Publications

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In Press
E-Graphs: Bootstrapping Planning with Experience Graphs Phillips, Michael., Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim Robotics Science and Systems (RSS), 07/2012, Sydney, Australia, (In Press)
FCL: A General Purpose Library for Collision and Proximity Queries Pan, Jia., Chitta, Sachin., and Manocha, Dinesh IEEE Int. Conference on Robotics and Automation, 05/2012, Minneapolis, Minnesota, (In Press)
Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation Hornung, Armin., Phillips, Mike., Jones, Edward Gil., Bennewitz, Maren., Likhachev, Maxim., and Chitta, Sachin IEEE Int. Conference on Robotics and Automation, 05/2012, Minneapolis, Minnesota, (In Press)
Search-based Planning for Dual-arm Manipulation with Upright Orientation Constraints Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim IEEE Int. Conference on Robotics and Automation, 05/2012, Minneapolis, Minnesota, (In Press)
Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments Chitta, Sachin., Jones, Edward Gil., Ciocarlie, Matei., and Hsiao, Kaijen IEEE Robotics and Automation Magazine, Special Issue on Mobile Manipulation, (In Press)  Download: chitta_ram_2011.pdf (1.8 MB)
2011
Probabilistic Collision Detection between Noisy Point Clouds using Robust Classification Pan, Jia., Chitta, Sachin., and Manocha, Dinesh International Symposium on Robotics Research, 08/2011, Flagstaff, Arizona, (2011) Abstract
Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects Scholz, Jonathan., Chitta, Sachin., Marthi, Bhaskara., and Likhachev, Maxim International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)  Download: Scholz_ICRA_2011.pdf (1.15 MB)
Planning for Manipulation with Adaptive Motion Primitives Cohen, Benjamin., Subramanian, Gokul., Chitta, Sachin., and Likhachev, Maxim International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)
Skill Learning and Task Outcome Prediction for Manipulation Pastor, Peter., Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., and Schaal, Stefan International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)  Download: Pastor_ICRA_2011.pdf (1.96 MB)
STOMP: Stochastic Trajectory Optimization for Motion Planning Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., Pastor, Peter., and Schaal, Stefan International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)  Download: Kalakrishnan_ICRA_2011.pdf (3.56 MB)
Human-Inspired Robotic Grasp Control with Tactile Sensing Romano, Joseph., Hsiao, Kaijen., Niemeyer, Günter., Chitta, Sachin., and Kuchenbecker, Katharine J. IEEE Transactions on Robotics, Volume 27, Issue 6, p.1067-1079, (2011)  Download: romano2011.pdf (2.82 MB)
Tactile Sensing for Mobile Manipulation Chitta, Sachin., Sturm, Jürgen., Piccoli, Matthew., and Burgard, Wolfram IEEE Transactions on Robotics, (2011)
2010
Towards Reliable Grasping and Manipulation in Household Environments Ciocarlie, Matei., Hsiao, Kaijen., Jones, Gil E.., Chitta, Sachin., Rusu, Radu Bogdan., and Sucan, Ioan Alexandru Intl. Symposium on Experimental Robotics (ISER), 12/2010, New Delhi, India, (2010)  Download: grasp_pipeline.pdf (857.62 KB)
Contact-Reactive Grasping of Objects with Partial Shape Information Hsiao, Kaijen., Chitta, Sachin., Ciocarlie, Matei., and Jones, Gil E. IROS, 10/2010, (2010)  Download: contactreactive.pdf (1.88 MB)
Autonomous Door Opening and Plugging In with a Personal Robot Meeussen, Wim., Wise, Melonee., Glaser, Stuart., Chitta, Sachin., McGann, Conor., Mihelich, Patrick., Marder-Eppstein, Eitan., Muja, Marius., Eruhimov, Victor., Foote, Tully, et al. ICRA , (2010) Abstract  Download: m2.pdf (1.12 MB)
Combining Planning Techniques for Manipulation Using Realtime Perception Sucan, Ioan Alexandru., Kalakrishnan, Mrinal., and Chitta, Sachin International Conference on Robotics and Automation, Anchorage, Alaska, (2010)  Download: arm_planning.pdf (1.89 MB)
Planning for Autonomous Door Opening with a Mobile Manipulator Chitta, Sachin., Cohen, Benjamin., and Likhachev, Maxim International Conference on Robotics and Automation, Anchorage, Alaska, (2010)  Download: door_planner.pdf (1.87 MB)
Search-Based Planning for Manipulation with Motion Primitives Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim International Conference on Robotics and Automation, Anchorage, Alaska, (2010)
Tactile Object Class and Internal State Recognition for Mobile Manipulation Chitta, Sachin., Piccoli, Matthew., and Sturm, Jürgen International Conference on Robotics and Automation, Anchorage, Alaska, (2010)  Download: icra2010_gripper_recognition.pdf (1.18 MB)
2009
Come on in, our community is wide open for Robotics research! Oyama, Akihisa., Konolige, Kurt., Cousins, Steve., Chitta, Sachin., Conley, Ken., and Bradski, Gary RSJ, 09/2009, (2009) Abstract  Download: RSJ2009_AkihisaOyama_ComeOnIn_En.pdf (2.11 MB)
Dynamic Rolling for a Modular Loop Robot Sastra, Jimmy., Chitta, Sachin., and Yim, Mark International Journal of Robotics Research, 06/2009, Volume 28, Issue 6, (2009)
Laser-based Perception for Door and Handle Identification Rusu, Radu Bogdan., Meeussen, Wim., Chitta, Sachin., and Beetz, Michael International Conference on Advanced Robotics (ICAR), 06/2009, Munich, Germany, (2009) Abstract  Download: Rusu09ICAR.pdf (5.19 MB)
Model-based, Hierarchical Control of a Mobile Manipulation Platform McGann, Conor., Berger, Eric., Bohren, Jonathan., Chitta, Sachin., Gerkey, Brian P.., Glaser, Stuart., Marthi, Bhaskara., Meeussen, Wim., Pratkanis, Tony., Marder-Eppstein, Eitan, et al. ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Thessaloniki, Greece, (2009)  Download: main.pdf (10.72 MB)
Real-time Perception-Guided Motion Planning for a Personal Robot Rusu, Radu Bogdan., Sucan, Ioan Alexandru., Gerkey, Brian P.., Chitta, Sachin., Beetz, Michael., and Kavraki, Lydia E. Intelligent Robots and Systems (IROS), St. Louis, MO, p.4245 - 4252 , (2009)  Download: perceptionplanning.pdf (1.73 MB)
Search-based planning for a legged robot over rough terrain Vernaza, Paul., Kushleyev, Aleksandr., Lee, Daniel D.., Likhachev, Maxim., Bhattacharya, Subhrajit., and Chitta, Sachin International Conference on Robotics and Automation, Kobe, Japan, (2009)