings{IJCB24,
  author = {Chen, Yuyang and Masilamani, Praveen Raj and Jawade, Bhavin and Setlur, Srirangaraj and Dantu, Karthik},
  title = {DIOR: Dataset for Indoor-Outdoor Reidentification Long Range 3D/2D Skeleton Gait Collection Pipeline, Semi-Automated Gait Keypoint Labeling and Baseline Evaluation Methods},
  booktitle = {2024 IEEE International Joint Conference on Biometrics (IJCB)},
  year = {2024},
  pages = {1--9},
  publisher = {IEEE},
  doi = {10.1109/ijcb62174.2024.10744452},
  url = {https://ieeexplore.ieee.org/document/10744452/},
}

@inproceedings{IGRS24,
  author = {Turkar, Yash and De, Shaunak and Adhivarahan, Charuvahan and Mottola, Luca and Sebastiani, Alessandro and Castelletti, Davide and Dantu, Karthik},
  title = {Enhancing Archaeological Surveys with InSAR Imagery and UAV-Based GPR},
  booktitle = {IGARSS 2024 - 2024 IEEE International Geoscience and Remote Sensing Symposium},
  year = {2024},
  pages = {11454--11456},
  publisher = {IEEE},
  doi = {10.1109/igarss53475.2024.10640645},
  url = {https://ieeexplore.ieee.org/document/10640645/},
}

@inproceedings{jacobigpu,
  author = {Kumar, Dhruv and Gopinath, Shishir and Dantu, Karthik and Ko, Steven Y.},
  title = {JacobiGPU: GPU-Accelerated Numerical Differentiation for Loop Closure in Visual SLAM},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2024},
  pages = {1687--1693},
  publisher = {IEEE},
  doi = {10.1109/icra57147.2024.10611512},
  url = {https://ieeexplore.ieee.org/document/10611512/},
}

@inproceedings{ICRA24b,
  author = {Singh, Kartikeya and Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {L-DYNO: Framework to Learn Consistent Visual Features Using Robot’s Motion},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2024},
  pages = {17522--17528},
  publisher = {IEEE},
  doi = {10.1109/icra57147.2024.10611097},
  url = {https://ieeexplore.ieee.org/document/10611097/},
}

@inproceedings{mars,
  author = {Chase, Jr, Timothy and Dantu, Karthik},
  title = {MARs: Multi-view Attention Regularizations for Patch-Based Feature Recognition of Space Terrain},
  booktitle = {Computer Vision – ECCV 2024, Part LXIV},
  year = {2024},
  volume = {15122},
  series = {Lecture Notes in Computer Science},
  pages = {219--239},
  publisher = {Springer Nature Switzerland},
  doi = {10.1007/978-3-031-73039-9_13},
  url = {https://link.springer.com/10.1007/978-3-031-73039-9_13},
}

@inproceedings{spacecube,
  author = {Chase, Timothy and Goodwill, Justin and Dantu, Karthik and Wilson, Christopher},
  title = {Profiling Vision-based Deep Learning Architectures on NASA SpaceCube Platforms},
  booktitle = {2024 IEEE Aerospace Conference},
  year = {2024},
  pages = {1--16},
  publisher = {IEEE},
  doi = {10.1109/aero58975.2024.10521096},
  url = {https://ieeexplore.ieee.org/document/10521096/},
}

@inproceedings{AERO24b,
  author = {Chase, Timothy and Kilaru, Sannihith and Srinivas, Shivendra and Dantu, Karthik},
  title = {Unsupervised Surface-to-Orbit View Generation of Planetary Terrain},
  booktitle = {2024 IEEE Aerospace Conference},
  year = {2024},
  pages = {1--14},
  publisher = {IEEE},
  doi = {10.1109/aero58975.2024.10521336},
  url = {https://ieeexplore.ieee.org/document/10521336/},
}

@inproceedings{REMA24,
  author = {Alexandridis, Paschalis and Dantu, Karthik and Ferger, Christian and Ghasemi, Ali and Kerr, Gabrielle and Maheshkar, Vaishali and Rzayev, Javid and Stavinski, Nicholas and Thundat, Thomas and Tsianou, Marina and Velarde, Luis and Zhao, Yaoli},
  title = {Valorization of Plastic Waste via Advanced Separation and Processing},
  booktitle = {Technology Innovation for the Circular Economy: Recycling, Remanufacturing, Design, System Analysis and Logistics (2023 REMADE Conference Proceedings)},
  year = {2024},
  pages = {495--506},
  publisher = {Wiley},
  doi = {10.1002/9781394214297.ch38},
  url = {https://onlinelibrary.wiley.com/doi/10.1002/9781394214297.ch38},
  editor = {Nasr, Nabil},
}

@inproceedings{MOBS24,
  author = {Khan, Kaleem Nawaz and Khalid, Ali and Turkar, Yash and Dantu, Karthik and Ahmad, Fawad},
  title = {VRF: Vehicle Road-side Point Cloud Fusion},
  booktitle = {Proceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services},
  year = {2024},
  pages = {547--560},
  publisher = {ACM},
  doi = {10.1145/3643832.3661874},
  url = {https://dl.acm.org/doi/10.1145/3643832.3661874},
}

@inproceedings{IJCA23,
  author = {Nwogu, Ifeoma and Peiris, Roshan and Dantu, Karthik and Gamta, Ruchi and Asonye, Emma},
  title = {AI-Driven Sign Language Interpretation for Nigerian Children at Home},
  booktitle = {Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence},
  year = {2023},
  pages = {6395--6404},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  doi = {10.24963/ijcai.2023/710},
  url = {https://www.ijcai.org/proceedings/2023/710},
}

@inproceedings{MCOM23,
  author = {Xia, Stephen and Zhao, Minghui and Adhivarahan, Charuvahan and Hou, Kaiyuan and Chen, Yuyang and Nie, Jingping and Wu, Eugene and Dantu, Karthik and Jiang, Xiaofan},
  title = {Anemoi: A Low-cost Sensorless Indoor Drone System for Automatic Mapping of 3D Airflow Fields},
  booktitle = {Proceedings of the 29th Annual International Conference on Mobile Computing and Networking},
  year = {2023},
  article_number = {77},
  pages = {1--16},
  publisher = {ACM},
  doi = {10.1145/3570361.3613292},
  url = {https://dl.acm.org/doi/10.1145/3570361.3613292},
}

@inproceedings{IROS23a,
  author = {KrisshnaKumar, Prajit and Witter, Jhoel and Paul, Steve and Cho, Hanvit and Dantu, Karthik and Chowdhury, Souma},
  title = {Fast Decision Support for Air Traffic Management at Urban Air Mobility Vertiports Using Graph Learning},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2023},
  pages = {1580--1585},
  publisher = {IEEE},
  doi = {10.1109/iros55552.2023.10341398},
  url = {https://ieeexplore.ieee.org/document/10341398/},
}

@inproceedings{SCIT23,
  author = {Kumar, Prajit K. and Witter, Jhoel and Paul, Steve and Dantu, Karthik and Chowdhury, Souma},
  title = {Graph Learning based Decision Support for Multi-Aircraft Take-Off and Landing at Urban Air Mobility Vertiports},
  booktitle = {AIAA SCITECH 2023 Forum},
  year = {2023},
  note = {AIAA Paper 2023-1848},
  publisher = {American Institute of Aeronautics and Astronautics},
  doi = {10.2514/6.2023-1848},
  url = {https://arc.aiaa.org/doi/10.2514/6.2023-1848},
}

@inproceedings{localba,
  author = {Gopinath, Shishir and Dantu, Karthik and Ko, Steven Y.},
  title = {Improving the Performance of Local Bundle Adjustment for Visual-Inertial SLAM with Efficient Use of GPU Resources},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2023},
  pages = {6239--6245},
  publisher = {IEEE},
  doi = {10.1109/icra48891.2023.10160499},
  url = {https://ieeexplore.ieee.org/document/10160499/},
}

@inproceedings{IROS23b,
  author = {Dighe, Yashom and Kim, Youngjin and Rajguru, Smit and Turkar, Yash and Singh, Tarunraj and Dantu, Karthik},
  title = {Kinematics-Only Differential Flatness Based Trajectory Tracking for Autonomous Racing},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2023},
  pages = {1629--1636},
  publisher = {IEEE},
  doi = {10.1109/iros55552.2023.10341603},
  url = {https://ieeexplore.ieee.org/document/10341603/},
}

@inproceedings{CVPR23,
  author = {Wang, Chen and Gao, Dasong and Xu, Kuan and Geng, Junyi and Hu, Yaoyu and Qiu, Yuheng and Li, Bowen and Yang, Fan and Moon, Brady and Pandey, Abhinav and {Aryan} and Xu, Jiahe and Wu, Tianhao and He, Haonan and Huang, Daning and Ren, Zhongqiang and Zhao, Shibo and Fu, Taimeng and Reddy, Pranay and Lin, Xiao and Wang, Wenshan and Shi, Jingnan and Talak, Rajat and Cao, Kun and Du, Yi and Wang, Han and Yu, Huai and Wang, Shanzhao and Chen, Siyu and Kashyap, Ananth and Bandaru, Rohan and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Carlone, Luca and Hutter, Marco and Scherer, Sebastian},
  title = {PyPose: A Library for Robot Learning with Physics-based Optimization},
  booktitle = {2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2023},
  pages = {22024--22034},
  publisher = {IEEE},
  doi = {10.1109/cvpr52729.2023.02109},
  url = {https://ieeexplore.ieee.org/document/10204505/},
}

@inproceedings{bottlenecks,
  author = {Semenova, Sofiya and Ko, Steven Y. and Liu, Yu David and Ziarek, Lukasz and Dantu, Karthik},
  title = {A quantitative analysis of system bottlenecks in visual SLAM},
  booktitle = {Proceedings of the 23rd Annual International Workshop on Mobile Computing Systems and Applications},
  year = {2022},
  pages = {74--80},
  publisher = {ACM},
  doi = {10.1145/3508396.3512882},
  url = {https://dl.acm.org/doi/10.1145/3508396.3512882},
}

@inproceedings{gating,
  author = {Gnam, Chris and Chase, Timothy B. and Dantu, Karthik and Crassidis, John L.},
  title = {Efficient Feature Matching and Mapping for Terrain Relative Navigation Using Hypothesis Gating},
  booktitle = {AIAA SCITECH 2022 Forum},
  year = {2022},
  note = {AIAA Paper 2022-2513},
  publisher = {American Institute of Aeronautics and Astronautics},
  doi = {10.2514/6.2022-2513},
  url = {https://arc.aiaa.org/doi/10.2514/6.2022-2513},
}

@inproceedings{preslam,
  author = {Chase, Timothy and Ben Ali, Ali J. and Ko, Steven Y. and Dantu, Karthik},
  title = {PRE-SLAM: Persistence Reasoning in Edge-assisted Visual SLAM},
  booktitle = {2022 IEEE 19th International Conference on Mobile Ad Hoc and Smart Systems (MASS)},
  year = {2022},
  pages = {458--466},
  publisher = {IEEE},
  doi = {10.1109/mass56207.2022.00071},
  url = {https://ieeexplore.ieee.org/document/9973604/},
}

@inproceedings{crash,
  author = {Chase, Jr, Timothy and Gnam, Chris and Crassidis, John and Dantu, Karthik},
  title = {You Only Crash Once: Improved Object Detection for Real-Time, Sim-to-Real Hazardous Terrain Detection and Classification for Autonomous Planetary Landings},
  booktitle = {AAS/AIAA Astrodynamics Specialist Conference},
  year = {2022},
  address = {Charlotte, North Carolina},
  note = {AAS Paper 22-638},
  url = {https://space-flight.org/docs/2022_summer/ASC22_FullProgram_Compiled.pdf},
}

@inproceedings{IROS21,
  author = {Czerniejewski, Adam and Burns, John Henry and Ghanei, Farshad and Dantu, Karthik and Liu, Yu David and Ziarek, Lukasz},
  title = {JCopter: Reliable UAV Software Through Managed Languages},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2021},
  pages = {4282--4289},
  doi = {10.1109/iros51168.2021.9636617},
  url = {https://ieeexplore.ieee.org/document/9636617/},
}

@inproceedings{MRSA21,
  author = {Behjat, Amir and Manjunatha, Hemanth and Kumar, Prajit Krisshna and Jani, Apurv and Collins, Leighton and Ghassemi, Payam and Distefano, Joseph and Doermann, David and Dantu, Karthik and Esfahani, Ehsan and Chowdhury, Souma},
  title = {Learning Robot Swarm Tactics over Complex Adversarial Environments},
  booktitle = {2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  year = {2021},
  pages = {83--91},
  doi = {10.1109/mrs50823.2021.9620707},
  url = {https://ieeexplore.ieee.org/document/9620707/},
}

@inproceedings{boundedvariables,
  author = {Liang, Xiaozhou and Burns, John Henry and Sanchez, Joseph and Dantu, Karthik and Ziarek, Lukasz and Liu, Yu David},
  title = {Understanding Bounding Functions in Safety-Critical UAV Software},
  year = {2021},
  publisher = {IEEE/ACM},
  url = {https://conf.researchr.org/details/icse-2021/icse-2021-papers/30/Understanding-Bounding-Functions-in-Safety-Critical-UAV-Software},
  booktitle = {Proceedings of the 43rd International Conference on Software Engineering},
  pages = {},
  numpages = {},
  keywords = {},
  location = {Virtual},
  series = {ICSE '21},
}

@inproceedings{SMCC21,
  author = {Distefano, Joseph P. and Manjunatha, Hemanth and Chowdhury, Souma and Dantu, Karthik and Doermann, David and Esfahani, Ehsan T.},
  title = {Using Physiological Information to Classify Task Difficulty in Human-Swarm Interaction},
  booktitle = {2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
  year = {2021},
  pages = {1198--1203},
  doi = {10.1109/smc52423.2021.9658653},
  url = {https://ieeexplore.ieee.org/document/9658653/},
}

@inproceedings{edgeslam2020,
  author = {Ben Ali, Ali J. and Hashemifar, Zakieh Sadat and Dantu, Karthik},
  title = {Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping},
  year = {2020},
  isbn = {9781450379540},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  url = {https://doi.org/10.1145/3386901.3389033},
  doi = {10.1145/3386901.3389033},
  booktitle = {Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services},
  pages = {325–337},
  numpages = {13},
  keywords = {mobile systems, mapping, visual simultaneous localization and mapping, split architecture, localization, edge computing},
  location = {Toronto, Ontario, Canada},
  series = {MobiSys '20},
}

@inproceedings{wisdom,
  author = {Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {{WISDOM:} WIreless Sensing-Assisted Distributed Online Mapping},
  booktitle = {International Conference on Robotics and Automation ({ICRA})},
  pages = {8026--8033},
  publisher = {{IEEE}},
  year = {2019},
  month = may,
  url = {https://doi.org/10.1109/ICRA.2019.8793932},
  doi = {10.1109/ICRA.2019.8793932},
  timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},
  biburl = {https://dblp.org/rec/conf/icra/AdhivarahanD19.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org},
}

@inproceedings{Ghanei:2018:acbba,
  author = {Rantanen, Matthew and Modares, Jalil and Mastronarde, Nicholas and Ghanei, Farshad and Dantu, Karthik},
  journal = {Sensor Array and Multichannel Signal Processing Workshop (SAM)},
  title = {Performance of the Asynchronous Consensus Based Bundle Algorithm in Lossy Network Environments},
  year = {2018},
  volume = {},
  number = {},
  pages = {311-315},
  keywords = {Task analysis;Resource management;Drones;Signal processing algorithms;Planning;Robot sensing systems;Unmanned aerial vehicles (UAVs);wireless networking;decentralized task allocation},
  doi = {10.1109/SAM.2018.8448984},
  issn = {2151-870X},
  month = jul,
}

@inproceedings{Ghanei:2017:ub-anc-planner:7989732,
  author = {Modares, J. and Ghanei, F. and Mastronarde, N. and Dantu, K.},
  journal = {International Conference on Robotics and Automation (ICRA)},
  title = {UB-ANC planner: Energy efficient coverage path planning with multiple drones},
  year = {2017},
  volume = {},
  number = {},
  pages = {6182-6189},
  keywords = {autonomous aerial vehicles;computational complexity;minimisation;path planning;travelling salesman problems;CPP problem;EECPP;MEPP;NP-hard problem;TSP;UB-ANC planner;back tracking algorithm;battle field surveillance;coverage path planning problem;drone design;drone flight paths;drone flight time;energy-efficient coverage path planning;energy-efficient coverage path planning problem;load-balanced allocation;maximum energy consumption minimization;minimum energy path planning problem;traveling salesman problem;unmanned aerial vehicles;Drones;Energy consumption;Energy measurement;Optimization;Path planning;Planning;Power demand},
  doi = {10.1109/ICRA.2017.7989732},
  issn = {},
  month = may,
}

@inproceedings{Ghanei:2016:ORA:2934583.2934639,
  author = {Ghanei, Farshad and Tipnis, Pranav and Marcus, Kyle and Dantu, Karthik and Ko, Steve and Ziarek, Lukasz},
  title = {OS-based Resource Accounting for Asynchronous Resource Use in Mobile Systems},
  journal = {International Symposium on Low Power Electronics and Design (ISLPED)},
  series = {ISLPED '16},
  year = {2016},
  isbn = {978-1-4503-4185-1},
  location = {San Francisco Airport, CA, USA},
  pages = {296--301},
  numpages = {6},
  url = {http://doi.acm.org/10.1145/2934583.2934639},
  doi = {10.1145/2934583.2934639},
  acmid = {2934639},
  publisher = {ACM},
  address = {New York, NY, USA},
  keywords = {Embedded Systems, Operating Systems, Power Management, Resource Management},
}