Pre-prints


Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer
arXiv:1706.09351
[pdf]
Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury, Sebastian Scherer
arXiv:1707.03034
[pdf]

Ph.D. Thesis


Adaptive Motion Planning
Sanjiban Choudhury
Ph.D. Thesis Proposal December, 2016
[pdf] [proposal_talk]

Journal Articles


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 June, 2015
[pdf]

Conference Papers


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]
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
[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]

Technical Reports


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]
Realtime Alternate Routes Planning: The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
CMU-RI-TR-12-27 December, 2012
[pdf]