Publications

Our research focus is on Multi-Robotic systems, Mobile Robotics, Robot Vision, Robot Mechanism and Control. To read more about our what problems we try to solve, please check out the research page.

2022

CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh, Arun Kumar Singh, K Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2022   [Project Page]

Robust Manoeuvring of Quadrotor under Full State Constraints
Sourish Ganguly, Viswa N. Sankaranarayanan, B. V. S. G. Suraj, Rishabh Dev Yadav, and Spandan Roy
Published at Automatic Control and Dynamical Optimization Society (ACODS 2022)   [Project Page]

Robustifying Payload Carrying Operations for Quadrotors Under Time-Varying State Constraints and Uncertainty
Viswa N. Sankaranarayanan, Rishabh Dev Yadav, Rahul K. Swayampakula, Sourish Ganguly, and Spandan Roy
Published at IEEE Robotics and Automation Letters (IEEE-RAL 2022)   [Project Page]

ReF – Rotation Equivariant Features for Local Feature Matching
Abhishek Peri*, Kinal Mehta*, Avneesh Mishra, Michael Milford, Sourav Garg, and K. Madhava Krishna
Published at arXiv (Submitted to IEEE-IROS 2022)   [Project Page]

Learning Actions for Drift-Free Navigation in Highly Dynamic Scenes
Mohd Omama, Sundar Sripada V. S., Sandeep Chinchali, K. Madhava Krishna
Published at American Control Conference (ACC 2022)   [Project Page]


2021

DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects
Rahul Sajnani*, AadilMehdi Sanchawala*, Krishna Murthy Jatavallabhula, Srinath Sridhar and K. Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2021   [Project Page]

RackLay: Monocular Multi-Layered Layout Estimation for Warehouses with Sim2Real Transfer
Meher Shashwat Nigam*, Avinash Prabhu*, Anurag Sahu*, Tanvi Karandikar, Puru Gupta, N. Sai Shankar, Ravi Kiran Sarvadevabhatla and K. Madhava Krishna
Published at ACM Indian Conference on Computer Vision, Graphics and Image Processing (ACM ICVGIP), 2021   [Project Page]

Probabilistic Inverse Velocity Obstacle for Free Flying Quadrotors
Ishaan Khare, Jyotish Poonganam, Bharath Gopalakrishnan and K. Madhava Krishna
Published at IEEE European Control Conference (ECC), 2021   [Project Page]

Non Holonomic Collision Avoidance under Non-Parametric Uncertainty: A Hilbert Space Approach
Unni Krishnan R Nair*, Anish Gupta*, D. A. Sasi Kiran, Ajay Shrihari, Vanshil Shah and K. Madhava Krishna
Published at IEEE European Control Conference (ECC), 2021   [Project Page]

Incorporating Prediction in Control Barrier Function Based Distributive Multi-Robot Collision Avoidance
Pravin Mali, K. Harikumar, Arun Kumar Singh, K. Madhava Krishna and P.B. Sujit
Published at IEEE European Control Conference (ECC), 2021   [Project Page]

Multi-View Planarity Constraints for Skyline Estimation from UAV Images in City Scale Urban Environments
Ayyappa Swamy Thatavarthy, Tanu Sharma, Harshit Sankhla, Mukul Khanna and K. Madhava Krishna
Published at International Conference on Computer Vision Theory and Applications (VISAPP), 2021   [Project Page]

Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments
Satyajit Tourani, Dhagash Desai, Udit Singh Parihar, Sourav Garg, Ravi Kiran Sarvadevabhatla, Michael Milford and K. Madhava Krishna
Published at International Conference on Computer Vision Theory and Applications (VISAPP), 2021   [Project Page]

BirdSLAM: Monocular Multibody SLAM in Bird’s-Eye View
Swapnil Daga, Gokul B. Nair, Anirudha Ramesh, Rahul Sajnani, Junaid Ahmed Ansari and K. Madhava Krishna.
Published at International Conference on Computer Vision Theory and Applications (VISAPP), 2021   [Project Page]

A new geometric approach for three view line reconstruction and motion estimation in Manhattan Scenes
Ayyappa Swamy Thatavarthy, Tanu Sharma and K. Madhava Krishna
Published at Conference on Robots and Vision (CRV), 2021   [Project Page]

Building Facades to Normal Maps: Adversarial Learning from Single View Images
Mukul Khanna*, Tanu Sharma*, Ayyappa Swamy Thatavarthy and K. Madhava Krishna
Published at Conference on Robots and Vision (CRV), 2021   [Project Page]

An Output Feedback Based Robust Saturated Controller Design for Pavement Sweeping Self-Reconfigurable Robot
Madan Mohan Rayguru, Rajesh Elara Mohan, Rizuwana Parween, Lim Yi, Anh Vu Le, Spandan Roy
Published at Conference on Robots and Vision (CRV), 2021   [Project Page]

RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing
Mohammad Nomaan Qureshi, Pushkal Katara, Abhinav Gupta*, Harit Pandya, Harish Y V S, AadilMehdi Sanchawala, Gourav Kumar, Brojeshwar Bhowmick, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Modular Pipe Climber III with Three-Output Open Differential
Rama Vadapalli*, Saharsh Agarwal, Vishnu Kumar, Kartik Suryavanshi, Nagamanikandan Govindan, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, Satyajit Tourani, Sourav Garg, Michael Milford, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Grounding Linguistic Commands to Navigable Regions
Nivedita Rufus*, Kanishk Jain, Unni Krishnan R Nair, Vineet Gandhi, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Karnik Ram*, Chaitanya Kharyal, Sudarshan S. Harithas, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism
Vishnu Kumar, Saharsh Agarwal, Rama Vadapalli, Nagamanikandan Govindan, K. Madhava Krishna
Published at 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   [Project Page]

Efficient Manoeuvring of Quadrotor under Constrained Space and Predefined Accuracy
Sourish Ganguly, Viswa N. Sankaranarayanan, B. V. S. G. Suraj, Rishabh Dev Yadav, and Spandan Roy
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Adaptive Sliding Mode Control for Autonomous Vehicle Platoon under Unknown Friction Forces
Rishabh Dev Yadav, Viswa N. Sankaranarayanan, and Spandan Roy
Published at International Conference on Advanced Robotics (ICAR 2021)   [Project Page]


2020

DeepMPCVS: Deep Model Predictive Control for Visual Servoing
Pushkal Katara, YVS Harish, Harit Pandya, Abhinav Gupta, AadilMehdi Sanchawala, Gourav Kumar, Brojeshwar Bhowmick and K. Madhava Krishna
Published at Conference on Robot Learning (CoRL), 2020   [Project Page]

Understanding Dynamic Scenes using Graph Convolution Networks
Sravan Mylavarapu, Mahtab Sandhu, Priyesh Vijayan, K. Madhava Krishna, Balaraman Ravindran, Anoop Namboodiri
Published at IEEE International Conference on Intelligent Robots and Systems (IROS), 2020   [Project Page]

Aerial Transportation of Unknown Payloads: Adaptive Path Tracking for Quadrotors
Viswa N. Sankaranarayanan, Spandan Roy, Simone Baldi
Published at IEEE International Conference on Intelligent Robots and Systems (IROS), 2020   [Project Page]

LiDAR Guided Small Obstacle Segmentation
Asheesh Singh, Aditya Kamireddypalli, Vineet Gandhi and K. Madhava Krishna
Published at IEEE International Conference on Intelligent Robots and Systems (IROS), 2020   [Project Page]

Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
Bharath Gopalakrishnan, Arun Kumar Singh, K. Madhava Krishna and Dinesh Manocha
Published at IEEE Transactions on Control Systems Technology (ITCST), 2020   [Project Page]

SROM: Simple Real-time Odometry and Mapping using LiDAR data for Autonomous Vehicles
Nivedita Rufus, Unni Krishnan R. Nair, A.V.S Sai Bhargav Kumar, Vashist Madiraju and K. Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2020   [Project Page]

Multi-Object Monocular SLAM for Dynamic Environments
Gokul B Nair, Swapnil Daga, Rahul Sajnani, Anirudha Ramesh, Junaid Ahmed Ansari, J. Krishna Murthy and K. Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2020   [Project Page]

Bi-Convex Approximation of Non-Holonomic Trajectory Optimization
Arun Kumar Singh, Raghu Ram Theerthala, Mithun Babu, Unni Krishnan R Nair and K. Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2020   [Project Page]

Omnidirectional Tractable Three Module Robot
Kartik Suryavanshi, Rama Vadapalli, Ruchitha Vucha, Abhishek Sarkar and K Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2020   [Project Page]

DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing
Y V S Harish, Harit Pandya, Ayush Gaud, Shreya Terupally, Sai Shankar and K. Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2020   [Project Page]

Topological Mapping for Manhattan-like Repetitive Environments
Sai Shubodh Puligilla*, Satyajit Tourani*, Tushar Vaidya*, Udit Singh Parihar, Ravi Kiran Sarvadevabhatla and K. Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2020   [Project Page]

Reactive Navigation under Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles
SriSai Naga Jyotish Poonganam*, Bharath Gopalakrishnan*, Venkata Seetharama Sai Bhargav Kumar Avula, Arun Kumar Singh, K. Madhava Krishna and Dinesh Manocha
Published at IEEE Robotics and Automation Letters and IEEE International Conference on Robotics and Automation (ICRA + RA-L), 2020   [Project Page]

Introducing Switched Adaptive Control for Quadrotors for Vertical Operations
Viswa N. Sankaranarayanan and Spandan Roy
Published at Optimal Control Applications and Methods, 2020   [Project Page]

MonoLayout: Amodal scene layout from a single image
Kaustubh Mani, Swapnil Daga, Shubhika Garg, N. Sai Shankar, J. Krishna Murthy and K. Madhava Krishna
Published at Winter Conference on Applications of Computer Vision, 2020   [Project Page]


2019

Model Predictive Control for Autonomous Driving considering Actuator Dynamics
P. S. Naga Jyotish, Yash Goel, A. V. S. Sai Bhargav Kumar, K. Madhava Krishna
Published at 28th IEEE International Conference on Robot and Human Interactive Communication (RoMAN), 2019   [Project Page]

Probabilistic obstacle avoidance and object following: An overlap of Gaussians approach
Dhaivat Bhatt, Akash Garg, Bharath Gopalakrishnan, K. Madhava Krishna
Published at 28th IEEE International Conference on Robot and Human Interactive Communication (RoMAN), 2019   [Project Page]

IVO: Inverse Velocity Obstacles for Real Time Navigation
P. S. Naga Jyotish, Yash Goel, A. V. S. Sai Bhargav Kumar, K. Madhava Krishna
Published at Advances in Robotics (AIR), 2019   [Project Page]

Parameter Sharing Reinforcement Learning Architecture for Multi Agent Driving
Meha Kaushik, Nirvan Singhania, Phaniteja S., K. Madhava Krishna
Published at Advances in Robotics (AIR), 2019   [Project Page]

Gradient Aware - Shrinking Domain based Control Design for Reactive Planning Frameworks
Adarsh, Siddharth Singh, A. V. S. Sai Bhargav Kumar, Sriram N. N., K. Madhava Krishna
Published at Advances in Robotics (AIR), 2019   [Project Page]

INFER: INtermediate representations for FuturE pRediciton
Shashank Srinkanth*, Junaid Ahmed Ansari*, R. Karnik Ram, Sarthak Sharma, J. Krishna Murthy and K. Madhava Krishna
Published at IEEE International Conference on Intelligent Robots and Systems (IROS), 2019   [Project Page]

Talk to the Vehicle: Language Conditioned Autonomous Navigation of Self Driving Cars
Sriram N. N., Tirth Maniar, Jayaganesh Kalyanasundaram, Vineet Gandhi, Brojeshwar Bhowmick and K. Madhava Krishna
Published at IEEE International Conference on Intelligent Robots and Systems (IROS), 2019   [Project Page]

Instance Invariant Visual Servoing Framework for Part-Aware Autonomous Vehicle Inspection using MAVs
Harit Pandya, Ayush Gaud, Gourav Kumar and K. Madhava Krishna
Published at Journal of Field Robotics (JFR), 2019   [Project Page]

Motion Planning Framework for Autonomous Vehicles: A Time Scaled Collision Cone Interleaved Model Predictive Control Approach
Raghu Ram Theerthala, A. V. S. Sai Bhargav Kumar, Mithun Babu, Phaniteja S. and K Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2019   [Project Page]

A Hierarchical Network for Diverse Trajectory Proposals
Sriram N. N., Gourav Kumar, Abhay Singh, M. Siva Karthik, Saket Saurav, Brojeshwar Bhowmick and K. Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2019   [Project Page]


2018

Learning to Prevent Monocular SLAM Failure using Reinforcement Learning
Vignesh Prasad, Karmesh Yadav, Saurabh Singh, Swapnil Daga, Nahas Pareekutty, K. Madhava Krishna, Balaraman Ravindran, and Brojeshwar Bhowmick
Published at ICVGIP 2018   [Project Page]

CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks
Ganesh Iyer, R. Karnik Ram, J. Krishna Murthy, and K. Madhava Krishna
Published at IROS 2018   [Project Page]

Towards View-Invariant Intersection Recognition from Videos using Deep Network Ensembles
Abhijeet Kumar, Gunshi Gupta, Avinash Sharma and K. Madhava Krishna
Published at IROS 2018   [Project Page]

The Earth ain’t Flat: Monocular Reconstruction of Vehicles on Steep and Graded Roads from a Moving Camera
Junaid Ahmed Ansari, Sarthak Sharma, Anshuman Majumdar, J. Krishna Murthy and K. Madhava Krishna
Published at IROS 2018   [Project Page]

Image Based Visual Servoing for Tumbling Objects
Mithun P, Harit Pandya, Ayush Gaud, Suril V. Shah and K. Madhava Krishna
Published at IROS 2018   [Project Page]

MergeNet: A Deep Net Architecture for Small Obstacle Discovery
Krishnam Gupta, Syed Ashar Javed, Vineet Gandhi and K. Madhava Krishna
Published at ICRA 2018   [Project Page]

Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking
Sarthak Sharma, Junaid Ahmed Ansari, J. Krishna Murthy, and K. Madhava Krishna
Published at ICRA 2018   [Project Page]

Constructing Category-Specific Models for Monocular Object-SLAM
Parv Parkhiya, Rishabh Khawad, J. Krishna Murthy, Brojeshwar Bhowmick, and K. Madhava Krishna
Published at ICRA 2018   [Project Page]

Overtaking Maneuvers in Simulated Highway Driving using Deep Reinforcement Learning
Meha Kaushik, Vignesh Prasad, K Madhava Krishna and Balaraman Ravindran
Published at IV 2018   [Project Page]

Fast Multi Model Motion Segmentation on Road Scenes
Mahtab Sandhu, Nazrul Haque, Avinash Sharma, K Madhava Krishna and Shanti Medasani
Published at IV 2018   [Project Page]

A Novel Lane Merging Framework with Probabilistic Risk based Lane Selection using Time Scaled Collision Cone
A. V. S. Sai Bhargav Kumar, Adarsh Modh, Mithun Babu, Bharath Gopalakrishnan and K. Madhava Krishna
Published at IV 2018   [Project Page]

Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Mithun Babu, Yash Oza, Arun Kumar Singh and K. Madhava Krishna
Published at ECC 2018   [Project Page]

Learning Multi-Goal Inverse Kinematics in Humanoid Robot
Phaniteja S, Parijat Dewangan, Abhishek Sarkar and K. Madhava Krishna
Published at ISR 2018   [Project Page]


2017

A Deep Reinforcement Learning Approach for Dynamically Stable Inverse Kinematics of Humanoid Robots
Phaniteja S, Parijat Dewangan, Pooja Guhan, Abhishek Sarkar and K. Madhava Krishna
Published at ROBIO 2017   [Project Page]

Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot
Akash Singh, Enna Sachdeva, Abhishek Sarkar and K. Madhava Krishna
Published at ROBIO 2017   [Project Page]

Shape Priors for Real-Time Monocular Object Localization in Dynamic Environments
J. Krishna Murthy, Sarthak Sharma and K. Madhava Krishna
Published at IROS 2017   [Project Page]

PRVO: Probabilistic Reciprocal Velocity Obstacle for Multi Robot Navigation under Uncertainty
Bharath Gopalakrishnan, Arun Kumar Singh, Meha Kaushik, K. Madhava Krishna and Dinesh Manocha
Published at IROS 2017   [Project Page]

Multi-trajectory Pose Correspondences using Scale-dependent Topological Analysis of Pose-Graphs
Sayantan Datta, Avinash Sharma and K. Madhava Krishna
Published at IROS 2017   [Project Page]

COCrIP: Compliant OmniCrawler In-pipeline Robot
Akash Singh, Enna Sachdeva, Abhishek Sarkar and K. Madhava Krishna
Published at IROS 2017   [Project Page]

Have I Reached the Intersection: A Deep Learning-Based Approach for Intersection Detection from Monocular Cameras
Dhaivat Bhatt, Danish Sodhi, Arghya Pal, Vineeth Balasubramanian and K. Madhava Krishna
Published at IROS 2017   [Project Page]

Pose Induction for Visual Servoing to a Novel Object Instance
Gourav Kumar, Harit Pandya, Ayush Gaud and K. Madhava Krishna
Published at IROS 2017   [Project Page]

Data driven strategies for Active Monocular SLAM using Inverse Reinforcement Learning
Vignesh Prasad, Rishab Jangir, Balaraman Ravindran and K.Madhava Krishna
Published at AAMAS 2017   [Project Page]

Detachable Modular Robot capable of Cooperative Climbing and Multi Agent Exploration
Sri Harsha Turlapati, Ankur Srivastava, K. Madhava Krishna and Suril V. Shah
Published at ICRA 2017   [Project Page]

Exploring Convolutional Networks for End-to-End Visual Servoing
Aseem Saxena, Harit Pandya, Gourav Kumar and K. Madhava Krishna
Published at ICRA 2017   [Project Page]

Reconstructing Vechicles from a Single Image: Shape Priors for Road Scene Understanding
J. Krishna Murthy, G.V. Sai Krishna, Falak Chhaya and K. Madhava Krishna
Published at ICRA 2017   [Project Page]

3D Region Proposals For Selective Object Search
Sheetal Reddy, Vineet Gandhi, K. Madhava Krishna and Suril V. Shah
Published at VISAPP 2017   [Project Page]

Joint Semantic and Motion Segmentation for dynamic scenes using Deep Convolutional Networks
Nazrul Haque, Dinesh Reddy and K. Madhava Krishna
Published at VISAPP 2017(Oral)   [Project Page]


2016

CRF based method for Curb Detection using semantic cues and stereo depth
Danish Sodhi, Sarthak Upadhyay, Dhaivat Bhatt, K.Madhava Krishna and Shanti Swarup
Published at ICVGIP 2016   [Project Page]

SLAM Pose-graph Robustification via Multi-scale Heat-Kernel Analysis
Sayantan Datta Siddharth Tourani Avinash Sharma and K. Madhava Krishna and Suril V. Shah
Published at CDC 2016   [Project Page]

DeepFly: Towards Complete Autonomous Navigation of MAVs with Monocular Camera
Utsav Shah, Rishabh Khawad, K.Madhava Krishna
Published at ICVGIP 2016   [Project Page]

Fast Frontier Detection in Indoor Environment for Monocular SLAM
Sarthak Upadhyay, Sarthak Upadhyay, K.Madhava Krishna and Swagat Kumar
Published at ICVGIP 2016   [Project Page]

Hierarchical Structured Learning for Indoor Autonomous Navigation of Quadcopter
Vishakh Duggal, Kumar Bipin, Utsav Shah, K. Madhava Krishna
Published at ICVGIP 2016   [Project Page]

Image Space based Path Planning for Reactionless Manipulation of Redundant Space Robot.
Rachit Bhargava, P. Mithun, V. V. Anurag, A.H. Abdul Hafez and S. V. Shah
Published at IROS 2016   [Project Page]

Rolling Shutter and Motion Blur Removal for Depth Cameras.
Siddharth Tourani, Sudhanshu Mittal, Akhil Nagariya, Visesh Chari and K. Madhava Krishna
Published at ICRA 2016   [Project Page]

Plantation Monitoring and Yield Estimation using Autonomous Quadcopter for Precision Agriculture.
Vishakh Duggal, Mohak Sukhwani, Kumar Bipin, G. Syamasundar Reddy and K. Madhava Krishna
Published at ICRA 2016   [Project Page]

Monocular Reconstruction of Vehicles: Combining SLAM with Shape Priors.
Falak Chhaya, Dinesh Reddy, Sarthak Upadhyay, Visesh Chari, M. Zeeshan Zia and K. Madhava Krishna
Published at ICRA 2016   [Project Page]

Discriminative Learning based Visual Servoing across Object Instances.
Harit Pandya, K. Madhava Krishna and C. V. Jawahar
Published at ICRA 2016   [Project Page]


2015

Planning non-holonomic stable trajectories on uneven terrain through non-linear time scaling.
Arun Kumar Singh, K. Madhava Krishna and Srikanth Saripalli
Published at Autonomous Robots 2015   [Project Page]

Feasible acceleration count: A novel dynamic stability metric and its use in incremental motion planning on uneven terrain.
Arun Kumar Singh and K. Madhava Krishna
Published at RAS 2015   [Project Page]

Mobile robot navigation amidst humans with intents and uncertainties : A time scaled collision cone approach.
Akhil Nagariya, Bharath Gopalakrishnan, Arun Kumar Singh, Krishnam Gupta and K. Madhava Krishna
Published at CDC 2015   [Project Page]

An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization.
Avinash Siravuru, Suril V Shah and K. Madhava Krishna
Published at Robotica 2015   [Project Page]

Decision Theoretic Search for Small Objects through Integrating Far and Near Cues.
M Siva Karthik, Sudhanshu Mittal, Gurshaant Malik and K. Madhava Krishna
Published at ECMR 2015   [Project Page]

Stair Climbing Using a Compliant Modular Robot.
Sri Harsha Turlapati, Mihir Shah, Phani Teja Singamaneni, Avinash Siravuru, Suril Vijaykumar Shah and K. Madhava Krishna
Published at IROS 2015   [Project Page]

Closed Form Characterization of Collision Free Velocities and Confidence Bounds for Non-holonomic robots in Uncertain Dynamic Environments.
Arun Kumar Singh, Bharath Gopalakrishnan and K. Madhava Krishna
Published at IROS 2015   [Project Page]

A Class of Non-Linear Time Scaling Functions For Smooth Time Optimal Control Along Specified Paths.
Arun Kumar Singh and K. Madhava Krishna
Published at IROS 2015   [Project Page]

Dynamic Body VSLAM with Semantic Constraints.
dinesh reddy narapureddy, Prateek Singhal, Visesh Chari and K. Madhava Krishna
Published at IROS 2015   [Project Page]

Trajectory Planning for Monocular SLAM based Exploration System.
Sarthak Upadhyay, Ayush Dewan and K.Madhava Krishna
Published at AIR 2015   [Project Page]

Using In-frame Shear Constraints for Monocular Motion Segmentation of Rigid Bodies.
Siddharth Tourani and K. Madhava Krishna
Published at JIRS 2015   [Project Page]

Servoing Across Object Instances: Visual Servoing for Object Category.
Harit Pandya, K. Madhava Krishna and C. V. Jawahar
Published at ICRA 2015   [Project Page]

Autonomous Navigation of Generic Monocular Quadcopter in Natural Environment.
Kumar Bipin, Vishakh Duggal and K. Madhava Krishna
Published at ICRA 2015   [Project Page]

Time Optimal Control along Specified Paths with Acceleration Continuity: A Non-Linear Time Scaling based approach.
Arun Kumar Singh, Bharath Gopalakrishnan and K.Madhava Krishna
Published at ICC 2015   [Project Page]


2014

Autonomous Navigation of Generic Quadrocopter with Minimum Time Trajectory Planning and Control.
Kumar Bipin, Vishakh Duggal, K. Madhava Krishna
Published at ICVES 2014   [Project Page]

Time Scaled Collision Cone based Trajectory Optimization Approach for Reactive Planning in Dynamic Environments.
Bharath Gopalakrishnan, Arun Kumar Singh and K.Madhava Krishna
Published at IROS 2014   [Project Page]

CRF Based Frontier Detection using Monocular Camera.
Sarthak Upadhyay, Suryansh Kumar and K.Madhava Krishna
Published at ICVGIP 2014   [Project Page]

Guess from Far, Recognize when Near: Searching the Floor for Small Objects.
M. Siva Karthik, Sudhanshu Mittal and K.Madhava Krishna
Published at ICVGIP 2014   [Project Page]

Semantic Motion Segmentation Using Dense CRF Formulation.
N. Dinesh Reddy, Prateek Singhal, K. Madhava Krishna
Published at ICVGIP 2014   [Project Page]

Top Down Approach to Detect Multiple Planes from Pair of Images.
Prateek Singhal, Aditya Deshpande , Harit Pandya, N. Dinesh Reddy, K. Madhava Krishna
Published at ICVGIP 2014   [Project Page]

Small Object Discovery and Recognition using Actively Guided Robot.
Sudhanshu Mittal, M. Siva Karthik, Suryansh Kumar and K.Madhava Krishna
Published at ICPR 2014   [Project Page]

A Compliant Multi-module Robot for Climbing Big Step-like Obstacles
S. Avinash, A. Srivastava, A. Purohit, S. V. Shah and K. Madhava Krishna
Published at ICRA 2014   [Project Page]

Posture Control of a Three-Segmented Tracked Robot with Torque Minimization During Step Climbing
Sartaj Singh, Babu D Jadhav and K. Madhava Krishna
Published at ICRA 2014   [Project Page]

Reactionless Visual Servoing of a Dual-Arm Space Robot
A. H. Abdul Hafez, V. V. Anurag, S. V. Shah, K. Madhava Krishna and C. V. Jawahar
Published at ICRA 2014   [Project Page]

Markov Random Field based Small Obstacle Discovery over Images
Suryansh Kumar, M. Siva Karthik and K. Madhava Krishna
Published at ICRA 2014   [Project Page]


2013

Multibody VSLAM with Relative Scale Solution for Curvilinear Motion Reconstruction
Rahul Namdev, K. Madhava Krishna and C. V. Jawahar
Published at ICRA 2013   [Project Page]

Reactive Collision Avoidance for Multiple Robots by Non Linear Time Scaling
Arun K. Singh and K. Madhava Krishna
Published at CDC 2013   [Project Page]

Heterogeneous UGV-MAV Exploration Using Integer Programming
Ayush Dewan, Aravindh Mahendran, Nikhil Soni and K. Madhava Krishna
Published at IROS 2013   [Project Page]

Visual Localization in Highly Crowded Urban Environment
A. H. Abdul Hafez, Manpreet S. Arora, K. Madhava Krishna and C. V. Jawahar
Published at IROS 2013   [Project Page]

Coordinating Mobile Manipulator’s Motion to produce Stable Trajectories on Uneven Terrain based on Feasible Acceleration Count
Arun K. Singh and K. Madhava Krishna
Published at IROS 2013   [Project Page]

Gait Sequence Generation of a Hybrid Wheeled-Legged Robot for Negotiating Discontinuous Terrain
Sartaj Singh, K. Madhava Krishna
Published at MSC 2013   [Project Page]

Trajectory Planning for Monocular SLAM Systems
Laxit Gavshinde, Arun Kumar Singh, and K. Madhava Krishna
Published at MSC 2013   [Project Page]

Depth really Matters: Improving Visual Salient Region Detection with Depth
Karthik Desingh, K Madhava Krishna, C. V. Jawahar and Deepu Rajan
Published at BMVC 2013   [Project Page]

A Semi-Active Robot for Steep Obstacle Ascent
S. Avinash, V. V. Anurag, A. K. Singh, S. V. Shah and K. Madhava Krishna
Published at MSC 2013   [Project Page]

Control Strategies for Reactionless Capture of an Orbiting Object using a Satellite Mounted Robot
A. Gattupalli, S. V. Shah, K. Madhava Krishna and A. K. Misra
Published at AIR 2013   [Project Page]

Reactionless Path Planning Strategies for Capture of Tumbling Objects in Space Using a Dual-Arm Robotic System
S. V. Shah, A. K. Misra and I. Sharf
Published at AIAAGNCC 2013   [Project Page]

Correlation between Diagonal Ratio and Condition Number of the Generalized Inertia Matrix of a Serial-Chain
S. V. Shah and S. K. Saha
Published at AME 2013   [Project Page]

Dynamics of Serial Chains with Large Degrees-of-Freedom
A. Agarwal, S. V. Shah, S. Bandyopadhyay and S. K. Saha
Published at JMSD 2013   []

Reduced-order Forward Dynamics of Closed-Loop Systems
M. Kaul, S. V. Shah, S. K. Saha and M. Manivannan
Published at JMSD 2013   [Project Page]

Dynamics Algorithms for multibody systems
S. V. Shah, S. K. Saha and J. K. Dutt
Published at JAVE 2013   [Project Page]

Optimization Based Coordinated UGV-MAV Exploration for 2D Augmented Mapping
Ayush Dewan, Aravindh Mahendran, Nikhil Soni, K Madhava Krishna
Published at AAMAS 2013   [Project Page]


2012

Outdoor Intersection Detection for Autonomous Exploration
Piyoosh Mukhija, Siddharth Tourani and K. Madhava Krishna
Published at ITSC 2012   [Project Page]

Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization
Arun Kumar Singh, Debasish Ghose and K. Madhava Krishna
Published at ACC 2012   [Project Page]

A Bayes Filter based Adaptive Floor Segmentation with Homography and Appearance Cues
Suryansh Kumar, Ayush Dewan, K Madhava Krishna
Published at ICVGIP 2012   [Project page]

Viewpoint based Mobile Robotic Exploration aiding Object Search in Indoor Environment
Karthik Desingh, Akhil Nagariya, K Madhava Krishna
Published at ICVGIP 2012   [Project Page]

Fast Randomized Planner for SLAM Automation
Amey Parulkar, Piyush Shukla, K Madhava Krishna
Published at CASE 2012   [Project Page]

Planning Trajectories on Uneven Terrain using Optimization and Non-Linear time Scaling Techniques
Arun Kumar Singh, K. Madhava Krishna and Srikanth Saripalli
Published at IROS 2012   [Project Page]

Multi-Robot Exploration with Communication Requirement to a Moving Base Station
Romit Pandey, Arun Kumar Singh and K. Madhava Krishna.
Published at CASE 2012   [Project Page]

A Simulation Framework for Evolution on Uneven Terrains for Synchronous Drive Robot
Aditya Gattupalli, Vijay P. Eathakota, Arun K. Singh, K. Madhava Krishna.
Published at Journal of Advanced Robotics 2012   [Project Page]

Motion Segmentation of Multiple Objects from a Freely Moving Monocular Camera
Rahul Namdev, K Madhava Krishna and C V Jawahar.
Published at ICRA 2012   [Project Page]

Field Programmable Gate Array (FPGA) Based Collision Avoidance Using Acceleration Velocity Obstacles
Roopak Dubey, Neeraj Pradhan, K Madhava Krishna and Shubhajit Roy Chowdhury.
Published at ROBIO 2012   [Project Page]


2011

Planning Stable Trajectory on Uneven Terrain based on Feasible Acceleration Count
Arun Kumar Singh, K Madhava Krishna and Vijay Eathakota.
Published at CDC 2011   [Project Page]

Quasi-Static Simulation of a Wheeled Mobile Robot having a Passive Variable Camber
Vijay Eathakota, G Aditya and K Madhava Krishna.
Published at IFTOMM World Congress 2011   [Project Page]

Realtime Multibody Visual SLAM with a Smoothly Moving Monocular Camera
Abhijit Kundu, K Madhava Krishna and C V Jawahar. To Appear in
Published at ICCV 2011   [Project Page]

Quasi-Static Motion Planning on Uneven Terrain for a wheeled mobile robot
Vijay Eathakota, G Aditya and K Madhava Krishna.
Published at IROS 2011   [Project Page]

Large Scale Visual Localization in Urban Environments
Supreeth Achar, C V Jawahar and K Madhava Krishna.
Published at ICRA 2011   [Project Page]


2010

Realtime Motion Segmentation based Multibody Visual SLAM
Abhijit Kundu, K Madhava Krishna and C. V.Jawahar.
Published at ICVGIP 2010   [Project Page]

Data Association using Empty Convex Polygonal Regions in EKF SLAM
Gururaj Kosuru, Satish Pedduri and K Madhava Krishna.
Published at ROBIO 2010   [Project Page]

An Adaptive Outdoor Terrain Classification Methodology using Monocular Camera
Chetan J., K Madhava Krishna and C. V. Jawahar
Published at IROS 2010   [Project Page]

A Two Phase Recursive Tree Propagation based Multi-Robotic Exploration Framework with Fixed Base Station Constraint
Piyoosh Mukhija, K Madhava Krishna and Vamshi Krishna.
Published at IROS 2010   [Project Page]

A Visual Exploration Algorithm using Semantic Cues that Constructs Image based Hybrid Maps
Aravindhan K Krishnan and K Madhava Krishna.
Published at IROS 2010   [Project Page]

A Novel Compliant Rover for Rough Terrain Mobility
Arun Kumar Singh, Rahul Kumar Namdev, Vijay Eathakota, K Madhava Krishna.
Published at IROS 2010   [Project Page]

Two Models of Force Actuator based Active Suspension Mechanisms for Mobility on Uneven Terrain,
Vijay P. Eathakota, Arun K Singh and K Madhava Krishna.
Published at Acta Astronautica, Elsevier, 2010   [Project Page]

Fast and Spatially-smooth Terrain Classification using Monocular Camera
Chetan J., Madhava Krishna and C. V. Jawahar.
Published at ICPR 2010   [Project Page]

Motion in ambiguity: Coordinated active global localization for multiple robots
Shivudu Bhuvanagiri and K Madhava Krishna.
Published at RAS 2010   [Project Page]

Multi Robotic Exploration with Communication Requirement to a Fixed Base Station
Piyoosh Mukhija, Rahul Sawhney and K Madhava Krishna.
Published at AAMAS 2010   [Project Page]

Image Based Exploration for Indoor Environments using Local Features
Aravindhan K Krishnan, K Madhava Krishna and Supreeth Achar.
Published at AAMAS 2010   [Project Page]


2009

Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot
Abhijit Kundu, K Madhava Krishna and Jayanthi Sivaswamy.
Published at IROS 2009   [Project Page]

Evolution of a Four Wheeled Active Suspension Rover with Minimal Actuation for Rough Terrain Mobility
Arun Kumar Singh, Vijay Prakash Eathakota K Madhava Krishna, and Arun.H.Patil.
Published at ROBIO 2009   [Project Page]

Robot application development framework based on database
Subhash.S and K Madhava Krishna.
Published at ROBIO 2009   [Project Page]

MDP based Active Localization for multiple robots
Jyotika Bahuguna, B Ravindran and K Madhava Krishna.
Published at CASE 2009   [Project Page]

On Measurement Models for Line Segments and Point Based SLAM
Satish Pedduri, Gururaj Kosuru, K Madhava Krishna and Amit K Pandey
Published at ICAR 2009   [Project Page]

Estimating Ground and Other Planes from a Single Tilted Laser Range Finder for On-Road Driving
Yasovardhan Reddy E, Hemanth Korrapati and K Madhava Krishna
Published at ICAR 2009   [Project Page]

Towards load-balanced de-congested multi-robotic agent traffic control by coordinated control at intersections
D V Karthikeya Viswanath and K Madhava Krishna
Published at JISR 2009   [Project Page]

On Fast Exploration in 2D and 3D Terrains with Multiple robots
, Rahul Sawhney, K Madhava Krishna and K Srinathan
Published at AAMAS 2009   [Project Page]

Towards Load Balanced Decongested Multi Robotic Traffic Control at Intersections
, Karthikeya Viswanath and K Madhava Krishna, to appear in
Published at Springer Journal of Intelligent Service Robotics, 2009   [Project Page]


2008

On Reduced time fault tolerant paths for Multi-UAVs covering a Hostile Terrain
Rahul Sawhney, K Madhava Krishna, K Srinathan and Mahesh Mohan,
Published at AAMAS 2008   [Project Page]

Coordination in Ambiguity: Actively Localizing Multiple Robots
Shivudu B and K M Krishna,
Published at AAMAS 2008   [Project Page]

On-line Convex Optimization based Solution for Mapping in VSLAM
, A H Abdul Hafez, S Bhuvanagiri, K Madhava Krishna and C V Jawahar,
Published at IROS 2008   [Project Page]

Covering Hostile Terrains with Partial and Complete Visibilities: On Minimum Distance Paths
, Mahesh Mohan, Rahul Sawhney, K Madhava Krishna, K Srinathan and M B Srikkanth,
Published at IROS 2008   [Project Page]

Active Global Localization for Multiple Robots by Disambiguating Multiple Hypotheses
, S Bhuvanagiri and K Madhava Krishna,
Published at IROS 2008   [Project Page]

Person following by a mobile robot
, Ankur Handa, J Sivaswamy, K Madhava Krishna and Sartaj Singh, accepted at
Published at CLAWAR 2008   [Project Page]

Localizing from multiple hypotheses states minimizing expected path lengths for mobile robots
, Hemanth Korapatti, S Subhash, K Madhava Krishna and A K Pandey,
Published at CLAWAR 2008   [Project Page]

Optimal Posture Control for Force Actuator Based Articulated Suspension Vehicle for Rough Terrain Mobility
, Vijay P Eathakota, S Kolachalama and K Madhava Krishna,
Published at CLAWAR 2008   [Project Page]

Global Localization of Mobile Robots by Reverse Projection of Sensor Readings
Hemanth Korrapati, K Madhava Krishna and Aditya Teja
Published at ROBIO 2008   [Project Page]

A Mixed Autonomy Coordination Methodology For Multi-Robotic Traffic Control
Aditya Teja V, D V Karthikeya Viswanath and K Madhava Krishna
Published at ROBIO 2008   [Project Page]

Force Actuator based Articulated Suspension Vehicle for Rough Terrain Mobility
Vijay P. Eathakota, Srikanth Kolachalama, Arun K. Singh and K Madhava Krishna
Published at ISMCR-08   [Project Page]


2007

Optimal Multi-Sensor based Multi Target Detection by Moving Sensors to the Maximal Clique in a Covering Graph
Ganesh P Kumar and K Madhava Krishna
Published at IJCAI 2007   [Project Page]

Feature Based Occupancy Grid Maps for Sonar Based Safe-Mapping
Amit Kumar Pandey, K Madhava Krishna and Mainak Nath
Published at IJCAI 2007   [Project Page]

Sensor Network Mediated Multi Robotic Traffic Control in Indoor Environment
D V Karthikeya Viswanath and K Madhava Krishna
Published at ICAR 2007   [Project Page]

Link Graph and Feature Chain based Robust Online SLAM for Fully Autonomous Mobile Robot Navigation System using Sonar Sensors
Amit Kumar Pandey and K Madhava Krishna
Published at ICAR 2007   [Project Page]

Collision Avoidance for Multiple Robots till Next Waypoints through Collision Free Polygons
Satish Pedduri and K Madhava Krishna
Published at ICAR 2007   [Project Page]

Active Localization of Multiple Mobile Robots By Moving to Best Frontiers
Shivudu Bhuvanagiri, K Madhava Krishna and Rakesh Goyal
Published at ICAR 2007   [Project Page]

On Improving the Mobility of Vehicles in Uneven Terrain
Siddharth Sanan, Nageshwar Rao, K Madhava Krishna and Sartaj Singh
Published at ICAR 2007   [Project Page]

Robot Navigation in a 3D World Mediated by Sensor Networks
D. V. Karthikeya Viswanath K Madhava Krishna, Henry Hexmoor and Sartaj Singh
Published at KIMAS 2007   [Project Page]

Cooperative Navigation Function based Navigation of Multiple Mobile Robots
Satish Pedduri, K Madhava Krishna and Henry Hexmoor
Published at KIMAS 2007   [Project Page]

Feature Chain Based Occupancy Grid SLAM for Robots Equipped with Sonar Sensors
Amit Kumar Pandey, K Madhava Krishna and Henry Hexmoor
Published at KIMAS 2007   [Project Page]

Probability Based Optimal Algorithms for Multi-sensor Multi-target Detection
T R Rahul, K Madhava Krishna and Henry Hexmoor
Published at KIMAS 2007   [Project Page]


2006

Extension of Reeds & Shepp Paths to a Robot with Front and Rear Wheel Steer
Siddharth Sanan, Darshan Santani, K Madhava Krishna and Henry Hexmoor
Published at ICRA 2006   [Project Page]

Multi-target Detection by Multi-sensor Systems: A Comparison of Systems
Ganesh P K, K Madhava Krishna and Paulo Menezes
Published at ROBIO 2006   [Project Page]

Sensor Based Localization for Mobile Robots by Exploration and Selection of Best Direction
Rakesh Goyal, K Madhava Krishna and Shivudu Bhuvanagiri
Published at ROBIO 2006   [Project Page]


2005

An optimal multi-sensor based object tracking algorithm for surveillence systems
K Madhava Krishna and Henry Hexmoor
Published at IICAI 2005   [Project Page]

Fuzzy clustering with M-Estimators
K Madhava Krishna and Prem K Kalra
Published at IICAI 2005   [Project Page]

A framework for guarenteeing detection performance of a sensor network
K Madhava Krishna and Henry Hexmoor
Published at IICAI 2005   [Project Page]

A T-Step Ahead Constrained Optimal Target Detection Algorithm for a Multi Sensor Surveillance System
K Madhava Krishna, Henry Hexmoor and Shravan Sogani
Published at IROS 2005   [Project Page]

Reactive Navigation of Multiple Moving Agents by Collaborative Resolution of Conflicts
K Madhava Krishna and Henry Hexmoor Srinivas Chellappa
Published at Journal On Robotics Systems 2005   [Project Page]

Safe proactive plans and their execution
K Madhava Krishnaa, R Alamib and T Simeonb
Published at RAS 2005   [Project Page]


2004

Reactive Collision Avoidance of Multiple Moving Agents by Cooperation and Conflict Propagation
Madhava Krishna and Henry Hexmoor
Published at ICRA 2004   [Project Page]


2003

Moving Safely but not Slowly - Reactively Sdapting Paths for Better Trajectory Times
K Madhava Krishna, R Alami and T Simeon
Published at ICAR 2003   [Project Page]


2002

On the influence of sensor capacities and environment dynamics onto collision-free motion plans
R Alami, T Simeon and K Madhava Krishna
Published at IROS 2002   [Project Page]

Detection, Tracking and Avoidance of Multiple Dynamic Objects
K Madhava Krishna and Prem K Karla
Published at Journal of Intelligent Robots and Systems 2002   [Project Page]

When Does a Robot Perceive a Dynamic Object?
K Madhava Krishna and Prem K Kalra
Published at Journal On Robotics Systems 2002   [Project Page]


2001

Perception and remembrance of the environment during real-time navigation of a mobile robot
K Madhava Krishna and Prem K Kalra
Published at RAS 2001   [Project Page]