Refereed Conference and Journal Publications
2024
E. Pearson, B. Mirisola, C. Murphy, C. Huang, C. O'Leary, F. Wong, J. Meyerson, L. Bonfim, M. Zecca, N. Spina, P. Szenher, S. Katari, S. Bhatt, T. Dohi, T. Colarusso, T. Gana, and B. Englot, "Robust Autonomous Mobile Manipulation for Substation Inspection," ASME Journal of Mechanisms and Robotics, vol. 16(11), Article 115001, November 2024. (Link to ASME Digital Collection, Video Attachment)
J. Sitler, S. Sowrirajan, B. Englot, and L. Wang, "A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems," Proceedings of the 21st International Conference on Ubiquitous Robots, pp. 683-690, June 2024. (Link to IEEExplore)
I. Collado-Gonzalez, J. McConnell, J. Wang, P. Szenher, and B. Englot, "Real-Time Planning Under Uncertainty for AUVs Using Virtual Maps," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 8334-8340, May 2024. (Link to IEEExplore, Link to arXiv preprint, Video Attachment)
Y. Huang, X. Lin, and B. Englot, "Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 7236-7242, May 2024. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
X. Lin, Y. Huang, F. Chen, and B. Englot, "Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 8327-8333, May 2024. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
Y. Huang, X. Lin, M. Hernandez-Rocha, S. Narain, K. Pochiraju, and B. Englot, "Mission-oriented Gaussian Process Motion Planning for UUVs over Complex Seafloor Terrain and Current Flows," IEEE Robotics and Automation Letters, vol. 9(2), pp. 1780-1787, February 2024. (Link to IEEExplore, Video Attachment)
2023
X. Lin, J. McConnell, and B. Englot, "Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6185-6191, October 2023. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
X. Lin, Y. Huang, D. Sun, T.-Z. Lin, B. Englot, R.M. Eustice, and M. Ghaffari, “A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios,” IEEE Access, vol. 11, pp. 97239-97249, September 2023. (Link to IEEExplore)
E. Pearson, P. Szenher, C. Huang, and B. Englot, "Mobile Manipulation Platform for Autonomous Indoor Inspection in Low-Clearance Areas," Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2023-111245, V001T01A014, August 2023. (Link to ASME, Link to arXiv preprint)
X. Lin, P. Szenher, J.D. Martin, and B. Englot, "Robust Route Planning with Distributional Reinforcement Learning in a Stochastic Road Network Environment," Proceedings of the 20th International Conference on Ubiquitous Robots, pp. 287-294, June 2023. (Link to IEEExplore, Link to arXiv preprint, Code Release)
E. Pearson and B. Englot, "A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments," Proceedings of the 20th International Conference on Ubiquitous Robots, pp. 319-326, June 2023. (Link to IEEExplore, Link to arXiv preprint, Code Release)
K. Hart, B. Englot, R. O'Shea, J. Kelly, and D. Martinez, "Monocular Simultaneous Localization and Mapping using Ground Textures," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2032-2038, May 2023. (Link to IEEExplore, Link to arXiv preprint, Video Attachment, Code Release)
J. Meng, A. Humne, R. Bucknall, B. Englot, and Y. Liu, "A Fully-Autonomous Framework of Unmanned Surface Vehicles in Maritime Environments Using Gaussian Process Motion Planning," IEEE Journal of Oceanic Engineering, vol. 48(1), pp. 59-79, January 2023. (Link to IEEExplore, Link to arXiv preprint)
2022
J. McConnell, I. Collado-Gonzalez, and B. Englot, "Perception for Underwater Robots," Current Robotics Reports, vol. 3, pp. 177–186, December 2022. (Link to Springer)
J. McConnell, Y. Huang, P. Szenher, I. Collado-Gonzalez, and B. Englot, "DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8457-8464, October 2022. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment, Code Release)
J. Wang, F. Chen, Y. Huang, J. McConnell, T. Shan, and B. Englot, "Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments," IEEE Journal of Oceanic Engineering, vol. 47(4), pp. 916-935, October 2022. (Link to IEEExplore, Link to arXiv preprint, Video Attachment)
S. Narain, E. Mak, D. Chee, B. Englot, K. Pochiraju, N.K. Jha, and K. Narayan, "Fast Design Space Exploration of Nonlinear Systems: Part I," IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, vol. 41(9), pp. 2970-2983, September 2022. (Link to IEEExplore)
E. Pearson, K. Doherty, and B. Englot, "Improving Obstacle Boundary Representations in Predictive Occupancy Mapping," Robotics and Autonomous Systems, vol. 153, Article 104077, July 2022. (Link to Elsevier, Video Attachment, Code Release)
J. McConnell, F. Chen, and B. Englot, "Overhead Image Factors for Underwater Sonar-based SLAM," IEEE Robotics and Automation Letters, vol. 7(2), pp. 4901-4908, April 2022. (Link to IEEExplore, Link to arXiv preprint, Video Attachment)
Y. Huang, T. Shan, F. Chen, and B. Englot, "DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM with Two-Stage Global-Local Graph Optimization," IEEE Robotics and Automation Letters, vol. 7(2), pp. 1150-1157, April 2022. (Link to IEEExplore, Link to ResearchGate preprint, Video Attachment, Code Release)
2021
Y.M. Chen and B. Englot, "Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System," Proceedings of the 9th International Conference on Robot Intelligence Technology and Applications, December 2021. (Full Text, Link to Presentation)
F. Chen, P. Szenher, Y. Huang, J. Wang, T. Shan, S. Bai, and B. Englot, "Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5193-5199, June 2021. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
J. McConnell and B. Englot, "Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 6761-6767, June 2021. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
T. Shan, B. Englot, C. Ratti, and D. Rus, "LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5692-5698, June 2021. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
T. Shan, B. Englot, F. Duarte, C. Ratti, and D. Rus, "Robust Place Recognition using an Imaging Lidar," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5469-5475, June 2021. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
S. Bai, T. Shan, F. Chen, L. Liu, and B. Englot, "Information-Driven Path Planning," Current Robotics Reports, vol. 2, pp. 177-188, June 2021. (Link to Springer)
2020
T. Shan, J. Wang, F. Chen, P. Szenher, and B. Englot, "Simulation-based Lidar Super-resolution for Ground Vehicles," Robotics and Autonomous Systems, vol. 134, Article 103647, December 2020. (Link to Elsevier, Video Attachment)
T. Shan, W. Wang, B. Englot, C. Ratti, and D. Rus, "A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways," Proceedings of the IEEE Conference on Decision and Control, pp. 4085-4092, December 2020. (Link to IEEExplore, Link to arXiv preprint)
F. Chen, J.D. Martin, Y. Huang, J. Wang, and B. Englot, "Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6140-6147, October 2020. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
J.D. Martin, K. Doherty, C. Cyr, B. Englot, and J. Leonard, "Variational Filtering with Copula Models for SLAM," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5066-5073, October 2020. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation)
J. McConnell, J.D. Martin, and B. Englot, "Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1653-1660, October 2020. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus, "LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5135-5142, October 2020. (Link to IEEExplore, Link to arXiv preprint, Link to Presentation, Video Attachment)
J.D. Martin, M. Lyskawinski, X. Li, and B. Englot, "Stochastically Dominant Distributional Reinforcement Learning," Proceedings of the International Conference on Machine Learning, pp. 6931-6940, July 2020. (Full text at PMLR)
D. Gao, J. Luo, W. Ma, and B. Englot, "Online Feedback Motion Planning for Spacecraft Obstacle Avoidance using Positively Invariant Sets," Advances in Space Research, vol. 65(10), pp. 2424-2434, May 2020. (Link to Elsevier)
2019
J. Wang, T. Shan, and B. Englot, "Virtual Maps for Autonomous Exploration with Pose SLAM," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4899-4906, November 2019. (Link to IEEExplore, Video Attachment)
F. Chen, J. Wang, T. Shan, and B. Englot, "Autonomous Exploration Under Uncertainty via Graph Convolutional Networks," Proceedings of the 19th International Symposium on Robotics Research, 16 pp., October 2019. (Full Text, Video Attachment)
K. Doherty, T. Shan, J. Wang, and B. Englot, "Learning-aided 3D Occupancy Mapping with Bayesian Generalized Kernel Inference," IEEE Transactions on Robotics, vol. 35(4), pp. 953-966, August 2019. (Link to IEEExplore, Video Attachment)
J. Wang, T. Shan, and B. Englot, "Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3471-3477, May 2019. (Link to IEEExplore, Video Attachment)
D. Gao, J. Luo, W. Ma, and B. Englot, "Parameterized Nonlinear Suboptimal Control for Tracking and Rendezvous with a Non-cooperative Target," Aerospace Science and Technology, vol. 87, pp. 15-24, April 2019. (Link to Elsevier)
2018
J. Martin, J. Wang, and B. Englot, "Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation," 2nd Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 87, pp. 179-189, October 2018. (Full Text at PMLR)
T. Shan, K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping," 2nd Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 87, pp. 829-838, October 2018. (Full Text at PMLR, Video Attachment)
T. Shan and B. Englot, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4758-4765, October 2018. (Link to IEEExplore, Video Attachment)
J. Wang and B. Englot, "Robust Exploration with Multiple Hypothesis Data Association," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3537-3544, October 2018. (Link to IEEExplore)
2017
J. Wang and B. Englot, "Autonomous Exploration with Expectation-Maximization," Proceedings of the 18th International Symposium on Robotics Research, 16 pp., December 2017. (Full Text)
D. Gao, J. Luo, W. Ma, S. Bai, and B. Englot, "Efficient and Robust Feedback Motion Planning Under Uncertainty using the Pontryagin Difference," Proceedings of the IEEE Conference on Decision and Control, pp. 939-946, December 2017. (Link to IEEExplore)
J. Martin and B. Englot, "Extending Model-Based Policy Gradients for Robots in Heteroscedastic Environments," 1st Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 78, pp. 438-447, November 2017. (Full Text at PMLR)
T. Shan and B. Englot, "Belief Roadmap Search: Advances in Optimal and Efficient Planning Under Uncertainty," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5318-5325, September 2017. (Link to IEEExplore)
S. Bai, F. Chen, and B. Englot, "Toward Autonomous Mapping and Exploration for Mobile Robots through Deep Supervised Learning," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2379-2384, September 2017. (Link to IEEExplore, Video Attachment)
J. Wang, S. Bai, and B. Englot, "Underwater Localization and 3D Mapping of Submerged Structures with a Single-Beam Scanning Sonar," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4898-4905, May 2017. (Link to IEEExplore, Video Attachment)
K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Occupancy Map Prediction," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3118-3124, May 2017. (Link to IEEExplore)2016
B. Englot, T. Shan, S.D. Bopardikar, and A. Speranzon, "Sampling-Based Min-Max Uncertainty Path Planning," Proceedings of the IEEE Conference on Decision and Control, pp. 6863-6870, December 2016. (Link to IEEExplore)
S. Bai, J. Wang, F. Chen, and B. Englot, "Information-Theoretic Exploration with Bayesian Optimization," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1816-1822, October 2016. (Link to IEEExplore)
S.D. Bopardikar, B. Englot, A. Speranzon, and J. van den Berg, "Robust Belief Space Planning under Intermittent Sensing Via A Maximum Eigenvalue-based Bound," The International Journal of Robotics Research, vol. 35(13), pp. 1609-1626, October 2016. (Link to IJRR)
J. Wang and B. Englot, "Fast, Accurate Gaussian Process Occupancy Maps via Test-Data Octrees and Nested Bayesian Fusion," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1003-1010, May 2016. (Link to IEEExplore)
K. Doherty, J. Wang, and B. Englot, "Probabilistic Map Fusion for Fast, Incremental Occupancy Mapping with 3D Hilbert Maps," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1011-1018, May 2016. (Link to IEEExplore)
2015
T. Shan and B. Englot, "Sampling-Based Minimum Risk Path Planning in Multiobjective Configuration Spaces," Proceedings of the IEEE Conference on Decision and Control, pp. 814-821, December 2015. (Link to IEEExplore)
S. Bai, J. Wang, K. Doherty, and B. Englot, "Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces," Proceedings of the 17th International Symposium on Robotics Research, 16 pp., September 2015. (Full Text)
S.D. Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path Planning: Localization Constraints and Collision Probability," IEEE Transactions on Robotics, vol. 31(3), pp. 562-577, June 2015. (Link to IEEExplore)
2014
S.D. Bopardikar, B. Englot, and A. Speranzon, "Robust Belief Roadmap: Planning Under Uncertain and Intermittent Sensing," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 6122-6129, June 2014. (Link to IEEExplore)
X.C. Ding, B. Englot, A. Pinto, A. Speranzon, and A. Surana, "Hierarchical Multi-Objective Planning: From Mission Specifications to Contingency Management," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3735-3742, June 2014. (Link to IEEExplore)
S.D. Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path Planning in GPS Denied Environments Under Localization Constraints," Proceedings of the American Control Conference, pp. 1872-1879, June 2014. (Link to IEEExplore)
2013
B. Englot, T. Sahai, and I. Cohen, "Efficient Tracking and Pursuit of Moving Targets by Heuristic Solution of the Traveling Salesman Problem," Proceedings of the IEEE Conference on Decision and Control, pp. 3433-3438, December 2013. (Link to IEEExplore)
B. Englot and F.S. Hover, "Three-Dimensional Coverage Planning for an Underwater Inspection Robot," The International Journal of Robotics Research, vol. 32(9-10), pp. 1048-1073, September 2013. (Link to IJRR)
G.A. Hollinger, B. Englot, F.S. Hover, U. Mitra, and G.S. Sukhatme, "Active Planning for Underwater Inspection and the Benefit of Adaptivity," The International Journal of Robotics Research, vol. 32(1), pp. 3-18, January 2013. (Link to IJRR)
2012
F.S. Hover, R.M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J.J. Leonard, "Advanced Perception, Navigation, and Planning for Autonomous In-Water Ship Hull Inspection," The International Journal of Robotics Research, vol. 31(12), pp. 1445-1464, October 2012. (Link to IJRR)
B. Englot and F.S. Hover, "Sampling-Based Sweep Planning to Exploit Local Planarity in the Inspection of Complex 3D Structures," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4456-4463, October 2012. (Link to IEEExplore)
B. Englot and F.S. Hover, "Sampling-Based Coverage Path Planning for Inspection of Complex Structures," Proceedings of the 22nd International Conference on Automated Planning and Scheduling, pp. 29-37, June 2012. (Link to AAAI)
G.A. Hollinger, B. Englot, F. Hover, U. Mitra, and G.S. Sukhatme, "Uncertainty-Driven View Planning for Underwater Inspection," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4884-4891, May 2012. (Link to IEEExplore)
2011
B. Englot and F. Hover, "Planning Complex Inspection Tasks Using Redundant Roadmaps," Proceedings of the 15th International Symposium on Robotics Research, 16 pp., August 2011. (Link to Conference Website)
B. Englot and F. Hover, "Multi-Goal Feasible Path Planning Using Ant Colony Optimization," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2255-2260, May 2011. (Link to IEEExplore)
N. Kumar, A.C. Lammert, B. Englot, F.S. Hover, and S.S. Narayanan, "Directional Descriptors Using Zernike Moment Phases for Object Orientation Estimation in Underwater Sonar Images," Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing, pp. 1025-1028, May 2011. (Link to IEEExplore)
2010 and Earlier
B. Englot and F. Hover, "Inspection Planning for Sensor Coverage of 3D Marine Structures," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4412-4417, October 2010. (Link to IEEExplore)
H. Johannsson, M. Kaess, B. Englot, F. Hover, and J. Leonard, "Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4396-4403, October 2010. (Link to IEEExplore)
B. Englot and F. Hover, "Stability and Robustness Analysis Tools for Marine Robot Localization and Mapping Applications," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4426-4432, October 2009. (Link to IEEExplore)
Other Publications
Y. Huang, X. Lin, and B. Englot, "Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty via Reinforcement Learning on Graphs," Work-In-Progress Paper, Proceedings of the 21st International Conference on Ubiquitous Robots, pp. 836-839, June 2024. (Full Text)
Y. Huang and B. Englot, “Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization,” IEEE IROS 2023 Workshop on Closing the Loop on Localization, 4 pp. October 2023. (Full Text)
J. McConnell and B. Englot, "Constructing Communication-Constrained Underwater Multi-Robot SLAM Datasets from an Ensemble of Single-Robot Data," IEEE ICRA 2023 Workshop on Communication Challenges in Multi-Robot Systems: Perception, Coordination, and Learning, 5 pp., June 2023. (Full Text, Workshop Poster, Code Release)
S. Narain, D. Chee, P. Iyer, E. Mak, R. Valdez, M. Zhu, N. Jha, J. Fisac, K.-C. Hsu, P. Terway, K. Pochiraju, B. Englot, E. Pitz, S. Rooney, and Y. Huang, "AIMED: AI-Mediated Exploration of Design: An Experience Report," Proceedings of Cyber-Physical Systems and Internet of Things Week, pp. 134-140, May 2023. (Full Text at ACM Digital Library)
J.D. Martin, P. Szenher, X. Lin, and B. Englot, "The Stochastic Road Network Environment for Robust Reinforcement Learning," IEEE ICRA 2022 Workshop on Releasing Robots Into the Wild: Simulations, Benchmarks, and Deployment, 5 pp., May 2022. (Full Text, Workshop Poster, Code Release)
J. Wang, F. Chen, Y. Huang, J. McConnell, T. Shan, and B. Englot, "Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments," IEEE ICRA 2021 Workshop on Underwater Active Perception, 8 pp., June 2021. (Full Text, Workshop Poster, Video Attachment)
T.P. Osedach, K. Singh, P.V. Teixeira, J.-B. Arber, A. Levesque, C. Chahbazian, D. Jain, B. Englot, J.J. Leonard, S. Vannuffelen, and S. Ossia, "Proxy Platform for Underwater Inspection, Maintenance, and Repair," Proceedings of the IEEE/MTS OCEANS Conference, 5 pp., October 2020. (Link to IEEExplore)
S. Narain, E. Mak, D. Chee, T. Huster, J. Cohen, K. Pochiraju, B. Englot, N.K. Jha, and K. Narayan, "Robot Design with Neural Networks, MILP Solvers, and Active Learning," arXiv:2010.09842 [cs.AI], 22 pp., October 2020. (Link to arXiv)
T. Shan and B. Englot, "A Lexicographic Search Method for Multi-Objective Motion Planning," arXiv:1909.02184v2 [cs.RO], 8 pp., August 2020. (Link to arXiv)
J.D. Martin, M. Lyskawinski, X. Li, and B. Englot, "Stochastically Dominant Distributional Reinforcment Learning," NeurIPS 2019 Workshop on Safety and Robustness in Decision Making, 15 pp., December 2019. (Full Text)
J. Wang, T. Shan, M. Chandrasekaran, T. Osedach, and B. Englot, "Deep Learning for Detection and Tracking of Underwater Pipelines using Multibeam Imaging Sonar," ICRA 2019 Workshop on Underwater Robotics Perception, 5 pp., May 2019. (Full Text)
F. Chen, S. Bai, T. Shan, and B. Englot, "Self-Learning Exploration and Mapping for Mobile Robots via Deep Reinforcement Learning," AIAA SciTech Forum, https://doi.org/10.2514/6.2019-0396, 11 pp., January 2019. (Full Text, Video Attachment)
D. Cui, B. Englot, R. Cui, and D. Xu, "Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method," Proceedings of the IEEE/MTS OCEANS Conference, 6 pp., October 2018. (Link to IEEExplore)
Z. Clawson, X. Ding, B. Englot, T.A. Frewen, W.M. Sission, and A. Vladimirsky, "A Bi-Criteria Path Planning Algorithm for Robotics Applications," arXiv:1511.01166v2 [cs.RO], 19 pp., January 2017. (Link to arXiv)
J. Wang and B. Englot, "A Processing Pipeline for Descriptive Underwater 3D Occupancy Mapping with Scanning Sonar," ICRA 2016 Workshop on Marine Robot Localization and Navigation, 3 pp., May 2016. Winner: The Bluefin Robotics Award for Best Navigation/Localization Paper and Poster. (Link to Paper at Workshop Website, Link to Poster)
N. Goldfarb, J. Wang, S. Bai, and B. Englot, "Toward Robust Localization and Mapping for Shallow Water ROV Inspections," Proceedings of the IEEE/MTS OCEANS Conference, 7 pp., October 2015. (Link to IEEExplore)
T. Shan and B. Englot, "Tunable-Risk Sampling-Based Path Planning Using a Cost Hierarchy," ICRA 2015 Workshop on Beyond Geometric Constraints: Planning for Solving Complex Tasks, Reducing Uncertainty, and Generating Informative Paths and Policies, 2 pp., May 2015. (Link to Workshop Website)
M.F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B.J. Englot, F.S. Hover, and J.J. Leonard, "Simultaneous Localization and Mapping in Marine Environments," Marine Robot Autonomy, M.Seto Ed., Springer: New York, pp. 329-372, December 2012. (Link to Springer)
M. Kaess, H. Johannsson, B. Englot, F. Hover, and J. Leonard, "Towards Autonomous Ship Hull Inspection Using the Bluefin HAUV," Proceedings of the 9th International Symposium on Technology and the Mine Problem, 11 pp., May 2010. (Link to MIT DSpace)
B. Englot, H. Johannsson, and F. Hover, "Perception, Stability Analysis, and Motion Planning for Autonomous Ship Hull Inspection," Proceedings of the 16th International Symposium on Unmanned Untethered Submersible Technology, 12 pp., August 2009. (Full Text)
Theses
E. Pearson, Mapping, Localization, and Navigation for Robust Autonomous Inspection of Indoor Environments with Unmanned Ground Vehicles, Ph.D. Thesis, Stevens Institute of Technology, January 2024. (Full Text)
J. McConnell, Situational Awareness for Low Cost Underwater Autonomy, Ph.D. Thesis, Stevens Institute of Technology, May 2023. (Full Text)
F. Chen, Deep Reinforcement Learning for Autonomous Robot Exploration Under Uncertainty, Ph.D. Thesis, Stevens Institute of Technology, August 2021. (Full Text)
J.D. Martin, Reinforcement Learning Algorithms for Representing and Managing Uncertainty in Robotics, Ph.D. Thesis, Stevens Institute of Technology, May 2021. (Full Text)
J. Wang, Towards 3D Mapping and Autonomous Exploration for Underwater Robots in Cluttered Environments, Ph.D. Thesis, Stevens Institute of Technology, January 2020. (Full Text)
T. Shan, Minimalistic and Learning-Enabled Navigation Algorithms for Unmanned Ground Vehicles, Ph.D. Thesis, Stevens Institute of Technology, August 2019. (Full Text)
S. Bai, Learning-Aided Autonomous Exploration, Ph.D. Thesis, Stevens Institute of Technology, May 2018. (Full Text)
In The News
"Brain ... Trust? Stevens Professors on AI's Perils and Promise," Stevens Indicator Alumni Magazine, May 2024. (Link to Stevens Indicator)
"These Underwater Robots are Mapping Where You Don't Want To," Stevens University News, May 2024. (Link to Stevens News)
"Stevens Institute for Artificial Intelligence looks at Prospects for AI and Robotics," The Robot Report, December 2023. (Link to The Robot Report)
"Stevens Is All In on AI," Stevens University News, September 2023. (Link to Stevens News)
"When You Think of AI, Think of Stevens: Relaunching the Stevens Institute for Artificial Intelligence," Stevens University News, August 2023. (Link to Stevens News)
"A Conversation With Brendan Englot, Stevens Institute’s New Director for Artificial Intelligence," Robotics 24/7, April 2023. (Link to Robotics 24/7)
"Call Him 'Mr. Robot'," Stevens University News, February 2023. (Link to Stevens News)
"ASME Features Stevens in New Video Series," Stevens University News, January 2023. (Link to Stevens News)
"Endowed Professors and Chairs, Accomplished Early-Career Faculty Honored," Stevens University News, December 2022. (Link to Stevens News)
"These Are the Drones You're Looking For: Improved Design, Detection, Navigation, Cyberdefense," Stevens University News, December 2022. (Link to Stevens News)
"Perception and Decision-Making for Underwater Robots," Robohub, August 2022. (Link to Robohub)
"Underwater Robots Get a Boost in Mapping the Ocean," IEEE Spectrum, August 2022. (Link to IEEE Spectrum)
"Learning Never Exhausts the A.I.," The QTS Experience Podcast, June 2022. (Link to Podcast on YouTube)
"SLAM Fused with Satellite Imagery," Robohub, May 2022. (Link to Robohub)
"Underwater Map-Making Robot Aces First Real-World Trials in Crowded Marina," featured at EurekAlert! and Stevens University News, May 2022. (Links to EurekAlert! and Stevens News)
"Stevens Institute of Technology Develops SLAM Framework for Efficient Wireless Robot Communication," Clearpath Robotics Blog, March 2022. (Link to Clearpath Robotics Blog)
"Brendan Englot and Long Wang Receive $375,000 USDA-NIFA Award to Fund Underwater Robotics Research," Stevens University News, September 2021. (Link to Stevens News)
"Strategic Investments Fuel Record Growth of Stevens’ Research Enterprise," Stevens University News, September 2021. (Link to Stevens News)
"Brendan Englot Receives Con Edison Grant of $250,000 for Automated Mobile Robot Research," Stevens University News, August 2021. (Link to Stevens News)
"Advances in Underwater Robots," The American Society of Mechanical Engineers, May 2021. (Link to ASME)
"IEEE Robotics and Automation Society Congratulates Recently Elevated Senior Members," IEEE Robotics & Automation Magazine, March 2021. (Link to IEEExplore)
"Stevens Faculty Awarded $900,055 ONR Grant to Study Underwater Robots," Stevens University News, March 2021. (Link to Stevens News)
"Stevens' Summer Research Institute Navigates COVID-19 by Pivoting to a Virtual Experience," Stevens University News, September 2020. (Link to Stevens News)
"Two Stevens Faculty Receive Prominent ONR YIP Award," Stevens University News, July 2020. (Link to Stevens News)
"How A University Pivoted to Virtual Instruction and Learning As the COVID-19 Crisis Escalated," Stevens University News, May 2020. (Link to Stevens News)
"Robots to Use New A.I. Tool to Evaluate All Possibilities Before Making Decisions," featured at EurekAlert!, TechXplore and Stevens University News, April 2020. (Links to EurekAlert!, TechXplore and Stevens News)
"Best and Brightest: ONR's 2020 Young Investigators," ONR Media Release, April 2020. (Link to ONR Media Release)
"Improving Autonomous Vehicle Localization, Maps: Working with MIT, Stevens develops A.I. to navigate better and faster," IMPACT Research Newsletter, November 2019. (Link to Fall 2019 Issue of IMPACT)
"How Stevens Researchers Are Creating Better Maps for Robots, Self-Driving Cars," Stevens University News, June 2019. (Link to Stevens News)
"University Research with Ouster Lidar," Ouster Lidar Blog, April 2019. (Link to Ouster Blog)
"Artificial Intelligence Gets Real," Stevens University News, January 2019. (Link to Stevens News)
"How A.I. Robots can support NJ's Underwater Infrastructure," NJTV News, October 2018. (Link to NJTV News)
"A.I.-powered Robots Open Up an Underwater World," Environmental Monitor, October 2018. (Link to the Environmental Monitor)
"Maritime Security Solutions Impress at Stevens 2018 Summer Research Institute," Stevens University News, August 2018. (Link to Stevens News)
"A.I.-Equipped Robots Develop Situational Awareness in Earth's Most Uncertain Environment," featured at EurekAlert!, phys.org, and Stevens University News, July 2018. (Links to EurekAlert!, phys.org, and Stevens News)
"AI Robots Will Solve Underwater Infrastructure Damage Checks," Artificial Intelligence News, July 2018. (Link to AINews)
"SIT Advances Autonomous Mapping & Navigation Research Using Jackal UGV," Clearpath Robotics Blog, November 2017. (Link to Clearpath Robotics Blog)
"The Future of Maritime Safety Revealed at the Stevens Summer Research Institute," Stevens University News, August 2017. (Link to Stevens News)
"Dr. Brendan Englot on Making Marine Robotics More Autonomous," The Duro UAS Blog, June 2017. (Link to The Duro Blog)
"Robust Robotics: Designing Systems to Map, Inspect, and Aid in Emergencies," IMPACT Research Newsletter, April 2017. (Link to Spring 2017 Issue of IMPACT)
"Engineering New Solutions,'' Stevens University News, March 2017. (Link to Stevens News)
"Robust Robotics for a Safer World," Stevens University News, March 2017. (Link to Stevens News)
"Englot, Sabau Secure NSF CAREER Awards to Pursue Robotics, Systems Research," Stevens University News, March 2017. (Link to Stevens News)
"Brendan Englot Appointed Associate Editor of IEEE-JOE," Stevens University News, November 2014. (Link to Stevens News)
"ME Department Adding Tenure-Track Faculty in Robotics, Bionic Systems and Energy in Fall 2014," Stevens University News, April 2014. (Link to Stevens News)
"Sweeping Below Deck", The Economist, Technology Quarterly, September 2012. (Link to The Economist)
"Autonomous Robot Scans Ship Hulls for Mines," MIT News, July 2012. (Link to MIT News)