Publications

2019

  • [1]
    Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles.
    By Keipour, A., Mousaei, M. and Scherer, S.
    In arXiv.org, pp. 5679–5685, Jun. 2019.
  • [2]
    A Stereo Algorithm for Thin Obstacles and Reflective Objects.
    By Keller, J. and Scherer, S.
    In arXiv.org, Oct. 2019.
  • [3]
    High performance and safe flight of full-scale helicopters from takeoff to landing with an ensemble of planners.
    By Choudhury, S., Dugar, V., Maeta, S., MacAllister, B., Arora, S., Althoff, D. and Scherer, S.
    In Journal of Field Robotics, vol. 36, no. 8, pp. 1275–1332, Dec. 2019.
  • [4]
    Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction.
    By Hu, Y., Zhen, W. and Scherer, S.
    In arXiv.org, Nov. 2019.
  • [5]
    Line-based Camera Pose Estimation in Point Cloud of Structured Environments.
    By Yu, H., Zhen, W., Yang, W. and Scherer, S.
    In arXiv.org, Nov. 2019.
  • [6]
    Aerial Contact Sensing for Improved Inspection of Transportation Infrastructure.
    By Scherer, S.
    Aug. 2019.
  • [7]
    Estimating the localizability in tunnel-like environments using LiDAR and UWB.
    By Zhen, W. and Scherer, S.
    In Proceedings IEEE International Conference on Robotics and Automation, pp. 4903–4908, 2019.
  • [8]
    LiDAR Enhanced Structure-from-Motion.
    By Zhen, W., Hu, Y., Yu, H. and Scherer, S.
    In arXiv.org, Nov. 2019.
  • [9]
    Learning Controls Using Cross-Modal Representations: Bridging Simulation and Reality for Drone Racing.
    By Bonatti, R., Madaan, R., Vineet, V., Scherer, S. and Kapoor, A.
    In arXiv.org, Sep. 2019.
  • [10]
    Multi-view reconstruction of wires using a catenary model.
    By Madaan, R., Kaess, M. and Scherer, S.
    In Proceedings IEEE International Conference on Robotics and Automation, pp. 5657–5664, 2019.
  • [11]
    CubeSLAM: Monocular 3-D Object SLAM.
    By Yang, S. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 35, no. 4, pp. 925–938, Aug. 2019.
  • [12]
    Monocular Object and Plane SLAM in Structured Environments.
    By Yang, S. and Scherer, S.A.
    In IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3145–3152, 2019.
  • [13]
    A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3-D Reconstructions.
    By Zhen, W., Hu, Y., Liu, J. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3585–3592, Oct. 2019.
  • [14]
    ALFA: A Dataset for UAV Fault and Anomaly Detection.
    By Keipour, A., Mousaei, M. and Scherer, S.
    Jul. 2019.
  • [15]
    Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making.
    By Bonatti, R., Wang, W., Ho, C., Ahuja, A., Gschwindt, M., Camci, E., Kayacan, E., Choudhury, S. and Scherer, S.
    In arXiv.org, Oct. 2019.
  • [16]
    Improved generalization of heading direction estimation for aerial filming using semi-supervised regression.
    By Wang, W., Ahuja, A., Zhang, Y., Bonatti, R. and Scherer, S.
    In Proceedings IEEE International Conference on Robotics and Automation, pp. 5901–5907, 2019.
    •

    2018

  • [1]
    Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids.
    By Schopferer, S., Lorenz, J.S., Keipour, A. and Scherer, S.
    In ICUAS, Dallas, TX2018.
  • [2]
    Swarm Size Planning Tool for Multi-Job Type Missions.
    By Chandarana, M., Lewis, M., Allen, B.D., Sycara, K. and Scherer, S.
    In AIAA 20182018.
  • [3]
    Determining Effective Swarm Sizes for Multi-Job Type Missions.
    By Chandarana, M., Lewis, M., Sycara, K. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 20182018.
  • [4]
    Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming.
    By Bonatti, R., Yanfu, Z., Choudhury, S., Wang, W. and Scherer, S.
    In International Symposium on Experimental Robotics2018.
  • [5]
    Joint Point Cloud and Image Based Localization For Efficient Inspection in Mixed Reality.
    By Das, M.P., Dong, Z. and Scherer, S.
    In arXiv.org, pp. 6357–6363, Nov. 2018.
  • [6]
    Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs.
    By Garg, R., Yang, S. and Scherer, S.
    In arXiv.org, Dec. 2018.
  • [7]
    Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories.
    By Yanfu, Z., Wang, W., Bonatti, R., Maturana, D. and Scherer, S.
    In Conference on Robot Learning2018.
  • [8]
    Data-driven planning via imitation learning.
    By Choudhury, S., Bhardwaj, M., Arora, S., Kapoor, A., Ranade, G., Scherer, S. and Dey, D.
    In International Journal Of Robotics Research, vol. 37, no. 13-14, pp. 1632–1672, Dec. 2018.
  • [9]
    Precision UAV Landing in Unstructured Environments.
    By Pluckter, K. and Scherer, S.
    In International Symposium on Experimental Robotics2018.
  • [10]
    Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi-resolution Information Gathering.
    By Arora, S., Choudhury, S. and Scherer, S.
    In arXiv.org, Apr. 2018.
  • [11]
    Toward delay-tolerant multiple-unmanned aerial vehicle scheduling system using Multi-strategy Coevolution algorithm.
    By Khosiawan, Y., Scherer, S. and Nielsen, I.
    In Advances in Mechanical Engineering, vol. 10, no. 12, p. 168781401881523, Dec. 2018.
  • [12]
    Real-Time Semantic Mapping for Autonomous Off-Road Navigation.
    By Maturana, D., Chou, P.-W., Uenoyama, M. and Scherer, S.
    In Field and Service Robotics,
    Springer, Cham, 2018, pp. pp. 335–350
  • [13]
    Hierarchical registration of unordered TLS point clouds based on binary shape context descriptor.
    By Dong, Z., Yang, B., Liang, F., Huang, R. and Scherer, S.
    In ISPRS Journal of Photogrammetry and Remote Sensing, vol. 144, pp. 61–79, Oct. 2018.
  • [14]
    Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming.
    By Bonatti, R., Zhang, Y., Choudhury, S., Wang, W. and Scherer, S.
    In arXiv.org, Aug. 2018.
  • [15]
    DROAN - Disparity-Space Representation for Obstacle Avoidance: Enabling Wire Mapping Avoidance.
    By Dubey, G., Madaan, R. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, pp. 6311–6318, 2018.
  • [16]
    Positioning Error Analysis of Least Squares Method for Wireless Sensor Networks.
    By Tian, X., Zhen, W. and Scherer, S.
    In International Symposium on Robotics2018.
  • [17]
    DROAN – Disparity-space Representation for Obstacle AvoidaNce: Enabling Wire Mapping & Avoidance.
    By Dubey, G., Madaan, R. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems2018.
  • [18]
    Open Problems in Robotic Anomaly Detection.
    By Gupta, R., Kurtz, Z.T., Scherer, S. and Smereka, J.M.
    In arXiv.org, Sep. 2018.
  • [19]
    A Unified 3D Mapping Framework using a 3D or 2D LiDAR.
    By Zhen, W. and Scherer, S.
    In International Symposium on Experimental Robotics2018.
  • [20]
    Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature.
    By Zhu, J., Ai, Y., Tian, B., Cao, D. and Scherer, S.
    In IEEE Intelligent Vehicles Symposium, Proceedings, pp. 1679–1685, 2018.
  • [21]
    Decentralized Method for Sub-swarm Deployment and Rejoining.
    By Chandarana, M., Luo, W., Lewis, M., Sycara, K. and Scherer, S.
    In 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)2018.
  • [22]
    Season-Invariant Semantic Segmentation with a Deep Multimodal Network.
    By Kim, D.-K., Maturana, D., Uenoyama, M. and Scherer, S.
    In Field and Service Robotics,
    Springer, Cham, 2018, pp. pp. 255–270
  • [23]
    CubeSLAM: Monocular 3D Object SLAM.
    By Yang, S. and Scherer, S.
    In arXiv.org, no. 4, pp. 925–938, Jun. 2018.
  • [24]
    An efficient global energy optimization approach for robust 3D plane segmentation of point clouds.
    By Dong, Z., Yang, B., Hu, P. and Scherer, S.
    In ISPRS Journal of Photogrammetry and Remote Sensing, vol. 137, pp. 112–133, Mar. 2018.
  • [25]
    Achieving Robust Localization in Geometrically Degenerated Tunnels .
    By Zhen, W. and Scherer, S.
    In Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, Pittsburgh, Pa2018.
    •

    2017

  • [1]
    Data-driven Planning via Imitation Learning.
    By Choudhury, S., Bhardwaj, M., Arora, S., Kapoor, A., Ranade, G., Scherer, S. and Dey, D.
    In arxiv.org , Nov. 2017.
  • [2]
    Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection.
    By Shah, D. and Scherer, S.
    In arXiv.org, Oct. 2017.
  • [3]
    Direct Monocular Odometry Using Points and Lines.
    By Yang, S. and Scherer, S.
    In arXiv.org, Mar. 2017.
  • [4]
    Semantic 3D Occupancy Mapping through Efficient High Order CRFs.
    By Yang, S., Huang, Y. and Scherer, S.
    In IEEE/RSJ International Conference on Robots and Systems, Vancouver2017.
  • [5]
    Adaptive Information Gathering via Imitation Learning.
    By Choudhury, S., Kapoor, A., Ranade, G., Scherer, S. and Dey, D.
    In arXiv.org, May 2017.
  • [6]
    Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter.
    By Dugar, V., Choudhury, S. and Scherer, S.
    In AHS Forum 73, Fort Worth, TX2017.
  • [7]
    Direct Monocular Odometry Using Points and Lines.
    By Yang, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Singapore, Singapore2017.
  • [8]
    Looking forward: A semantic mapping system for scouting with micro-aerial vehicles.
    By Maturana, D., Arora, S. and Scherer, S.
    In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 6691–6698, 2017.
  • [9]
    Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs.
    By Choudhury, S., Javdani, S., Srinivasa, S. and Scherer, S.
    In Advances in Neural Information Processing Systems 30 (NIPS 2017) pre-proceedings, pp. 4634–4644, 2017.
  • [10]
    Robust Crack Detection in Concrete Structures Images using Multi-Scale Enhancement and Visual Features.
    By Liu, X., Ai, Y. and Scherer, S.
    In International Conference on Image Processing2017.
  • [11]
    Adaptive Information Gathering via Imitation Learning.
    By Choudhury, S., Kapoor, A., Ranade, G., Scherer, S. and Dey, D.
    In arXiv.org, May 2017.
  • [12]
    Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments.
    By Yang, S., Song, Y., Kaess, M. and Scherer, S.
    In arXiv.org, Mar. 2017.
  • [13]
    A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame.
    By Dugar, V., Choudhury, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Singapore, Singapore2017.
  • [14]
    Learning Heuristic Search via Imitation.
    By Bhardwaj, M., Choudhury, S. and Scherer, S.
    In CoRL, 2017.
  • [15]
    Obstacle Avoidance through Deep Networks based Intermediate Perception.
    By Yang, S., Konam, S., Ma, C., Rosenthal, S., Veloso, M. and Scherer, S.
    In arXiv.org, Apr. 2017.
  • [16]
    Randomized Algorithm for Informative Path Planning with Budget Constraints.
    By Arora, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Singapore, Singapore2017.
  • [17]
    Improving Stochastic Policy Gradients in Continuous Control with Deep Reinforcement Learning Using the Beta Distribution.
    By Chou, P.-W., Maturana, D. and Scherer, S.
    In Thirty-fourth International Conference on Machine Learning, Sydney2017.
  • [18]
    Bayesian Active Edge Evaluation on Expensive Graphs.
    By Choudhury, S., Srinivasa, S. and Scherer, S.
    In arXiv.org, Nov. 2017.
  • [19]
    Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs.
    By Choudhury, S., Javdani, S., Srinivasa, S. and Scherer, S.
    In arXiv.org, Jun. 2017.
  • [20]
    Robust Localization and Localizability Estimation with a Rotating Laser Scanner.
    By Zhen, W., Zeng, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Singapore, Singapore2017.
  • [21]
    Wire Detection Using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles.
    By Madaan, R., Maturana, D. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver2017.
  • [22]
    Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments.
    By Fang, Z., Yang, S., Jain, S., Dubey, G., Roth, S., Maeta, S., Nuske, S., Zhang, Y. and Scherer, S.
    In Journal of Field Robotics, vol. 34, no. 1, pp. 25–52, Jan. 2017.
  • [23]
    DROAN – Disparity-space Representation for Obstacle AvoidaNce.
    By Dubey, G., Arora, S. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver2017.
  • [24]
    Learning Heuristic Search via Imitation.
    By Bhardwaj, M., Choudhury, S. and Scherer, S.
    In arXiv.org, Jul. 2017.
    •

    2016

  • [1]
    A framework for optimal repairing of vector field-based motion plans.
    By Pereira, G.A.S., Choudhury, S. and Scherer, S.
    In 2016 International Conference on Unmanned Aircraft Systems (ICUAS), Washington, D.C., pp. 261–266, 2016.
  • [2]
    Real-time 3D scene layout from a single image using Convolutional Neural Networks.
    By Yang, S., Maturana, D. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Stockholm, Sweden, pp. 2183–2189, 2016.
  • [3]
    Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller.
    By Lee, R., Sreenath, K. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-33, 2016
  • [4]
    Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners.
    By Pereira, G.A.S., Choudhury, S. and Scherer, S.
    In Congresso Brasileiro de Automatica CBA, Vitoria, Brazil2016.
  • [5]
    List prediction applied to motion planning.
    By Tallavajhula, A., Choudhury, S., Scherer, S. and Kelly, A.
    In IEEE International Conference on Robotics and Automation ICRA, Stockholm, Sweden, pp. 213–220, 2016.
  • [6]
    Detecting cars in aerial photographs with a hierarchy of deconvolution nets.
    By Chakraborty, S., Maturana, D. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-60, 2016
  • [7]
    Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning.
    By Choudhury, S., Gammell, J.D., Barfoot, T.D., Srinivasa, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Stockholm, Sweden, pp. 4207–4214, 2016.
  • [8]
    Constrained CHOMP using Dual Projected Newton Method.
    By Choudhury, S. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, 2016
  • [9]
    Kinodynamic Motion Planning on Vector Fields using RRT.
    By Pereira, G.A.S., Choudhury, S. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, 2016
  • [10]
    Pop-up SLAM: Semantic monocular plane SLAM for low-texture environments.
    By Yang, S., Song, Y., Kaess, M. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, pp. 1222–1229, 2016.
  • [11]
    A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors.
    By Song, Y., Nuske, S. and Scherer, S.
    In Sensors, vol. 17, no. 1, p. 11, Dec. 2016.
    •

    2015

  • [1]
    PASP: Policy Based Approach For Sensor Planning.
    By Arora, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, pp. 3479–3486, 2015.
  • [2]
    Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots.
    By Dorneich, M.C., Letsu-Dake, E., Singh, S., Scherer, S., Chamberlain, L. and Bergerman, M.
    In Journal of Human-Robot Interaction, vol. 4, no. 3, pp. 38–61, Jan. 2015.
  • [3]
    VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition.
    By Maturana, D. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 922–928, 2015.
  • [4]
    Autonomous exploration and motion planning for an unmanned aerial vehicle navigating rivers.
    By Nuske, S., Choudhury, S., Jain, S., Chambers, A., Yoder, L., Scherer, S., Chamberlain, L., Cover, H. and Singh, S.
    In Journal of Field Robotics, vol. 32, pp. 1141–1162, 2015.
  • [5]
    The planner ensemble: Motion planning by executing diverse algorithms.
    By Choudhury, S., Arora, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 2389–2395, 2015.
  • [6]
    Real-time onboard 6DoF localization of an indoor MAV in degraded visual environments using a RGB-D camera.
    By Fang, Z. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 5253–5259, 2015.
  • [7]
    Autonomous Semantic Exploration Using Unmanned Aerial Vehicles.
    By Arora, S., Dubey, G., Jain, S., Maturana, D., Song, Y., Nuske, S. and Scherer, S.
    In Workshop on Vision-based Control and Navigation of Small, Lightweight UAVs2015.
  • [8]
    Emergency maneuver library - ensuring safe navigation in partially known environments.
    By Arora, S., Choudhury, S., Althoff, D. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 6431–6438, 2015.
  • [9]
    Recognition of Human Group Activity for Video Analytics.
    By Ju, J., Yang, C., Scherer, S. and Ko, H.
    In Advances in Multimedia Information Processing – PCM ,
    Y.-S. Ho, J. Sang, Y. M. Ro, J. Kim, and F. Wu, Eds.
    Cham: Springer, 2015, pp. p. 735
  • [10]
    High-precision Autonomous Flight in Constrained Shipboard Environments.
    By Yang, S., Fang, Z., Jain, S., Dubey, G., Maeta, S.M., Roth, S., Scherer, S., Zhang, Y. and Nuske, S.T.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, Feb-2015
  • [11]
    The Dynamics Projection Filter (DPF) - real-time nonlinear trajectory optimization using projection operators.
    By Choudhury, S. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 644–649, 2015.
  • [12]
    Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest.
    By Choudhury, S., Scherer, S. and Bagnell, J.A.
    In Proceedings of Robotics Science and Systems, vol. 11, 2015.
  • [13]
    Connected invariant sets for high-speed motion planning in partially-known environments.
    By Althoff, D. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 3279–3285, 2015.
  • [14]
    Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets.
    By Althoff, D., Althoff, M. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 3470–3477, 2015.
  • [15]
    3D Convolutional Neural Networks for landing zone detection from LiDAR.
    By Maturana, D. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Seattle, WA, USA, pp. 3471–3478, 2015.
  • [16]
    Multi-Scale Convolutional Architecture for Semantic Segmentation.
    By Raj, A., Maturana, D. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, Oct-2015
    •

    2014

  • [1]
    Experimental study of odometry estimation methods using RGB-D cameras.
    By Fang, Z. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, pp. 680–687, 2014.
  • [2]
    Visual Odometry in Smoke Occluded Environments.
    By Agarwal, A., Maturana, D. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-15-07, Jul-2014
  • [3]
    The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety .
    By Choudhury, S., Arora, S. and Scherer, S.
    In AHS Forum 73, Montreal, CAN2014.
  • [4]
    Learning Motion Planning Assumptions.
    By Vemula, A., Choudhury, S. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, Aug-2014
  • [5]
    Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments.
    By Chambers, A., Scherer, S., Yoder, L., Jain, S., Nuske, S. and Singh, S.
    In American Control Conference, Portland, OR2014.
  • [6]
    A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft.
    By Arora, S., Choudhury, S., Althoff, D. and Scherer, S.
    In AHS Forum 73, Montreal, CAN2014.
    •

    2013

  • [1]
    RRT*-AR: Sampling-based alternate routes planning with applications to autonomous emergency landing of a helicopter.
    By Choudhury, S., Scherer, S. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, pp. 3947–3952, 2013.
  • [2]
    Autonomous River Exploration.
    By Jain, S., Nuske, S., Chambers, A., Yoder, L., Scherer, S. and Singh, S.
    In Field and Service Robotics, Brisbanne, Australia2013.
  • [3]
    Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints.
    By Choudhury, S., Scherer, S. and Singh, S.
    In AHS Forum 69, Phoenix, AZ2013.
  • [4]
    Robocopters to the rescue.
    By Chamberlain, L. and Scherer, S.
    In Spectrum, IEEE, vol. 50, no. 10, pp. 28–33, 2013.
  • [5]
    Infrastructure-free shipdeck tracking for autonomous landing.
    By Arora, S., Jain, S., Scherer, S., Nuske, S., Chamberlain, L. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, pp. 323–330, 2013.
  • [6]
    First results in detecting and avoiding frontal obstacles from a monocular camera for micro unmanned aerial vehicles.
    By Mori, T. and Scherer, S.
    In IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, pp. 1750–1757, 2013.
  • [7]
    Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles.
    By Cover, H., Choudhury, S., Scherer, S. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, pp. 2820–2825, 2013.
    •

    2012

  • [1]
    Realtime Alternate Routes Planning: The RRT*-AR Algorithm.
    By Choudhury, S., Scherer, S. and Singh, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #Tech Report CMU-RI-TR-12-27, 2012
  • [2]
    Autonomous landing at unprepared sites by a full-scale helicopter.
    By Scherer, S., Chamberlain, L. and Singh, S.
    In Robotics and Autonomous Systems, vol. 60, no. 12, pp. 1545–1562, Dec. 2012.
  • [3]
    First results in autonomous landing and obstacle avoidance by a full-scale helicopter.
    By Scherer, S., Chamberlain, L. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, St. Paul, MN, pp. 951–956, 2012.
  • [4]
    River mapping from a flying robot: state estimation, river detection, and obstacle mapping.
    By Scherer, S., Rehder, J., Achar, S., Cover, H., Chambers, A., Nuske, S. and Singh, S.
    In Autonomous Robots, vol. 33, no. 1-2, pp. 189–214, 2012.
    •

    2011

  • [1]
    Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments.
    By Chamberlain, L., Scherer, S. and Singh, S.
    In AHS Forum 67, Virginia Beach2011.
  • [2]
    Multiple-objective motion planning for unmanned aerial vehicles.
    By Scherer, S. and Singh, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 2207–2214, 2011.
  • [3]Low-Altitude Operation of Unmanned Rotorcraft, PhD thesis, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 2011
  • [4]
    Self-supervised segmentation of river scenes.
    By Achar, S., Sankaran, B., Nuske, S., Scherer, S. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, Shanghai, China, pp. 6227–6232, 2011.
  • [5]
    Perception for a river mapping robot.
    By Chambers, A., Achar, S., Nuske, S., Rehder, J., Kitt, B., Chamberlain, L., Haines, J., Scherer, S. and Singh, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 227–234, 2011.
  • [6]
    Perception for a River Mapping Robot.
    By Chambers, A., Achar, S., Nuske, S., Rehder, J., Kitt, B., Chamberlain, L., Haines, J., Scherer, S. and Singh, S.
    In Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots, RSS 20112011.
  • [7]
    Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments.
    By Molero Fernandez, R., Scherer, S., Chamberlain, L. and Singh, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-10-08, Jun-2011
    •

    2010

  • [1]
    Online assessment of landing sites.
    By Scherer, S., Chamberlain, L. and Singh, S.
    In AIAA [email protected] Aerospace, Atlanta2010.
    •

    2009

  • [1]
    Efficient C-space and cost function updates in 3D for unmanned aerial vehicles.
    By Scherer, S., Ferguson, D. and Singh, S.
    In IEEE International Conference on Robotics and Automation ICRA, Kobe, Japan, pp. 2049–2054, 2009.
    •

    2008

  • [1]
    Flying fast and low among obstacles: Methodology and experiments.
    By Scherer, S., Singh, S. and Chamberlain, L.
    In The International Journal of Robotics Research, vol. 27, no. 5, pp. 549–574, 2008.
    •

    2007

  • [1]
    Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge.
    By Urmson, C., Anhalt, J., Bagnell, D., Baker, C., Bittner, R., Dolan, J., Duggins, D., Ferguson, D., Galatali, T., Geyer, H., Gittleman, M., Harbaugh, S., Hebert, M., Howard, T.M., Kelly, A., Kohanbash, D., Likhachev, M., Miller, N., Peterson, K., Rajkumar, R., Rybski, P., Salesky, B., Scherer, S., Seo, Y.-W., Simmons, R., Singh, S., Snider, J., Stentz, A., Whittaker, W.R. and Ziglar, J.
    Pittsburgh, PA
    Apr-2007
  • [2]
    Flying Fast and Low Among Obstacles.
    By Scherer, S., Singh, S., Chamberlain, L. and Saripalli, S.
    In IEEE International Conference on Robotics and Automation ICRA, Rome, Italy, pp. 2023–2029, 2007.
    •

    2006

  • [1]
    Learning obstacle avoidance parameters from operator behavior.
    By Hamner, B., Singh, S. and Scherer, S.
    In Journal of Field Robotics, vol. 23, no. 11-12, pp. 1037–1058, 2006.
  • [2]
    Learning to Drive Among Obstacles.
    By Hamner, B., Scherer, S. and Singh, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 2663–2669, 2006.
    •

    2005

  • [1]
    Learning to Drive Among Obstacles.
    By Hamner, B., Scherer, S. and Singh, S.
    In NIPS Workshop on Machine Learning Based Robotics in Unstructured Environments2005.
  • [2]
    Model checking of robotic control systems.
    By Scherer, S., Lerda, F. and Clarke, E.M.
    In Proc. of the 8th International symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Munich, Germany2005.
    •