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ReQuBiS -- Reconfigurable Quadrupedal-Bipedal Snake Robots


Jul 02, 2021
Harshad Zade, Aadesh Varude, Karan Pandya, Ajinkya Kamat, Shital Chiddarwar, Rohan Thakker

* Conference: CASE-2021. Video: Experimental results are available at https://youtu.be/oUigwOep0qc 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

* For team website, see https://costar.jpl.nasa.gov/ 

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Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions


Jan 26, 2021
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi

* 12 Pages, 7 Figures, 2020 International Symposium on Experimental Robotics (ISER 2020) 

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Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments


Sep 11, 2020
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos Theodorou, Ali-akbar Agha-mohammadi


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Towards Resilient Autonomous Navigation of Drones


Aug 21, 2020
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

* In International Symposium on Robotics Research (ISRR) 2019 

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Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration


Aug 17, 2020
Takahiro Sasaki, Kyohei Otsu, Rohan Thakker, Sofie Haesaert, Ali-akbar Agha-mohammadi

* IEEE Robotics and Automation Letters, Volume: 5 , Issue: 2 , April 2020 
* 8 pages, 7 figures 

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Bayesian Learning-Based Adaptive Control for Safety Critical Systems


Oct 05, 2019
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


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Contact Inertial Odometry: Collisions are your Friend


Aug 30, 2019
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi

* In International Symposium on Robotics Research (ISRR) 2019 

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Bi-directional Value Learning for Risk-aware Planning Under Uncertainty: Extended Version


Apr 06, 2019
Sung-Kyun Kim, Rohan Thakker, Ali-akbar Agha-mohammadi

* Copyright 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works 

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Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo


Oct 17, 2017
Daqing Yi, Rohan Thakker, Cole Gulino, Oren Salzman, Siddhartha Srinivasa


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