2019


A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions

Weikun Zhen, Yaoyu Hu, Jingfeng Liu and Sebastian Scherer

Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 4, pp. 3585 – 3592, July, 2019 

Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB
Weikun Zhen and Sebastian Scherer

Conference Paper, Proceedings of 2019 International Conference on Robotics and Automation (ICRA), May, 2019 

Multi-view Reconstruction of Wires using a Catenary Model
Ratnesh Madaan, Michael Kaess and Sebastian Scherer

Conference Paper, Proceedings of Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019


2018

Precision UAV Landing in Unstructured Environments
Kevin Pluckter and Sebastian Scherer

Conference Paper, Proceedings of Internation Symposium on Experimental Robotics, November, 2018 

A Unified 3D Mapping Framework using a 3D or 2D LiDAR
Weikun Zhen and Sebastian Scherer

Conference Paper, Proceedings of International Symposium on Experimental Robotics, November, 2018 

Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories
Zhang Yanfu, Wenshan Wang, Rogerio Bonatti, Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of Conference on Robot Learning, October, 2018 

Decentralized Method for Sub-swarm Deployment and Rejoining
Meghan Chandarana, Wenhao Luo, Michael Lewis, Katia Sycara and Sebastian Scherer

Conference Paper, Proceedings of 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), October, 2018 

Hierarchical registration of unordered TLS point clouds based on binary shape context descriptor
Zhen Dong, Bisheng Yang, Fuxun Liang, Ronggang Huang and Sebastian Scherer

Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 144, pp. 61-79, October, 2018 

DROAN – Disparity-space Representation for Obstacle AvoidaNce: Enabling Wire Mapping & Avoidance
Geetesh Dubey, Ratnesh Madaan and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2018 

Determining Effective Swarm Sizes for Multi-Job Type Missions
Meghan Chandarana, Michael Lewis, Katia Sycara and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018, September, 2018 

Swarm Size Planning Tool for Multi-Job Type Missions
Meghan Chandarana, Michael Lewis, B. Danette Allen, Katia Sycara and Sebastian Scherer

Conference Paper, Proceedings of AIAA 2018, September, 2018 

State Estimation for Aerial Vehicles Using Multi-Sensor Fusion
Sebastian Scherer, Stephen Nuske and Yu Song

Miscellaneous, U.S. Patent Application 15/664,073, July, 2018 

Positioning Error Analysis of Least Squares Method for Wireless Sensor Networks
Xiangrui Tian, Weikun Zhen and Sebastian Scherer

Conference Paper, Proceedings of International Symposium on Robotics, June, 2018 

CubeSLAM: Monocular 3D Object Detection and SLAM without Prior Models
Shichao Yang and Sebastian Scherer

Miscellaneous, arXiv.org, June, 2018 

Achieving Robust Localization in Geometrically Degenerated Tunnels
Weikun Zhen and Sebastian Scherer

Workshop Paper, In Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, June, 2018 

Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids
Simon Schopferer, Julian Sören Lorenz, Azarakhsh Keipour and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS 2018), June, 2018 

An efficient global energy optimization approach for robust 3D plane segmentation of point clouds
Zhen Dong, Bisheng Yanga, Pingbo Hua and Sebastian Scherer

Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 137, pp. 112-133, March, 2018 

A System Decomposition for Real-time Efficient and Safe Motion Generation for Autonomous Flying Systems
Sebastian Scherer, Sanjiban Choudhury, Silvio Maeta, Daniel Althoff, Sankalp Arora, Vishal Dugar and Brian MacAllister

Miscellaneous, Invention Disclosure 2018-007 (Provisional Patent Filed), January, 2018 

Real-Time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

Book Section/Chapter, In Field and Service Robotics, Springer Proceedings in Advanced Robotics, Vol. 5, pp. 335–350, January, 2018 

Season-Invariant Semantic Segmentation with a Deep Multimodal Network
Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer

Book Section/Chapter, In Field and Service Robotics, Springer Proceedings in Advanced Robotics, Vol. 5, pp. 255 – 270, January, 2018

2017

Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, Proceedings of 31st Conference on Neural Information Processing Systems, pp. 4634 – 4644, December, 2017 

Data-driven Planning via Imitation Learning
Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer and Debadeepta Dey

Miscellaneous, arxiv.org, November, 2017 

Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of the 1st Annual Conference on Robot Learning, Vol. 78, pp. 271-280, October, 2017 

Looking Forward: A Semantic Mapping System for Scouting with Micro-Aerial Vehicles
Daniel Maturana, Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Intelligent Robots and Systems (IROS), pp. 6691 – 6698, September, 2017 

DROAN – Disparity-space Representation for Obstacle AvoidaNce
Geetesh Dubey, Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017 

Season-Invariant Semantic Segmentation with A Deep Multimodal Network
Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer

Conference Paper, Proceedings of Field and Service Robotics, September, 2017 

Real-time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

Conference Paper, Proceedings of Field and Service Robotics (FSR), September, 2017 

Wire Detection using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles
Ratnesh Madaan, Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017 

Robust Crack Detection in Concrete Structures Images using Multi-Scale Enhancement and Visual Features
Xiangzeng Liu, Yunfeng Ai and Sebastian Scherer

Conference Paper, Proceedings of 2017 IEEE International Conference on Image Processing (ICIP 2017), September, 2017 

Semantic 3D Occupancy Mapping through Efficient High Order CRFs
Shichao Yang, Yulan Huang and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Robots and Systems, July, 2017 

Improving Stochastic Policy Gradients in Continuous Control with Deep Reinforcement Learning using the Beta Distribution
Po-Wei Chou, Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of Thirty-fourth International Conference on Machine Learning (ICML), July, 2017 

Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer

Miscellaneous, arXiv.org, July, 2017 

Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer and Debadeepta Dey

Conference Paper, Proceedings of Robotics: Science and Systems (RSS 2017), July, 2017 

Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, and Debadeepta Dey

Miscellaneous, arXiv.org, May, 2017 

Direct Monocular Odometry Using Points and Lines
Shichao Yang and Sebastian Scherer

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation ICRA, May, 2017 

Randomized Algorithm for Informative Path Planning with Budget Constraints
Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), June, 2017, May, 2017 

Robust Localization and Localizability Estimation with a Rotating Laser Scanner
Weikun Zhen, Sam Zeng and Sebastian Scherer

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation 2017, May, 2017 

Obstacle Avoidance through Deep Networks based Intermediate Perception
Shichao Yang, Sandeep Konam, Chen Ma, Stephanie Rosenthal, Manuela Veloso and Sebastian Scherer

Miscellaneous, arXiv.org, April, 2017 

Direct Monocular Odometry Using Points and Lines
Shichao Yang and Sebastian Scherer

Miscellaneous, arXiv.org, March, 2017 

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

Miscellaneous, arXiv.org, March, 2017 

Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of AHS Forum, Vol 73, 2017, March, 2017 

A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA), February, 2017 

A system to create semantic maps using aerial imagery
Sankalp Arora, Geetesh Dubey, Daniel Maturana and Sebastian Scherer

Miscellaneous, Invention Disclosure 2017-141, January, 2017 

Semantic Monocular Plane SLAM for Low-Texture Structured Environments
Michael Kaess, Daniel Maturana, Sebastian Scherer and Shichao Yang

Miscellaneous, Invention Disclosure 2017-065, January, 2017 

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

Journal Article, Journal of Field Robotics, Vol. 34, No. 1, pp. 25–52, January, 2017 

Reliable Localization and Localizability Prediction in Indoor Environments using a Rotating Lidar Scanner
Sebastian Scherer, Sam Zeng and Weikun Zhen

Miscellaneous, Invention Disclosure 2017-026 (Provisional Patent Filed), January, 2017 

Contingency Planning Algorithms for Unmanned Aircraft
Mohak Bhardwaj and Sebastian Scherer

Miscellaneous, Invention Disclosure 2017-101 (Provisional Patent Filed), January, 2017 

Contingency Landing Site Map
Sebastian Scherer and Kyle Strabala

Miscellaneous, Invention Disclosure 2017-116 (Provisional Patent Filed), January, 2017 

Car Detection using Monocular Images for Aerial Applications
Daniel Maturana and Sebastian Scherer

Miscellaneous, Invention Disclosure 2017-069, January, 2017 

A Multi-Sensor Fusion System for State Estimation from Visual, IMU, GPS, and Barometric Sensors
Stephen Nuske, Sebastian Scherer and Yu Song

Miscellaneous, Invention Disclosure 2017-009 (Provisional Patent Filed and converted to patent application), January, 2017 

A method for creating semantic maps from monocular camera imagery
Sankalp Arora, Daniel Maturana and Sebastian Scherer

Miscellaneous, Invention Disclosure 2017-140, January, 2017 

A Guaranteed Safe Method for Obstacle Avoidance based on Disparity and Depth Images
Sankalp Arora, Geetesh Dubey and Sebastian Scherer

Miscellaneous, Invention Disclosure 2017-024 (Provisional Patent Filed), January, 2017

2016

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske and Sebastian Scherer

Journal Article, Sensors, Vol. 17, No. 11, December, 2016 

Detecting cars in aerial photographs with a hierarchy of deconvolution nets
Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016 

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1222 – 1229, October, 2016 

Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of Congresso Brasileiro de Automatica (CBA), October, 2016 

Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller
Richard Lee, Koushil Sreenath and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-52, Robotics Institute, Carnegie Mellon University, August, 2016 

Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016 

A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016 

Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4207 – 4214, May, 2016 

Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
Shichao Yang, Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), pp. 2183 – 2189, May, 2016 

Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016 

List Prediction Applied To Motion Planning
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly

Conference Paper, Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 213 – 220, May, 2016 

A shipboard localization and motion planning system
Sebastian Scherer and Shichao Yang

Miscellaneous, Invention Disclosure 2016-153, January, 2016 

A Direct Method for Obstacle Avoidance based on Disparity and Depth Images
Geetesh Dubey and Sebastian Scherer

Miscellaneous, Invention Disclosure 2016-220, January, 2016

2015

Recognition of Human Group Activity for Video Analytics
Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko

Book Section/Chapter, Advances in Multimedia Information Processing – PCM, Vol. 9315, pp. 161 – 169, December, 2015 

Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman

Journal Article, Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015 

Multi-Scale Convolutional Architecture for Semantic Segmentation
Aman Raj, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, pp. 14, October, 2015 

Autonomous Semantic Exploration Using Unmanned Aerial Vehicles
Sankalp Arora, Geetesh Dubey, Sezal Jain, Daniel Maturana, Song Yu, Stephen Nuske and Sebastian Scherer

Workshop Paper, In Workshop on Vision-based Control and Navigation of Small, Lightweight UAVs, October, 2015 

VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition
Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 922 – 928, September, 2015 

Recognition of Human Group Activity for Video Analytics
Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko

Conference Paper, Proceedings of Advances in Multimedia Information Processing, pp. 735, September, 2015 

Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
Daniel Althoff, Matthias Althoff and Sebastian Scherer

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3470 – 3477, September, 2015 

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

Journal Article, Journal of Field Robotics, Vol. 32, pp. 1141 – 1162, June, 2015 

Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
Sankalp Arora, Sanjiban Choudhury, Daniel Althoff and Sebastian Scherer

Conference Paper, Proceedings of 2015 IEEE International Conference on Robotics and Automation, pp. 6431 – 6438, May, 2015 

Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
Zheng Fang and Sebastian Scherer

Conference Paper, Proceedings of 2015 IEEE International Conference on Robotics and Automation, pp. 5253 – 5259, May, 2015 

PASP: Policy Based Approach for Sensor Planning
Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of 2015 IEEE International Conference on Robotics and Automation, pp. 3479 – 3486, May, 2015 

The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, pp. 644 – 649, May, 2015 

The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of IEEE Conference on Robotics and Automation, pp. 2389 – 2395, May, 2015 

Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer

Conference Paper, Proceedings of 2015 IEEE International Conference on Robotics and Automation, pp. 3279 – 3285, March, 2015 

3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
Daniel Maturana and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 3471 – 3478, March, 2015 

High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Tech. Report, CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015 

Software and method to classify point cloud data for real-time semantic labeling
Daniel Maturana and Sebastian Scherer

Miscellaneous, Invention Disclosure 2015-131, January, 2015

2014

Experimental Study of Odometry Estimation Methods using RGB-D Cameras
Zheng Fang and Sebastian Scherer

Conference Paper, Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014 

Learning Motion Planning Assumptions
Anirudh Vemula, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-14-14, Robotics Institute, Carnegie Mellon University, August, 2014 

Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh

Conference Paper, In Proceedings of American Control Conference, Portland, OR, June, 2014 

A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
Sankalp Arora, Sanjiban Choudhury, Sebastian Scherer and Daniel Althoff

Conference Paper, Proceedings of AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20-22, May, 2014 

The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

Conference Paper, Proceedings of AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May, 2014

2013

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

Conference Paper, Proceedings of Field and Service Robotics, Brisbane, December, 2013 

Robocopters to the rescue
Lyle Chamberlain and Sebastian Scherer

Magazine Article, IEEE Spectrum, Vol. 50, No. 10, pp. 28 – 33, October, 2013 

Robocopters to the Rescue
Lyle Chamberlain and Sebastian Scherer

Magazine Article, IEEE Spectrum, Vol. 9, September, 2013 

First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles
Tomoyuki Mori and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 1750 – 1757, May, 2013 

Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 2820 – 2825, May, 2013 

RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 3947 – 3952, May, 2013 

Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 323 – 330, May, 2013 

2012

Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Tech. Report, CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012 

Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Journal Article, Robotics and Autonomous Systems, Vol. 60, No. 12, pp. 1545 – 1562, September, 2012 

River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh

Journal Article, Autonomous Robots, Vol. 32, No. 5, pp. 189 – 214, May, 2012 

First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Proceedings of ICRA, pp. 951 – 956, May, 2012

2011

Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’11), pp. 227 – 234, September, 2011 

Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’11), pp. 2207 – 2214, September, 2011 

Perception for a River Mapping Robot
Andrew Chambers, Supreeth Achar, Stephen Nuske, Joern Rehder, Bernd Kitt, Lyle Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Workshop Paper, In Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots, RSS 2011, June, 2011 

Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011 

Low-Altitude Operation of Unmanned Rotorcraft
Sebastian Scherer

PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011 

Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of ICRA 2011, pp. 6227 – 6232, May, 2011 

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

Conference Paper, Proceedings of AHS Forum 67, March, 2011 

2010

Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, June, 2010 

Online Assessment of Landing Sites
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Proceedings of AIAA [email protected] 2010, April, 2010

2009

Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh

Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2049 – 2054, May, 2009 

2008

Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

Journal Article, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008

2007

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

Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007 

Flying Fast and Low Among Obstacles
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli

Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2023 – 2029, April, 2007

2006

Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer

Journal Article, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12, pp. 1037-1058, December, 2006 

Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 – 2669, October, 2006

2005

Model Checking of Robotic Control Systems
Sebastian Scherer, Flavio Lerda and Edmund M. Clarke

Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005 

Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh

Workshop Paper, In NIPS Workshop on Machine Learning Based Robotics in Unstructured Environments, June, 2005