Publications


Dissertation

Adaptive Motion Planning
Sanjiban Choudhury
Ph.D. Thesis February, 2018
pdf   /   defense_talk

Journal Papers

High Performance and Safe Flight of Full-Scale Helicopters from Takeoff to Landing with an Ensemble of Planners
Sanjiban Choudhury, Vishal Dugar, Silvio Maeta, Brian MacAllister, Sankalp Arora, Daniel Althoff and Sebastian Scherer
Journal of Field Robotics (JFR), 2019
(to appear)

Data-driven Planning via Imitation Learning
Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey
The International Journal of Robotics Research (IJRR), July, 2018
pdf   /   arXiv

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 of Field Robotics (JFR), June, 2015
pdf

Peer-reviewed Publications

Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman and Siddhartha Srinivasa
International Conference on Automated Planning and Scheduling (ICAPS), 2019
Best Student Paper Award
pdf   /   arxiv
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning
Rahul Kumar, Aditya Mandalika, Sanjiban Choudhury and Siddhartha S. Srinivasa
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
(to appear) pdf   /   arXiv
Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments
Rogerio Bonatti, Cherie Ho, Wenshan Wang, Sanjiban Choudhury and Sebastian Scherer
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
(to appear) pdf   /   video  /   arXiv
Leveraging Experience in Lazy Search
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots and Siddhartha Srinivasa
Robotics: Science and Systems (RSS), 2019
pdf   /   arXiv
Bayesian Policy Optimization for Model Uncertainty
Gilwoo Lee, Brian Hou, Aditya Mandalika Vamsikrishna, Jeongseok Lee, Sanjiban Choudhury, Siddhartha S. Srinivasa
International Conference on Learning Representations (ICLR), 2019
pdf   /   arxiv
Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming
Rogerio Bonatti, Yanfu Zhang, Sanjiban Choudhury, Wenshan Wang, and Sebastian Scherer
International Symposium of Experimental Robotics (ISER), 2018
pdf   /   video  /   arxiv
Bayesian Active Edge Evaluation
Sanjiban Choudhury, Siddhartha Srinivasa and Sebastian Scherer
International Joint Conferences on Artificial Intelligence (IJCAI), 2018
pdf   /   talk  /   poster   /   arXiv
Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer
Neural Information Processing Systems (NIPS), 2017
pdf   /   poster   /   arXiv
Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury, Sebastian Scherer
Conference on Robot Learning (CoRL), 2017
(One of 18 papers selected for Oral)
pdf  /   talk  /   poster  /   oral  /   arXiv
Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey
Robotics Science and Systems, 2017
pdf  /   talk  /   poster  /   arXiv
Learning to Gather Information via Imitation
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Debadeepta Dey
IEEE International Conference on Robotics and Automation May, 2017
pdf  /   talk  /   poster  /   arXiv
Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
Vishal Dugar, Sanjiban Choudhury, Sebastian Scherer
AHS Forum, Vol 73, 2017 March, 2017
pdf
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation May, 2017
pdf
A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Vishal Dugar, Sanjiban Choudhury, Sebastian Scherer
2017 IEEE International Conference on Robotics and Automation (ICRA) February, 2017
pdf
Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury, Sebastian Scherer
Congresso Brasileiro de Automatica (CBA) October, 2016
pdf
A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury, and Sebastian Scherer
Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS) June, 2016
pdf
List Prediction Applied To Motion Planning
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer, Alonzo Kelly
2016 IEEE International Conference on Robotics and Automation (ICRA) May, 2016
pdf  /   talk  /   poster
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, Sebastian Scherer
2016 IEEE International Conference on Robotics and Automation (ICRA) May, 2016
pdf  /   talk  /   poster
Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer and J. Andrew (Drew) Bagnell
Robotics Science and Systems July, 2015
pdf  /   talk  /   poster  /   big_talk
Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
Sankalp Arora, Sanjiban Choudhury, Daniel Althoff and Sebastian Scherer
2015 IEEE International Conference on Robotics and Automation May, 2015
pdf
The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer
IEEE International Conference on Robotics and Automation May, 2015
pdf  /   talk  /   poster
The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer
IEEE Conference on Robotics and Automation May, 2015
pdf  /   talk  /   poster
TALOS: An Unmanned Cargo Delivery System for Rotorcraft Landing to Unprepared Sites
J. Paduano, J. Wissler, M. Piedmonte G. Drozeski, N. Dadkhah, J. Francis, C. Shortlidge, J. Bold, F. Langford, M. Chaoui, C. J. Liu, E. Foster, S. Singh, L. Chamberlain, B. Hamner, H. Cover, A. Stambler, A. Singh, S. Nalbone, M. Bergerman, S. Scherer, S. Choudhury, S. Maeta, S. Arora, D. Althoff, D. Maturana, D. Limbaugh, J. Bona, D. Barnhard, D. Chessar, D. Mindell, C. Dominguez, B. Moon, R. Strouse, L. Papautsky, D. Cerchie, B. Chu, J. Graham, C. Cameron, M. Hardesty, and R. Hehr
Americal Helicopter Society Forum 71, 2015
pdf  /  
The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer
AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada May, 2014  
Best Paper Award
pdf
A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
Sankalp Arora, Sanjiban Choudhury, Sebastian Scherer and Daniel Althoff
AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20-22 May, 2014
pdf
Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
International Conference on Robotics and Automation May, 2013
pdf
RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
International Conference on Robotics and Automation May, 2013
pdf  /   talk
Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
AHS Forum 69 May, 2013
pdf  /   talk

Workshops and Tech Reports

Residual Bayesian Q-Learning for Meta-Reinforcement Learning with Experts
Gilwoo Lee, Sanjiban Choudhury, Brian Hou and Siddhartha Srinivasa
Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS, 2019
pdf
Collision Posteriors on Graphs with Expensive-to-Evaluate Edges
Brian Hou, Sanjiban Choudhury, Gilwoo Lee, Matt Barnes and Siddhartha Srinivasa
Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS, 2019
pdf
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Christopher M Dellin and Siddhartha S Srinivasa
arXiv:1711.04040, 2018
pdf
Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes
Gilwoo Lee, Sanjiban Choudhury, Brian Hou, and Siddhartha Srinivasa
arXiv:1810.03048, 2018
pdf
A Bayesian Active Learning Approach to Adaptive Motion Planning
Sanjiban Choudhury and Siddhartha Srinivasa
International Symposium on Robotics Research (ISRR), Blue Sky Track, 2017
pdf
Bayesian Active Edge Evaluation on Expensive Graphs
Sanjiban Choudhury, Siddhartha S. Srinivasa and Sebastian Scherer
Workshop on Acting and Interacting in the Real World, NeurIPS, 2017
pdf
Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury, Sebastian Scherer
CMU-RI-TR-16-35 July, 2016
pdf
Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury, Sebastian Scherer
CMU-RI-TR-16-17 May, 2016
pdf
List prediction for motion planning: Case studies
Abhijeet Tallavajhula and Sanjiban Choudhury
CMU-RI-TR-15-25 October, 2015
pdf
Lower and Upper Bounds for the Survival of Infinite Absorbing Markov Chains
Sanjiban Choudhury
CMU-RI-TR-05-04 February, 2015
pdf
Learning Motion Planning Assumptions
Anirudh Vemula, Sanjiban Choudhury and Sebastian Scherer
CMU-RI-TR-14-14 August, 2014
pdf
Realtime Alternate Routes Planning: The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
CMU-RI-TR-12-27 December, 2012
pdf