Publications

2024

  1. Fast and Modular Autonomy Software for Autonomous Racing Vehicles.
    By Saba, A., Adetunji, A., Johnson, A., Kothari, A., Sivaprakasam, M., Spisak, J., Bharatia, P., Chauhan, A., Duff, B., Gasparro, N., King, C., Larkin, R., Mao, B., Nye, M., Parashar, A., Attias, J., Balciunas, A., Brown, A., Chang, C., Gao, M., Heredia, C., Keats, A., Lavariega, J., Muckelroy, W., Slavescu, A., Stathas, N., Suvarna, N., Zhang, C.T., Scherer, S. and Ramanan, D.
    In Field Robotics, vol. 4, no. 1, pp. 1–45, Jan. 2024.

  2. A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning.
    By Chen, Q., Hu, Z., Geng, J., Bai, D., Mousaei, M. and Scherer, S.
    In AIAA SCITECH 2024 Forum, p. 2878, 2024.

  3. Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
    By Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C.E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petráček, P., Petrlík, M., Reinke, A., Krátký, V., Zhao, S., Agha-mohammadi, A.-akbar, Alexis, K., Heckman, C., Khosoussi, K., Kottege, N., Morrell, B., Hutter, M., Pauling, F., Pomerleau, F., Saska, M., Scherer, S., Siegwart, R., Williams, J.L. and Carlone, L.
    In IEEE Transactions on Robotics, vol. 40, pp. 936–959, 2024.

2023

  1. Follow the rules: Online signal temporal logic tree search for guided imitation learning in stochastic domains.
    By Aloor, J.J., Patrikar, J., Kapoor, P., Oh, J. and Scherer, S.
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1320–1326, 2023.

  2. Multi-robot, multi-sensor exploration of multifarious environments with full mission aerial autonomy.
    By Best, G., Garg, R., Keller, J., Hollinger, G.A. and Scherer, S.
    In The International Journal of Robotics Research, 2023.

  3. Exploring the Most Sectors at the DARPA Subterranean Challenge Finals.
    By Cao, C., Nogueira, L., Zhu, H., Keller, J., Best, G., Garg, R., Kohanbash, D., Maier, J., Zhao, S., Yang, F., Cujic, K., Darnley, R., DeBortoli, R., Drozd, B., Sun, B., Higgins, I., Willits, S., Armstrong, G., Zhang, J., Hollinger, G., Travers, M. and Scherer, S.
    In Field Robotics, vol. 3, no. 25, pp. 801–836, 2023.

  4. How does it feel? self-supervised costmap learning for off-road vehicle traversability.
    By Castro, M.G., Triest, S., Wang, W., Gregory, J.M., Sanchez, F., Rogers, J.G. and Scherer, S.
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 931–938, 2023.

  5. Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models.
    By Chen, E., Ho, C., Maulimov, M., Wang, C. and Scherer, S.
    In arXiv preprint arXiv:2306.15226, 2023.

  6. Aerial Interaction with Tactile Sensing.
    By Guo, X., He, G., Mousaei, M., Geng, J., Shi, G. and Scherer, S.
    In arXiv preprint arXiv:2310.00142, 2023.

  7. Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV.
    By He, G., Jangir, Y., Geng, J., Mousaei, M., Bai, D. and Scherer, S.
    In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5042–5049, 2023.

  8. FoundLoc: Vision-based Onboard Aerial Localization in the Wild.
    By He, Y., Cisneros, I., Keetha, N., Patrikar, J., Ye, Z., Higgins, I., Hu, Y., Kapoor, P. and Scherer, S.
    In arXiv preprint arXiv:2310.16299, 2023.

  9. Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments.
    By Hu, Y., Geng, J., Wang, C., Keller, J. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3780–3787, 2023.

  10. Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis.
    By Hu, Y., Xie, Q., Jain, V., Francis, J., Patrikar, J., Keetha, N., Kim, S., Xie, Y., Zhang, T., Zhao, Z. and others.
    In arXiv preprint arXiv:2312.08782, 2023.

  11. Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation.
    By Jacinto, M., Pinto, J., Patrikar, J., Keller, J., Cunha, R., Scherer, S. and Pascoal, A.
    In arXiv preprint arXiv:2307.05263, 2023.

  12. WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views.
    By Jong, A., Yu, M., Dhrafani, D., Kailas, S., Moon, B., Sycara, K. and Scherer, S.
    In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11464–11471, 2023.

  13. SplaTAM: Splat, track & map 3d gaussians for dense rgb-d SLAM.
    By Keetha, N., Karhade, J., Jatavallabhula, K.M., Yang, G., Scherer, S., Ramanan, D. and Luiten, J.
    In arXiv preprint arXiv:2312.02126, 2023.

  14. AnyLoc: Towards universal visual place recognition.
    By Keetha, N., Mishra, A., Karhade, J., Jatavallabhula, K.M., Scherer, S., Krishna, M. and Garg, S.
    In IEEE Robotics and Automation Letters, 2023.

  15. UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction.
    By Keipour, A., Mousaei, M., Geng, J., Bai, D. and Scherer, S.
    In AIAA SCITECH 2023 Forum, p. 1279, 2023.

  16. A Simulator for Fully-Actuated UAVs.
    By Keipour, A., Mousaei, M. and Scherer, S.
    In The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles, 2023.

  17. Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition.
    By Kim, S., Corah, M., Keller, J., Best, G. and Scherer, S.
    In IEEE Robotics and Automation Letters, 2023.

  18. 360FusionNeRF: Panoramic neural radiance fields with joint guidance.
    By Kulkarni, S., Yin, P. and Scherer, S.
    In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7202–7209, 2023.

  19. PVT++: A Simple End-to-End Latency-Aware Visual Tracking Framework.
    By Li, B., Huang, Z., Ye, J., Li, Y., Scherer, S., Zhao, H. and Fu, C.
    In Proceedings of the IEEE/CVF International Conference on Computer Vision, pp. 10006–10016, 2023.

  20. AirLoc: Object-based Indoor Relocalization.
    By Li, B., Scherer, S., Lin, Y.-J., Wang, C. and others.
    In arXiv preprint arXiv:2304.00954, 2023.

  21. VoxDet: Voxel Learning for Novel Instance Detection.
    By Li, B., Wang, J., Hu, Y., Wang, C. and Scherer, S.
    In Advances in Neural Information Processing Systems (NeurIPS), 2023.

  22. PIAug–Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation.
    By Maheshwari, P., Wang, W., Triest, S., Sivaprakasam, M., Aich, S., Rogers III, J.G., Gregory, J.M. and Scherer, S.
    In arXiv preprint arXiv:2311.00815, 2023.

  23. Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification.
    By Moon, B., Sachdev, S., Yuan, J. and Scherer, S.
    In IEEE Robotics and Automation Letters, 2023.

  24. SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation.
    By Navarro, I., Patrikar, J., Dantas, J., Baijal, R., Higgins, I., Scherer, S. and Oh, J.
    In arXiv preprint arXiv:2309.13144, 2023.

  25. Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace.
    By Navarro, I., Patrikar, J., Dantas, J., Baijal, R., Higgins, I., Scherer, S. and Oh, J.
    In arXiv preprint arXiv:2304.01428, 2023.

  26. AirIMU: Learning Uncertainty Propagation for Inertial Odometry.
    By Qiu, Y., Wang, C., Zhou, X., Xia, Y. and Scherer, S.
    In arXiv preprint arXiv:2310.04874, 2023.

  27. Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments.
    By Rauniyar, A., Li, J. and Scherer, S.
    In arXiv preprint arXiv:2310.13184, 2023.

  28. Quantifying the Effect of Weather on Advanced Air Mobility Operations.
    By Sharma, A., Patrikar, J., Moon, B., Scherer, S. and Samaras, C.
    In Findings, 2023.

  29. DytanVO: Joint refinement of visual odometry and motion segmentation in dynamic environments.
    By Shen, S., Cai, Y., Wang, W. and Scherer, S.
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 4048–4055, 2023.

  30. TartanDrive 1.5: Improving Large Multimodal Robotics Dataset Collection and Distribution.
    By Sivaprakasam, M., Triest, S., Castro, M.G., Nye, M., Maulimov, M., Ho, C., Maheshwari, P., Wang, W. and Scherer, S.
    In ICRA2023 Workshop on Pretraining for Robotics (PT4R), 2023.

  31. AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking.
    By Ghosh, S., Patrikar, J., Moon, B., Hamidi, M.M. and Sebastian Scherer, and.
    In International Conference on Robotics and Automation (ICRA), 2023.

  32. Greedy Perspectives: Multi-Drone View Planning for Collaborative Coverage in Cluttered Environments.
    By Suresh, K., Rauniyar, A., Corah, M. and Scherer, S.
    In arXiv preprint arXiv:2310.10863, 2023.

  33. Multimodal beacon based precision landing system for autonomous aircraft, Sep-2023

  34. Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation.
    By Triest, S., Castro, M.G., Maheshwari, P., Sivaprakasam, M., Wang, W. and Scherer, S.
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 924–930, 2023.

  35. PyPose: A library for robot learning with physics-based optimization.
    By Wang, C., Gao, D., Xu, K., Geng, J., Hu, Y., Qiu, Y., Li, B., Yang, F., Moon, B., Pandey, A. and others.
    In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 22024–22034, 2023.

  36. MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position.
    By Yan, J., Lin, X., Ren, Z., Zhao, S., Yu, J., Cao, C., Yin, P., Zhang, J. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4299–4306, 2023.

  37. BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition.
    By Yin, P., Abuduweili, A., Zhao, S., Xu, L., Liu, C. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 39, no. 6, pp. 4855–4874, 2023.

  38. iSimLoc: Visual Global Localization for Previously Unseen Environments With Simulated Images.
    By Yin, P., Cisneros, I., Zhao, S., Zhang, J., Choset, H. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 39, no. 3, pp. 1893–1909, 2023.

  39. AutoMerge: A framework for map assembling and smoothing in city-scale environments.
    By Yin, P., Zhao, S., Lai, H., Ge, R., Zhang, J., Choset, H. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 39, no. 5, pp. 3686–3704, 2023.

  40. 2D-3D Pose Tracking with Multi-View Constraints.
    By Yu, H., Chen, K., Yang, W., Scherer, S. and Xia, G.-S.
    In arXiv preprint arXiv:2309.11335, 2023.

  41. PyPose v0.6: The Imperative Programming Interface for Robotics.
    By Zhan, Z., Li, X., Li, Q., He, H., Pandey, A., Xiao, H., Xu, Y., Chen, X., Xu, K., Cao, K. and others.
    In arXiv preprint arXiv:2309.13035, 2023.

  42. SubT-MRS: A Subterranean, Multi-Robot, Multi-Spectral and Multi-Degraded Dataset for Robust SLAM.
    By Zhao, S., Singh, D., Sun, H., Jiang, R., Gao, Y.J., Wu, T., Karhade, J., Whittaker, C., Higgins, I., Xu, J. and others.
    In arXiv preprint arXiv:2307.07607, 2023.

  43. Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds.
    By Zhao, Z., Yu, H., Lyu, C., Yang, W. and Scherer, S.
    In IEEE Sensors Journal, vol. 23, no. 19, pp. 23836–23845, 2023.

2022

  1. Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots.
    By Best, G., Garg, R., Keller, J., Hollinger, G.A. and Scherer, S.
    In Proceedings of Robotics: Science and Systems, 2022.

  2. Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020.
    By Bhattacharya, A., Gandhi, A., Merkle, L., Tiwari, R., Warrior, K., Winata, S., Saba, A., Zhang, K., Kroemer, O. and Scherer, S.
    In Field Robotics Journal, pp. 172–200, May 2022.

  3. I2D-Loc: Camera localization via image to LiDAR depth flow.
    By Chen, K., Yu, H., Yang, W., Yu, L., Scherer, S. and Xia, G.-S.
    In ISPRS Journal of Photogrammetry and Remote Sensing, vol. 194, pp. 209–221, 2022.

  4. ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization.
    By Cisneros, I., Yin, P., Zhang, J., Choset, H. and Scherer, S.
    In arXiv preprint arXiv:2207.12317, 2022.

  5. On Performance Impacts of Coordination via Submodular Maximization for Multi-Robot Perception Planning and the Dynamics of Target Coverage and Cinematography.
    By Corah, M. and Scherer, S.
    In RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation, 2022.

  6. TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags.
    By Duisterhof, B.P., Hu, Y., Teng, S.H., Kaess, M. and Scherer, S.
    In arXiv preprint arXiv:2210.02511, 2022.

  7. Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments.
    By Fu, T., Yu, H., Yang, W., Hu, Y. and Scherer, S.
    In IEEE Transactions on Instrumentation and Measurement, vol. 71, pp. 1–11, 2022.

  8. AirLoop: Lifelong Loop Closure Detection.
    By Gao, D., Wang, C. and Scherer, S.
    In International Conference on Robotics and Automation (ICRA), pp. 10664–10671, 2022.

  9. Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras.
    By He, Y., Yu, H., Yang, W. and Scherer, S.
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9452–9458, 2022.

  10. Predicting Like a Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace.
    By Patrikar, J., Moon, B., Oh, J. and Scherer, S.
    In International Conference on Robotics and Automation (ICRA), 2022.

  11. Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace.
    By Patrikar, J., Dantas, J.P.A., Ghosh, S., Kapoor, P., Higgins, I., Aloor, J.J., Navarro, I., Sun, J., Stoler, B., Hamidi, M., Baijal, R., Moon, B., Oh, J. and Scherer, S.
    In arXiv preprint arXiv:2211.06932, 2022.

  12. Detection and Physical Interaction with Deformable Linear Objects.
    By Keipour, A., Mousaei, M., Bandari, M., Schaal, S. and Scherer, S.
    In ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, 2022.

  13. Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle.
    By Keipour, A., Pereira, G.A.S., Bonatti, R., Garg, R., Rastogi, P., Dubey, G. and Scherer, S.
    In Sensors, vol. 22, no. 17, p. 6549, 2022.

  14. Aerial Field Robotics.
    By Kulkarni, M., Moon, B., Alexis, K. and Scherer, S.
    In Encyclopedia of Robotics,
    Berlin, Heidelberg: Springer Berlin Heidelberg, 2022, pp. pp. 1–15

  15. AdaFusion: Visual-LiDAR fusion with adaptive weights for place recognition.
    By Lai, H., Yin, P. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 12038–12045, 2022.

  16. AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration.
    By Li, B., Wang, C., Reddy, P., Kim, S. and Scherer, S.
    In European Conference on Computer Vision (ECCV), pp. 427–444, 2022.

  17. TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning.
    By Moon, B., Chatterjee, S. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

  18. Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure.
    By Mousaei, M., Geng, J., Keipour, A., Bai, D. and Scherer, S.
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4310–4317, 2022.

  19. VTOL failure detection and recovery by utilizing redundancy.
    By Mousaei, M., Keipour, A., Geng, J. and Scherer, S.
    In arXiv preprint arXiv:2206.00588, 2022.

  20. AirObject: A Temporally Evolving Graph Embedding for Object Identification.
    By Keetha, N., Wang, C., Qiu, Y., Xu, K. and Scherer, S.
    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Los Alamitos, CA, USA, pp. 8397–8406, 2022.

  21. AirDOS: Dynamic SLAM benefits from Articulated Objects.
    By Qiu, Y., Wang, C., Wang, W., Henein, M. and Scherer, S.
    In International Conference on Robotics and Automation (ICRA), pp. 8047–8053, 2022.

  22. Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots.
    By Scherer, S., Agrawal, V., Best, G., Cao, C., Cujic, K., Darnley, R., DeBortoli, R., Dexheimer, E., Drozd, B., Garg, R., Higgins, I., Keller, J., Kohanbash, D., Nogueira, L., Pradhan, R., Tatum, M., K. Viswanathan, V., Willits, S., Zhao, S., Zhu, H., Abad, D., Angert, T., Armstrong, G., Boirum, R., Dongare, A., Dworman, M., Hu, S., Jaekel, J., Ji, R., Lai, A., Hsuan Lee, Y., Luong, A., Mangelson, J., Maier, J., Picard, J., Pluckter, K., Saba, A., Saroya, M., Scheide, E., Shoemaker-Trejo, N., Spisak, J., Teza, J., Yang, F., Wilson, A., Zhang, H., Choset, H., Kaess, M., Rowe, A., Singh, S., Zhang, J., A. Hollinger, G. and Travers, M.
    In Field Robotics Journal, pp. 678–734, May 2022.

  23. Robotic Interestingness via Human-Informed Few-Shot Object Detection.
    By Kim, S., Wang, C., Li, B. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1756–1763, 2022.

  24. Robust Modeling and Controls for Racing on the Edge.
    By Spisak, J., Saba, A., Suvarna, N., Mao, B., Zhang, C.T., Chang, C., Scherer, S. and Ramanan, D.
    In arXiv preprint arXiv:2205.10841, 2022.

  25. Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery.
    By Rodrigues, T.A., Patrikar, J., Oliveira, N.L., Matthews, H.S., Scherer, S. and Samaras, C.
    In Patterns, vol. 3, no. 8, p. 100569, 2022.

  26. TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models.
    By Triest, S., Sivaprakasam, M., Wang, S.J., Wang, W., Johnson, A.M. and Scherer, S.
    In 2022 International Conference on Robotics and Automation (ICRA), 2022.

  27. Lifelong graph learning.
    By Wang, C., Qiu, Y., Gao, D. and Scherer, S.
    In 2022 Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

  28. Unsupervised Online Learning for Robotic Interestingness With Visual Memory.
    By Wang, C., Qiu, Y., Wang, W., Hu, Y., Kim, S. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2446–2461, 2022.

  29. Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning.
    By Wang, S.J., Triest, S., Wang, W., Scherer, S. and Johnson, A.
    In Proceedings of the 5th Conference on Robot Learning, vol. 164, pp. 224–233, 2022.

  30. AirCode: A Robust Object Encoding Method.
    By Xu, K., Wang, C., Chen, C., Wu, W. and Scherer, S.
    In IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 1816–1823, 2022.

  31. General Place Recognition Survey: Towards the Real-world Autonomy Age.
    By Yin, P., Zhao, S., Cisneros, I., Abuduweili, A., Huang, G., Milford, M., Liu, C., Choset, H. and Scherer, S.
    In arXiv preprint arXiv:2209.04497, 2022.

  32. ALITA: A large-scale incremental dataset for long-term autonomy.
    By Yin, P., Zhao, S., Ge, R., Cisneros, I., Fu, R., Zhang, J., Choset, H. and Scherer, S.
    In arXiv preprint arXiv:2205.10737, 2022.

  33. SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor.
    By Zhao, S., Yin, P., Yi, G. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 256–263, 2022.

  34. Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics.
    By Zhen, W., Yu, H., Hu, Y. and Scherer, S.
    In 2022 International Conference on Robotics and Automation (ICRA), 2022.

2021

  1. Real-Time Ellipse Detection for Robotics Applications.
    By Keipour, A., Pereira, G.A.S. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7009–7016, Oct. 2021.

  2. Integration of Fully-Actuated Multirotors into Real-World Applications.
    By Keipour, A., Mousaei, M., Ashley, A. and Scherer, S.
    In arXiv preprint arXiv:2011.06666, 2021.

  3. Batteries, Camera, Action! Learning a Semantic Control Space for Expressive Robot Cinematography.
    By Bonatti, R., Bucker, A., Scherer, S., Mukadam, M. and Hodgins, J.
    In Proceedings - IEEE International Conference on Robotics and Automation, Xi’an, China, pp. 7302–7308, 2021.

  4. Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography.
    By Bucker, A., Bonatti, R. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Xi’an, China, pp. 7972–7979, 2021.

  5. 3D Human Reconstruction in the Wild with Collaborative Aerial Cameras.
    By Ho, C., Jong, A., Freeman, H., Rao, R., Bonatti, R. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5263–5269, 2021.

  6. CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model.
    By Choudhry, A., Moon, B., Patrikar, J., Samaras, C. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Xi’an, China, 2021.

  7. ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras.
    By Li, H., Yu, H., Yang, W., Yu, L. and Scherer, S.
    In ISPRS Journal of Photogrammetry and Remote Sensing, vol. 178, pp. 187–202, 2021.

  8. Model-based real-time robust controller for a small helicopter.
    By He, M., He, J. and Scherer, S.
    In Mechanical Systems and Signal Processing, vol. 146, p. 107022, 2021.

  9. i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions.
    By Yin, P., Xu, L., Zhang, J., Choset, H. and Scherer, S.
    In Proceedings of Robotics: Science and Systems (RSS ’21), 2021.

  10. 3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors.
    By Yin, P., Xu, L., Ji, J., Scherer, S. and Choset, H.
    In IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5953–5960, Jul. 2021.

  11. Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions.
    By Sivaprakasam, M., Triest, S., Wang, W., Yin, P. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Xi’an, China, pp. 4844–4850, 2021.

  12. In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery.
    By Rodrigues, T.A., Patrikar, J., Choudhry, A., Feldgoise, J., Arcot, V., Gahlaut, A., Lau, S., Moon, B., Wagner, B., Matthews, H.S., Scherer, S. and Samaras, C.
    In Scientific Data, Jun. 2021.

  13. TartanVO: A Generalizable Learning-based VO.
    By Wang, W., Hu, Y. and Scherer, S.
    In Proceedings of the 2020 Conference on Robot Learning, vol. 155, pp. 1761–1772, 2021.

  14. Graph-Based Topological Exploration Planning in Large-Scale 3D Environments.
    By Yang, F., Lee, D.-H., Keller, J. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Xi’an, China, pp. 12730–12736, 2021.

2020

  1. Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations.
    By Bonatti, R., Madaan, R., Vineet, V., Scherer, S. and Kapoor, A.
    In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1637–1644, 2020.

  2. 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 Journal of Field Robotics, Jan. 2020.

  3. 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 International Symposium on Experimental Robotics, pp. 119–129, 2020.

  4. Human-in-the-loop Planning and Monitoring of Swarm Search and Service Missions.
    By Chandarana, M., Lewis, M., Sycara, K. and Scherer, S.
    In International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS’2020), 2020.

  5. RGB-D SLAM in Dynamic Environments Using Point Correlations.
    By Dai, W., Zhang, Y., Li, P., Fang, Z. and Scherer, S.
    In IEEE Transactions on Pattern Analysis and Machine Intelligence, 2020.

  6. Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance.
    By Dexheimer, E., Mangelson, J., Scherer, S. and Kaess, M.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4758–4765, 2020.

  7. 3D-SiamRPN: An End-to-end Learning Method for Real-time 3D Single Object Tracking using Raw Point Cloud.
    By Fang, Z., Zhou, S., Cui, Y. and Scherer, S.
    In IEEE Sensors Journal, 2020.

  8. Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction.
    By Hu, Y., Zhen, W. and Scherer, S.
    In 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 8637–8643, 2020.

  9. Feasibility of discriminating UAV propellers noise from distress signals to locate people in enclosed environments using MEMS microphone arrays.
    By Izquierdo, A., Val, L.D., Villacorta, J.J., Zhen, W., Scherer, S. and Fang, Z.
    In Sensors, vol. 20, no. 3, p. 597, 2020.

  10. A Robust Multi-Stereo Visual-Inertial Odometry Pipeline.
    By Jaekel, J., Mangelson, J., Scherer, S. and Kaess, M.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4623–4630, 2020.

  11. ALFA: A dataset for UAV fault and anomaly detection.
    By Keipour, A., Mousaei, M. and Scherer, S.
    In The International Journal of Robotics Research, Oct. 2020.

  12. Real-time Motion Planning of Curvature Continuous Trajectories for Urban UAV Operations in Wind.
    By Patrikar, J., Dugar, V., Arcot, V. and Scherer, S.
    In 2020 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 854–861, 2020.

  13. Wind and the City: Utilizing UAV-Based In-Situ Measurements for Estimating Urban Wind Fields.
    By Patrikar, J., Moon, B. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1254–1260, 2020.

  14. Precision UAV Landing in Unstructured Environments.
    By Pluckter, K. and Scherer, S.
    In International Symposium on Experimental Robotics, pp. 177–187, 2020.

  15. Contingency landing site map generation system. Feb-2020

  16. Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments.
    By Viswanathan, V., Dexheimer, E., Li, G., Loianno, G., Kaess, M. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2510–2517, 2020.

  17. Visual Memorability for Robotic Interestingness via Unsupervised Online Learning.
    By Wang, C., Wang, W., Qiu, Y., Hu, Y. and Scherer, S.
    In European Conference on Computer Vision (ECCV), pp. 52–68, 2020.

  18. TartanAir: A Dataset to Push the Limits of Visual SLAM.
    By Wang, W., Zhu, D., Wang, X., Hu, Y., Qiu, Y., Wang, C., Hu, Y., Kapoor, A. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4909–4916, 2020.

  19. Line-Based 2D–3D Registration and Camera Localization in Structured Environments.
    By Yu, H., Zhen, W., Yang, W. and Scherer, S.
    In IEEE Transactions on Instrumentation and Measurement, vol. 69, no. 11, pp. 8962–8972, Jul. 2020.

  20. Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences.
    By Yu, H., Zhen, W., Yang, W., Zhang, J. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4588–4594, 2020.

  21. TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint.
    By Zhao, S., Wang, P., Zhang, H., Fang, Z. and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4505–4512, 2020.

  22. LiDAR-enhanced Structure-from-Motion.
    By Zhen, W., Hu, Y., Yu, H. and Scherer, S.
    In 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 6773–6779, 2020.

2019

  1. Hybrid Model for A Priori Performance Prediction of Multi-Job Type Swarm Search and Service Missions.
    By Chandarana, M., Hughes, D., Lewis, M., Sycara, K. and Scherer, S.
    In 2019 19th International Conference on Advanced Robotics (ICAR), pp. 714–719, 2019.

  2. Decentralized Method for Sub-Swarm Deployment and Rejoining.
    By Chandarana, M., Luo, W., Lewis, M., Sycara, K. and Scherer, S.
    In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, pp. 1209–1214, 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. Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles.
    By Keipour, A., Mousaei, M. and Scherer, S.
    In 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, Canada, pp. 5679–5685, 2019.

  5. A Stereo Algorithm for Thin Obstacles and Reflective Objects.
    By Keller, J. and Scherer, S.
    In arXiv preprint arXiv:1910.04874, Oct. 2019.

  6. 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.

  7. State estimation for aerial vehicles using multi-sensor fusion. May-2019

  8. 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.

  9. CubeSLAM: Monocular 3-D Object SLAM.
    By Yang, S. and Scherer, S.
    In IEEE Transactions on Robotics, vol. 35, no. 4, pp. 925–938, Jun. 2019.

  10. Monocular object and plane SLAM in structured environments.
    By Yang, S. and Scherer, S.
    In IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3145–3152, 2019.

  11. A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments.
    By Zhao, S., Fang, Z., Li, H.L. and Scherer, S.
    In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1285–1292, 2019.

  12. 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.

  13. 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.

  14. Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection.
    By Zhen, W., Shah, D. and Scherer, S.
    In 44th Annual Waste Management Conference (WM2018), 2019.

2018

  1. 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 preprint arXiv:1804.02573, Apr. 2018.

  2. On-board, computerized landing zone evaluation system for aircraft. May-2018

  3. Swarm size planning tool for multi-job type missions.
    By Chandarana, M., Lewis, M., Allen, B.D., Sycara, K. and Scherer, S.
    In 2018 Aviation Technology, Integration, and Operations Conference, 2018.

  4. Determining Effective Swarm Sizes for Multi-Job Type Missions.
    By Chandarana, M., Lewis, M., Sycara, K. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, pp. 4848–4853, 2018.

  5. 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.

  6. Bayesian active edge evaluation on expensive graphs.
    By Choudhury, S., Srinivasa, S. and Scherer, S.
    In IJCAI International Joint Conference on Artificial Intelligence, pp. 4890–4897, Nov. 2018.

  7. Joint Point Cloud and Image Based Localization for Efficient Inspection in Mixed Reality.
    By Das, M.P., Dong, Z. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, pp. 6357–6363, Nov. 2018.

  8. 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.

  9. 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.

  10. 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.

  11. Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs.
    By Garg, R., Yang, S. and Scherer, S.
    In arXiv preprint arXiv:1812.03539, Dec. 2018.

  12. Open Problems in Robotic Anomaly Detection.
    By Gupta, R., Kurtz, Z.T., Scherer, S. and Smereka, J.M.
    In arXiv preprint arXiv:1809.03565, Sep. 2018.

  13. 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.

  14. 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

  15. Robust image-based crack detection in concrete structure using multi-scale enhancement and visual features.
    By Liu, X., Ai, Y. and Scherer, S.
    In Proceedings - International Conference on Image Processing, ICIP, pp. 2304–2308, 2018.

  16. 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

  17. Robust Localization and Localizability Prediction Using a Rotating Laser Scanner. Mar-2018

  18. 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 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, Dallas, TX, pp. 503–512, 2018.

  19. Addressing multiple time around (MTA) ambiguities, particularly for lidar systems, and particularly for autonomous aircraft. Nov-2018

  20. Positioning error analysis of least squares method for wireless sensor networks.
    By Tian, X., Zhen, W., Scherer, S. and Lu, X.
    In 50th International Symposium on Robotics, ISR 2018, pp. 143–146, 2018.

  21. Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories.
    By Zhang, Y., Wang, W., Bonatti, R., Maturana, D. and Scherer, S.
    In Conference on Robot Learning, 2018.

  22. A Unified 3D Mapping Framework Using a 3D or 2D LiDAR.
    By Zhen, W. and Scherer, S.
    In International Symposium on Experimental Robotics, pp. 702–711, 2018.

  23. 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, Pa, 2018.

  24. 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.

2017

  1. Randomized algorithm for informative path planning with budget constraints.
    By Arora, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Singapore, Singapore, pp. 4997–5004, 2017.

  2. Learning Heuristic Search via Imitation.
    By Bhardwaj, M., Choudhury, S. and Scherer, S.
    In Proceedings of the 1st Annual Conference on Robot Learning, vol. 78, pp. 271–280, 2017.

  3. 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, pp. 4632–4642, Jun. 2017.

  4. Adaptive information gathering via imitation learning.
    By Choudhury, S., Kapoor, A., Ranade, G., Scherer, S. and Dey, D.
    In Robotics: Science and Systems, vol. 13, May 2017.

  5. DROAN - Disparity-space representation for obstacle avoidance.
    By Dubey, G., Arora, S. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Vancouver, pp. 1324–1330, 2017.

  6. A KITE in the wind: Smooth trajectory optimization in a moving reference frame.
    By Dugar, V., Choudhury, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Singapore, Singapore, pp. 109–116, 2017.

  7. Smooth trajectory optimization in Wind: First results on a full-scale helicopter.
    By Dugar, V., Choudhury, S. and Scherer, S.
    In Annual Forum Proceedings - AHS International, Fort Worth, TX, pp. 2924–2932, 2017.

  8. 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.

  9. Wire detection using synthetic data and dilated convolutional networks for unmanned aerial vehicles.
    By Madaan, R., Maturana, D. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Vancouver, pp. 3487–3494, 2017.

  10. Looking forward: A semantic mapping system for scouting with micro-aerial vehicles.
    By Maturana, D., Arora, S. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, pp. 6691–6698, 2017.

  11. 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 Proceedings of the 34th International Conference on Machine Learning, vol. 70, pp. 834–843, 2017.

  12. 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. 2017.

  13. Semantic 3D occupancy mapping through efficient high order CRFs.
    By Yang, S., Huang, Y. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Vancouver, pp. 590–597, 2017.

  14. Obstacle Avoidance through Deep Networks based Intermediate Perception.
    By Yang, S., Konam, S., Ma, C., Rosenthal, S., Veloso, M. and Scherer, S.
    In arXiv preprint arXiv:1704.08759, Apr. 2017.

  15. Direct monocular odometry using points and lines.
    By Yang, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, pp. 3871–3877, Mar. 2017.

  16. Robust localization and localizability estimation with a rotating laser scanner.
    By Zhen, W., Zeng, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Singapore, Singapore, pp. 6240–6245, 2017.

2016

  1. 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

  2. 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.S.D. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 4207–4214, 2016.

  3. 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, Apr-2016

  4. 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, Jun-2016

  5. 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

  6. 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, Brazil, 2016.

  7. 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 2016, Washington, D.C., pp. 261–266, 2016.

  8. List prediction applied to motion planning.
    By Tallavajhula, A., Choudhury, S., Scherer, S. and Kelly, A.
    In Proceedings - IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 213–220, 2016.

  9. Real-time 3D scene layout from a single image using Convolutional Neural Networks.
    By Yang, S., Maturana, D. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 2183–2189, 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 International Conference on Intelligent Robots and Systems, Daejeon, Korea, pp. 1222–1229, 2016.

2015

  1. Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets.
    By Althoff, D., Althoff, M. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 3470–3477, 2015.

  2. Connected invariant sets for high-speed motion planning in partially-known environments.
    By Althoff, D. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 3279–3285, 2015.

  3. 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 UAVs, IROS 2015, 2015.

  4. Emergency maneuver library - Ensuring safe navigation in partially known environments.
    By Arora, S., Choudhury, S., Althoff, D. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 6431–6438, 2015.

  5. PASP: Policy based approach for sensor planning.
    By Arora, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 3479–3486, 2015.

  6. The planner ensemble: Motion planning by executing diverse algorithms.
    By Choudhury, S., Arora, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 2389–2395, 2015.

  7. Theoretical limits of speed and resolution for kinodynamic planning in a poisson forest.
    By Choudhury, S., Scherer, S. and Bagnell, J.A.
    In Robotics: Science and Systems, vol. 11, 2015.

  8. The Dynamics Projection Filter (DPF) - Real-time nonlinear trajectory optimization using projection operators.
    By Choudhury, S. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 644–649, 2015.

  9. 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, p. 38, Jan. 2015.

  10. 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 Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 5253–5259, 2015.

  11. Autonomous river exploration.
    By Jain, S., Nuske, S., Chambers, A., Yoder, L., Cover, H., Chamberlain, L., Scherer, S. and Singh, S.
    In Springer Tracts in Advanced Robotics, Brisbanne, Australia, vol. 105, pp. 93–106, 2015.

  12. Recognition of human group activity for video analytics.
    By Ju, J., Yang, C., Scherer, S. and Ko, H.
    In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9315
    Y.-S. Ho, J. Sang, Y. M. Ro, J. Kim, and F. Wu, Eds.
    Cham: Springer, 2015, pp. pp. 161–169

  13. 3D Convolutional Neural Networks for landing zone detection from LiDAR.
    By Maturana, D. and Scherer, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 3471–3478, 2015.

  14. VoxNet: A 3D Convolutional Neural Network for real-time object recognition.
    By Maturana, D. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 922–928, 2015.

  15. 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, no. 8, pp. 1141–1162, 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-15-21, Oct-2015

  17. High-precision Autonomous Flight in Constrained Shipboard Environments.
    By Yang, S., Fang, Z., Jain, S., Dubey, G., Maeta, S., Roth, S., Scherer, S., Zhang, Y. and Nuske, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-16-17, Feb-2015

2014

  1. 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

  2. A principled approach to enable safe and high performance maneuvers for autonomous rotorcraft.
    By Arora, S., Choudhury, S., Althoff, D. and Scherer, S.
    In Annual Forum Proceedings - AHS International, Montreal, CAN, vol. 4, pp. 3228–3236, 2014.

  3. 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 Proceedings of the American Control Conference, Portland, OR, pp. 1892–1899, 2014.

  4. The planner ensemble and trajectory executive: A high performance motion planning system with guaranteed safety.
    By Choudhury, S., Arora, S. and Scherer, S.
    In Annual Forum Proceedings - AHS International, Montreal, CAN, vol. 4, pp. 2872–2891, 2014.

  5. Experimental study of odometry estimation methods using RGB-D cameras.
    By Fang, Z. and Scherer, S.
    In IEEE International Conference on Intelligent Robots and Systems, Chicago, IL, pp. 680–687, 2014.

  6. Learning Motion Planning Assumptions.
    By Vemula, A., Choudhury, S. and Scherer, S.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-14-14, Aug-2014

2013

  1. Infrastructure-free shipdeck tracking for autonomous landing.
    By Arora, S., Jain, S., Scherer, S., Nuske, S., Chamberlain, L. and Singh, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 323–330, 2013.

  2. Robocopters to the rescue.
    By Chamberlain, L. and Scherer, S.
    In IEEE Spectrum, vol. 50, no. 10, pp. 28–33, 2013.

  3. Autonomous emergency landing of a helicopter: Motion planning with hard time-constraints.
    By Choudhury, S., Scherer, S. and Singh, S.
    In Annual Forum Proceedings - AHS International, Phoenix, AZ, vol. 3, pp. 2236–2249, 2013.

  4. 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 Proceedings - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3947–3952, 2013.

  5. Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles.
    By Cover, H., Choudhury, S., Scherer, S. and Singh, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 2820–2825, 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 Proceedings - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 1750–1757, 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 #CMU-RI-TR-12-2, 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 Proceedings - IEEE International Conference on Robotics and Automation, 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-supervised segmentation of river scenes.
    By Achar, S., Sankaran, B., Nuske, S., Scherer, S. and Singh, S.
    In Proceedings - IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 6227–6232, 2011.

  2. Self-aware helicopters: Full-scale automated landing and obstacle avoidance in unmapped environments.
    By Chamberlain, L., Scherer, S. and Singh, S.
    In Annual Forum Proceedings - AHS International, Virginia Beach, vol. 4, pp. 3210–3219, 2011.

  3. 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 International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 227–234, 2011.

  4. 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, 2011.

  5. Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments.
    By Molero, R., Scherer, S. and Chamberlain, L.J.
    Carnegie Mellon University, Pittsburgh, PA
    Technical Report #CMU-RI-TR-10-08, Jun-2011

  6. Multiple-objective motion planning for unmanned aerial vehicles.
    By Scherer, S. and Singh, S.
    In IEEE International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 2207–2214, 2011.

  7. Low-Altitude Operation of Unmanned Rotorcraft
    PhD thesis Carnegie Mellon University, Pittsburgh, PA 2011

2010

  1. Online assessment of landing sites.
    By Scherer, S., Chamberlain, L. and Singh, S.
    In AIAA Infotech at Aerospace 2010, Atlanta, 2010.

2009

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

2008

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

2007

  1. 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.

  2. 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.
    Carnegie Mellon University
    Apr-2007

2006

  1. Learning to drive among obstacles.
    By Hamner, B., Scherer, S. and Singh, S.
    In IEEE International Conference on Intelligent Robots and Systems, Beijing, China, pp. 2663–2669, 2006.

  2. 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.

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 Environments, 2005.

  2. Model checking of robotic control systems.
    By Scherer, S., Lerda, F. and Clarke, E.M.
    In European Space Agency, (Special Publication) ESA SP, Munich, Germany, pp. 371–378, 2005.