Mobile Robotics
Our work also involves extensive simulation and real-world testing to validate robotic behaviors under diverse conditions. We emphasize modular and scalable system design, allowing for seamless adaptation across different robotic platforms and environments. Collaborations with industry and academia further strengthen our contributions, enabling us to stay at the forefront of innovation. Through our research, we aim to push the boundaries of mobile robotics and contribute to the development of safe, reliable, and intelligent robotic systems for the future.
You Only Crash Once v2: Perceptually Consistent Strong Features for One-Stage Domain Adaptive Detection of Space Terrain
Conference name
Timothy Chase Jr, Christopher Wilson, Karthik Dantu
AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation
Taimeng Fu, Zitong Zhan, Zhipeng Zhao, Shaoshu Su, Xiao Lin, Ehsan Tarkesh Esfahani, Karthik Dantu, Souma Chowdhury, Chen Wang
BibTex
Kaleem Nawaz Khan, Ali Khalid, Yash Turkar, Karthik Dantu, and Fawad Ahmad
22nd Annual International Conference on Mobile Systems, Applications and Services (MOBISYS ’24). Association for Computing Machinery,
New York, NY, USA, 547–560.
PDF | GitHub | Video
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
Christo Aluckal, Roopesh Vinodh Kumar Lal, Sean Courtney, Yash Turkar, Yashom Dighe, Young-Jin Kim, Jake Gemerek, Karthik Dantu
Conference name
MARs: Multi-view Attention Regularizations for Patch-based Feature Recognition of Space Terrain
Conference name
Timothy Chase Jr, Karthik Dantu
Stephen Xia, Minghui Zhao, Charuvahan Adhivarahan, Kaiyuan Hou, Yuyang Chen, Jingping Nie, Eugene Wu, Karthik Dantu, Xiaofan Jiang
Proceedings of the 29th Annual International Conference on Mobile Computing and Networking
Kinematics-only differential flatness based trajectory tracking for autonomous racing
Yashom Dighe, Youngjin Kim, Smit Rajguru, Yash Turkar, Tarunraj Singh, Karthik Dantu
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Fast decision support for air traffic management at urban air mobility vertiports using graph learning
Prajit KrisshnaKumar, Jhoel Witter, Steve Paul, Hanvit Cho, Karthik Dantu, Souma Chowdhury
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PyPose v0. 6: The imperative programming interface for robotics
Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang
arXiv preprint arXiv:2309.13035
AI-driven sign language interpretation for nigerian children at home
Ifeoma Nwogu, Roshan Peiris, Karthik Dantu, Ruchi Gamta, Emma Asonye
International Joint Conferences on Artificial Intelligence Organization
Empir3D: A Framework for Multi-Dimensional Point Cloud Assessment
Yash Turkar, Pranay Meshram, Christo Aluckal, Charuvahan Adhivarahan, Karthik Dantu
arXiv preprint arXiv:2306.03660
Pqm: A point quality evaluation metric for dense maps
Yash Turkar, Pranay Meshram, Charuvahan Adhivarahan, Karthik Dantu
arXiv: 2306.03660
GitHub | PDF | Video
Shishir Gopinath, Karthik Dantu, Steven Y Ko
2023 IEEE International Conference on Robotics and Automation (ICRA)
You only crash once: Improved object detection for real-time, sim-to-real hazardous terrain detection and classification for autonomous planetary landings
Timothy Chase Jr, Chris Gnam, John Crassidis, Karthik Dantu
arXiv preprint arXiv:2303.04891
Prajit KrisshnaKumar, Jhoel Witter, Steve Paul, Karthik Dantu, Souma Chowdhury
arXiv preprint arXiv:2302.05849
Mid-infrared spectroscopy and machine learning for postconsumer plastics recycling
Nicholas Stavinski, Vaishali Maheshkar, Sinai Thomas, Karthik Dantu, Luis Velarde
Environmental Science: Advances
Prajit K Kumar, Jhoel Witter, Steve Paul, Karthik Dantu, Souma Chowdhury
AIAA Scitech 2023 Forum
PyPose: A library for robot learning with physics-based optimization
Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian Scherer
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition
AJ Ben Ali, M Kouroshli, S Semenova, ZS Hashemifar, SY Ko, K Dantu
ACM Transactions on Embedded Computing Systems 22 (1), 1-31
Technical perspective: The power of low-power GPS receivers for nanosats
K Dantu
Communications of the ACM 65 (11), 132-132
PDF
PRE-SLAM: Persistence reasoning in edge-assisted visual SLAM
T Chase, AJB Ali, SY Ko, K Dantu
2022 IEEE 19th International Conference on Mobile Ad Hoc and Smart Systems (MASS)
Multi-Modal Stand-Off Detection of Plastics for Sorting Application
Yaoli Zhao, Patatri Chakraborty, Vaishali Maheshkar, Karthik Dantu, Nicholas Stavinski, Luis Velarde, Thomas Thundat
Electrochemical Society Meeting Abstracts 242
GitHub | PDF | Video
Reliable digital forensics in the air: Exploring an RF-based drone identification system
Z Li, B Chen, X Chen, C Xu, Y Chen, F Lin, C Li, K Dantu, K Ren, W Xu
Proceedings of the ACM on interactive, mobile, wearable and ubiquitous technologies
A modular, extensible framework for modern visual slam systems
Sofiya Semenova, Pranay Meshram, Timothy Chase, Steven Y Ko, Yu David Liu, Lukasz Ziarek, Karthik Dantu
Proceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services
A quantitative analysis of system bottlenecks in visual SLAM
Sofiya Semenova, Steven Y Ko, Yu David Liu, Lukasz Ziarek, Karthik Dantu
Proceedings of the 23rd Annual International Workshop on Mobile Computing Systems and Applications
Standoff and Point Detection of Thin Polymer Layers Using Microcantilever Photothermal Spectroscopy
Yaoli Zhao, Patatri Chakraborty, Nicholas Stavinski, Luis Velarde, Vaishali Maheshkar, Karthik Dantu, Arindam Phani, Seonghwan Kim, Thomas Thundat
Journal of The Electrochemical Society
Efficient Feature Matching and Mapping for Terrain Relative Navigation Using Hypothesis Gating
C Gnam, TB Chase, K Dantu, JL Crassidis
AIAA SCITECH 2022 Forum, 2513
Learning robot swarm tactics over complex adversarial environments
Amir Behjat, Hemanth Manjunatha, Prajit Krisshna Kumar, Apurv Jani, Leighton Collins, Payam Ghassemi, Joseph Distefano, David Doermann, Karthik Dantu, Ehsan Esfahani, Souma Chowdhury
2021 international symposium on multi-robot and multi-agent systems (MRS)
Using physiological information to classify task difficulty in human-swarm interaction
Joseph P Distefano, Hemanth Manjunatha, Souma Chowdhury, Karthik Dantu, David Doermann, Ehsan T Esfahani
2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Jcopter: Reliable UAV software through managed languages
Adam Czerniejewski, John Henry Burns, Farshad Ghanei, Karthik Dantu, Yu David Liu, Lukasz Ziarek
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Rushmore: securely displaying static and animated images using TrustZone
Chang Min Park, Donghwi Kim, Deepesh Veersen Sidhwani, Andrew Fuchs, Arnob Paul, Sung-Ju Lee, Karthik Dantu, Steven Y Ko
Proceedings of the 19th Annual International Conference on Mobile Systems, Applications, and Services
Scalable coverage path planning of multi-robot teams for monitoring non-convex areas
Leighton Collins, Payam Ghassemi, Ehsan T Esfahani, David Doermann, Karthik Dantu, Souma Chowdhury
2021 IEEE International Conference on Robotics and Automation (ICRA)
Understanding bounding functions in safety-critical UAV software
Xiaozhou Liang, John Henry Burns, Joseph Sanchez, Karthik Dantu, Lukasz Ziarek, Yu David Liu
2021 IEEE/ACM 43rd International Conference on Software Engineering (ICSE)
Multi-Sensor Fusion Based Action Recognition in Ego-Centric Videos with Large Camera Motion
Radhakrishna Dasari, Karthik Dantu, Chang Wen Chen
Advances in Computer Vision and Computational Biology: Proceedings from IPCV’20, HIMS’20, BIOCOMP’20, and BIOENG’20
Active face frontalization using commodity unmanned aerial vehicles
Nagashri Lakshminarayana, Yifang Liu, Karthik Dantu, Venu Govindaraju, Nils Napp
arXiv preprint arXiv:2102.08542
Hemanth Manjunatha, Joseph P Distefano, Apurv Jani, Payam Ghassemi, Souma Chowdhury, Karthik Dantu, David Doermann, Ehsan T Esfahani
2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Adaptive fovea for scanning depth sensors
Zaid Tasneem, Charuvahan Adhivarahan, Dingkang Wang, Huikai Xie, Karthik Dantu, Sanjeev J Koppal
The International Journal of Robotics Research
BibTex
Practical persistence reasoning in visual slam
Zakieh Hashemifar, Karthik Dantu
2020 IEEE international conference on robotics and automation (ICRA)
Augmenting visual SLAM with Wi-Fi sensing for indoor applications
Zakieh S Hashemifar, Charuvahan Adhivarahan, Anand Balakrishnan, Karthik Dantu
Autonomous Robots
Gesto: Mapping UI events to gestures and voice commands
Chang Min Park, Taeyeon Ki, Ali J Ben Ali, Nikhil Sunil Pawar, Karthik Dantu, Steven Y Ko, Lukasz Ziarek
Proceedings of the ACM on Human-Computer Interaction
Partitioning Garbage Collection Between the Secure and Normal Worlds for Trusted Applications (poster)
Harishankar Vishwanathan, Chang Min Park, Sidharth Kumar Mishra, Karthik Dantu, Steven Y Ko, Lukasz Ziarek
Proceedings of the 17th Annual International Conference on Mobile Systems, Applications, and Services
Decentralized task allocation in lossy networks: A simulation study
Matthew Rantanen, Nicholas Mastronarde, Jeffrey Hudack, Karthik Dantu
2019 16th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)
Mimic: UI compatibility testing system for Android apps
Taeyeon Ki, Chang Min Park, Karthik Dantu, Steven Y Ko, Lukasz Ziarek
2019 IEEE/ACM 41st international conference on software engineering (ICSE)
WISDOM: WIreless sensing-assisted distributed online mapping
Charuvahan Adhivarahan, Karthik Dantu
2019 International Conference on Robotics and Automation (ICRA)
OS-based energy accounting for asynchronous resources in IoT devices
Farshad Ghanei, Pranav Tipnis, Kyle Marcus, Karthik Dantu, Steven Y Ko, Lukasz Ziarek
IEEE Internet of Things Journal
Simulating Unmanned Aerial Vehicle swarms with the UB-ANC emulator
Jalil Modares, Nicholas Mastronarde, Karthik Dantu
International Journal of Micro Air Vehicles
Platform variability in edge-cloud vision systems
Ali J Ben Ali, Sofiya Semenova, Karthik Dantu
Proceedings of the 20th International Workshop on Mobile Computing Systems and Applications
Can Android Run on Time? Extending and Measuring the Android Platform’s Timeliness
Yin Yan, Girish Gokul, Karthik Dantu, Steven Y Ko, Lukasz Ziarek, Jan Vitek
ACM Transactions on Embedded Computing Systems (TECS)
Poster: Partitioning Garbage Collection Between the Secure and Normal Worlds for Trusted Applications
Harishankar Vishwanathan, Chang Min Park, Sidharth Kumar Mishra, Karthik Dantu, Steven Y Ko, Lukasz Ziarek
PDF
Platform Variability in Edge-Cloud Vision Systems
Ben Ali, Ali J., Sofiya Semenova, and Karthik Dantu.
20th International Workshop on Mobile Computing Systems and Applications, pp. 163-163. 2019.
BibTexCiteGitHub | PDF | Video
Performance of the asynchronous consensus based bundle algorithm in lossy network environments
M Rantanen, J Modares, N Mastronarde, F Ghanei, K Dantu
2018 IEEE 10th Sensor Array and Multichannel Signal Processing Workshop (SAM)
System-e: Enhancing privacy on mobile systems through content-based classification and storage
S Chandrashekhara, T Ki, K Dantu, SY Ko
Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services
Duvel: Enabling context-driven, multi-profile apps on android through storage sandboxing
S Chandrashekhara, T Ki, K Dantu, SY Ko
Proceedings of the 1st International Workshop on Edge Systems, Analytics and Networking
Geometric mapping for sustained indoor autonomy
Z Hashemifar, KW Lee, N Napp, K Dantu
Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things
juav: A real-time java uav autopilot
A Czerniejewski, K Dantu, L Ziarek
2018 Second IEEE International Conference on Robotic Computing (IRC), 258-261
Bluemountain: An architecture for customized data management on mobile systems
S Chandrashekhara, T Ki, K Jeon, K Dantu, SY Ko
Proceedings of the 23rd Annual International Conference on Mobile Computing and Networking
Quadrobee: Simulating flapping wing aerial vehicle dynamics on a quadrotor
Y Chen, SB Fuller, K Dantu
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Poster: RTDroid: A Real-Time Solution with Android
Y Yan, K Dantu, SY Ko, L Ziarek
Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services
Fully automated ui testing system for large-scale android apps using multiple devices
T Ki, A Simeonov, CM Park, K Dantu, SY Ko, L Ziarek
Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services
Poster: Mobile Photo Data Management as a Platform Service
K Jeon, S Chandrashekhara, K Dantu, SY Ko
Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services
PDF
Enabling Dynamic Gesture Mapping with UI Events
CM Park, T Ki, K Dantu, SY Ko, L Ziarek
Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services 2017
Reptor: Enabling api virtualization on android for platform openness
T Ki, A Simeonov, BP Jain, CM Park, K Sharma, K Dantu, SY Ko, L Ziarek
Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services 19
Ub-anc planner: Energy efficient coverage path planning with multiple drones
J Modares, F Ghanei, N Mastronarde, K Dantu
2017 IEEE international conference on robotics and automation (ICRA), 6182-6189 131
Realistic network simulation in the ub-anc aerial vehicle network emulator
J Modares, N Mastronarde, K Dantu
2017 IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS)
Demo Abstract: Panoptes: A Cheap, Extensible, Open-Source Multi-camera Tracking System
M Bal, J Yu, K Dantu
2017 16th ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)
BibTexCiteGitHub | PDF | Video
Improving RGB-D SLAM using wi-fi
ZS Hashemifar, C Adhivarahan, K Dantu
Proceedings of the 16th ACM/IEEE International Conference on Information Processing in Sensor Networks 4
BibTexCiteGitHub | PDF | Video
Panoptes: a cheap, extensible, open-source multi-camera tracking system: demo abstract
M Bal, J Yu, K Dantu
Proceedings of the 16th ACM/IEEE International Conference on Information Processing in Sensor Networks
BibTexCiteGitHub | PDF | Video
Making android run on time
Y Yan, K Dantu, SY Ko, J Vitek, L Ziarek
2017 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)
BibTexCiteGitHub | PDF | Video
RAINA: reliability and adaptability in android for fog computing
K Dantu, SY Ko, L Ziarek
IEEE Communications Magazine 55 (4), 41-45 37
BibTexCiteGitHub | PDF | Video
ARTY: Fueling creativity through art, robotics and technology for youth
D Burhans, K Dantu
Proceedings of the AAAI Conference on Artificial Intelligence 31 (1) 14
BibTexCiteGitHub | PDF | Video
Consistent cuboid detection for semantic mapping
ZS Hashemifar, KW Lee, N Napp, K Dantu
2017 IEEE 11th International Conference on Semantic Computing (ICSC), 526-531 11
BibTexCiteGitHub | PDF | Video
Person re-identification for improved multi-person multi-camera tracking by continuous entity association
N Narayan, N Sankaran, D Arpit, K Dantu, S Setlur, V Govindaraju
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops
BibTexCiteGitHub | PDF | Video
UB-ANC emulator: An emulation framework for multi-agent drone networks
J Modares, N Mastronarde, K Dantu
Proceedings of the tenth ACM international workshop on wireless network testbeds, experimental evaluation, and characterization
BibTex | Cite | GitHub | PDF | Video
Juav: a java based system for unmanned aerial vehicles
A Czerniejewski, S Cosgrove, Y Yan, K Dantu, SY Ko, L Ziarek
Proceedings of the 14th International Workshop on Java Technologies for Real-Time and Embedded Systems
BibTex | Cite | GitHub | PDF | Videdsf
Real time sound processing on android
G Gokul, Y Yan, K Dantu, SY Ko, L Ziarek
Proceedings of the 14th International Workshop on Java Technologies for Real-Time and Embedded Systems
BibTex | Cite | GitHub | PDF | Video
Mic: Enabling efficient concurrent use of multiple network interfaces on mobile systems
V Anand, T Ki, K Dantu, SY Ko, D Koutsonikolas
2016 IEEE Intl Conference on Computational Science and Engineering (CSE) and IEEE Intl Conference on Embedded and Ubiquitous Computing (EUC) and 15th Intl Symposium on Distributed Computing and Applications for Business Engineering (DCABES) 2
BibTex | Cite | GitHub | PDF | Video
Os-based resource accounting for asynchronous resource use in mobile systems
F Ghanei, P Tipnis, K Marcus, K Dantu, S Ko, L Ziarek
Proceedings of the 2016 International Symposium on Low Power Electronics and Design 12
BibTex | Cite | GitHub | PDF | Video
API Virtualization for Platform Openness in Android
T Ki
Proceedings of on MobiSys 2016 PhD Forum, 17-18
BibTex | Cite | GitHub | PDF | Video
Developing adaptive quantified-self applications using dynasense
P Lade, Y Upadhyay, K Dantu, SY Ko
2016 IEEE First International Conference on Internet-of-Things Design and Implementation (IoTDI)
BibTex | Cite | GitHub | PDF | Video
Using a multi-tasking VM for mobile applications
Y Yan, C Chen, K Dantu, SY Ko, L Ziarek
Proceedings of the 17th International Workshop on Mobile Computing Systems and Applications
BibTex | Cite | GitHub | PDF | Video
Pixelsior: photo management as a platform service for mobile apps
K Jeon, S Chandrashekhara, K Dantu, SY Ko
8th USENIX Workshop on Hot Topics in Storage and File Systems (HotStorage 16)
Enabling Automated, Rich, and Versatile Data Management for Android Apps with {BlueMountain}
Sharath Chandrashekhara, Kyle Marcus, Rakesh GM Subramanya, Hrishikesh S Karve, Karthik Dantu, Steven Y Ko
7th USENIX Workshop on Hot Topics in Storage and File Systems (HotStorage 15)
Poster: Retro: an automated, application-layer record and replay for android
T Ki, S Munipalle, K Dantu, SY Ko, L Ziarek
Proceedings of the 12th annual international conference on Mobile systems, applications, and services
Autonomous MAV guidance with a lightweight omnidirectional vision sensor
RJD Moore, K Dantu, GL Barrows, R Nagpal
2014 IEEE International Conference on Robotics and Automation (ICRA), 3856-3861