publications

2024

1. ICRA 24

   Unconstrained Model Predictive Control for Robot Navigation under Uncertainty

   Senthil Hariharan Arul ,  Jong Jin Park ,  Vishnu Prem , and 2 more authors

   In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024

   Bib HTML PDF

   @inproceedings{mpc,
     author = {Arul, Senthil Hariharan and Jin Park, Jong and Prem, Vishnu and Zhang, Yang and Manocha, Dinesh},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Unconstrained Model Predictive Control for Robot Navigation under Uncertainty},
     year = {2024},
     volume = {},
     number = {},
     pages = {9321-9327},
     keywords = {Uncertainty;Navigation;Computational modeling;Aerospace electronics;Probabilistic logic;Stability analysis;Planning},
     doi = {10.1109/ICRA57147.2024.10610531}
   }

2. 

   When, What, and with Whom to Communicate: Enhancing RL-based Multi-Robot Navigation through Selective Communication

   Senthil Hariharan Arul ,  Amrit Singh Bedi ,  and  Dinesh Manocha

   In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2024

   arXiv Bib HTML

   @inproceedings{what,
     author = {Arul, Senthil Hariharan and Bedi, Amrit Singh and Manocha, Dinesh},
     booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {When, What, and with Whom to Communicate: Enhancing RL-based Multi-Robot Navigation through Selective Communication},
     year = {2024},
     publisher = {IROS 24},
     volume = {},
     number = {},
     pages = {},
     keywords = {},
     doi = {}
   }

3. IROS 24

   VLPG-Nav: Object Navigation Using Visual Language Pose Graph and Object Localization Probability Maps

   Senthil Hariharan Arul ,  Dhruva Kumar ,  Vivek Sugirtharaj , and 5 more authors

   In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2024

   arXiv Bib HTML

   @inproceedings{vlpg,
     author = {Arul, Senthil Hariharan and Kumar, Dhruva and Sugirtharaj, Vivek and Kim, Richard and Qi, Xuewei (Tony) and Madhivanan, Rajasimman and Sen, Arnie and Manocha, Dinesh},
     booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {VLPG-Nav: Object Navigation Using Visual Language Pose Graph and Object Localization Probability Maps},
     year = {2024},
     volume = {},
     number = {},
     pages = {},
     keywords = {},
     doi = {}
   }

2023

1. RA-L

   3D-Online Generalized Sensed Shape Expansion: A Probabilistically Complete Motion Planner in Obstacle-Cluttered Unknown Environments

   Vrushabh Zinage ,  Senthil Hariharan Arul ,  Dinesh Manocha , and 1 more author

   IEEE Robotics and Automation Letters, 2023

   arXiv Bib HTML

   @article{10087332,
     author = {Zinage, Vrushabh and Arul, Senthil Hariharan and Manocha, Dinesh and Ghosh, Satadal},
     journal = {IEEE Robotics and Automation Letters},
     title = {3D-Online Generalized Sensed Shape Expansion: A Probabilistically Complete Motion Planner in Obstacle-Cluttered Unknown Environments},
     year = {2023},
     volume = {8},
     number = {6},
     pages = {3334-3341},
     keywords = {Trajectory;Shape;Planning;Sensors;Robot sensing systems;Probabilistic logic;Heuristic algorithms;Motion and path planning;collision avoidance;simulation and animation},
     doi = {10.1109/LRA.2023.3263376}
   }

2. IROS 23

   DS-MPEPC: Safe and Deadlock-Avoiding Robot Navigation in Cluttered Dynamic Scenes

   Senthil Hariharan Arul ,  Jong Jin Park ,  and  Dinesh Manocha

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023

   arXiv Bib HTML

   @inproceedings{10341869,
     author = {Arul, Senthil Hariharan and Park, Jong Jin and Manocha, Dinesh},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {DS-MPEPC: Safe and Deadlock-Avoiding Robot Navigation in Cluttered Dynamic Scenes},
     year = {2023},
     volume = {},
     number = {},
     pages = {2256-2263},
     keywords = {Costs;Navigation;Heuristic algorithms;System recovery;Predictive models;Prediction algorithms;Cost function},
     doi = {10.1109/IROS55552.2023.10341869}
   }

2022

1. IROS 22

   DC-MRTA: Decentralized Multi-Robot Task Allocation and Navigation in Complex Environments

   Aakriti Agrawal ,  Senthil Hariharan ,  Amrit Singh Bedi , and 1 more author

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022

   arXiv Bib HTML

   @inproceedings{9981353,
     author = {Agrawal, Aakriti and Hariharan, Senthil and Bedi, Amrit Singh and Manocha, Dinesh},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {DC-MRTA: Decentralized Multi-Robot Task Allocation and Navigation in Complex Environments},
     year = {2022},
     volume = {},
     number = {},
     pages = {11711-11718},
     keywords = {Navigation;Heuristic algorithms;Reinforcement learning;Markov processes;Minimization;Trajectory;Resource management},
     doi = {10.1109/IROS47612.2022.9981353}
   }

2. IROS 22

   CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning

   Senthil Hariharan Arul ,  and  Dinesh Manocha

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022

   arXiv Bib HTML

   @inproceedings{9982110,
     author = {Arul, Senthil Hariharan and Manocha, Dinesh},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning},
     year = {2022},
     volume = {},
     number = {},
     pages = {7213-7220},
     keywords = {Measurement;Navigation;Lattices;Planning;Intelligent robots},
     doi = {10.1109/IROS47612.2022.9982110}
   }

3. 

   DMCA: Dense Multi-agent Navigation using Attention and Communication

   Senthil Hariharan Arul ,  Amrit Singh Bedi ,  and  Dinesh Manocha

   2022

   arXiv

2021

1. IROS 21

   V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles

   Senthil Hariharan Arul ,  and  Dinesh Manocha

   In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021

   arXiv Bib HTML

   @inproceedings{9636618,
     author = {Arul, Senthil Hariharan and Manocha, Dinesh},
     booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles},
     year = {2021},
     volume = {},
     number = {},
     pages = {8097-8104},
     keywords = {System recovery;Collision avoidance;Intelligent robots},
     doi = {10.1109/IROS51168.2021.9636618}
   }

2. RA-L

   SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms Under Uncertainty

   Senthil Hariharan Arul ,  and  Dinesh Manocha

   IEEE Robotics and Automation Letters, 2021

   arXiv Bib HTML

   @article{9362190,
     author = {Arul, Senthil Hariharan and Manocha, Dinesh},
     journal = {IEEE Robotics and Automation Letters},
     title = {SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms Under Uncertainty},
     year = {2021},
     volume = {6},
     number = {2},
     pages = {2437-2444},
     keywords = {Collision avoidance;Uncertainty;Trajectory;Probabilistic logic;Heuristic algorithms;State estimation;Navigation;Collision avoidance;motion and path planning;simulation and animation},
     doi = {10.1109/LRA.2021.3061975}
   }

3. ICRA 21

   Multi-Agent Ergodic Coverage in Urban Environments

   Shivang Patel ,  Senthil Hariharan ,  Pranav Dhulipala , and 4 more authors

   In 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021

   arXiv Bib HTML

   @inproceedings{9561257,
     author = {Patel, Shivang and Hariharan, Senthil and Dhulipala, Pranav and Lin, Ming C and Manocha, Dinesh and Xu, Huan and Otte, Michael},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Multi-Agent Ergodic Coverage in Urban Environments},
     year = {2021},
     volume = {},
     number = {},
     pages = {8764-8771},
     keywords = {Automation;Heuristic algorithms;Conferences;Buildings;Urban areas;Cameras;Distance measurement;Multi-Agent;Coverage;Lawn-mower;Ergodic;Boustrophedon;Voronoi;Urban Environment},
     doi = {10.1109/ICRA48506.2021.9561257}
   }

2020

1. RA-L

   DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms

   Senthil Hariharan Arul ,  and  Dinesh Manocha

   IEEE Robotics and Automation Letters, 2020

   arXiv Bib

   @article{8962047,
     author = {Arul, Senthil Hariharan and Manocha, Dinesh},
     journal = {IEEE Robotics and Automation Letters},
     title = {DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms},
     year = {2020},
     volume = {5},
     number = {2},
     pages = {1191-1198},
     keywords = {Trajectory;Collision avoidance;Heuristic algorithms;Feedforward systems;Navigation;Computational modeling;Aerospace electronics;Collision avoidance;path planning for multiple mobile robots or agents;simulation and animation},
     doi = {10.1109/LRA.2020.2967281},
     url = {https://ieeexplore.ieee.org/abstract/document/8962047},
   }

2019

1. RA-L

   LSwarm: Efficient Collision Avoidance for Large Swarms With Coverage Constraints in Complex Urban Scenes

   Senthil Hariharan Arul ,  Adarsh Jagan Sathyamoorthy ,  Shivang Patel , and 4 more authors

   IEEE Robotics and Automation Letters, 2019

   arXiv Bib HTML

   @article{8767930,
     author = {Arul, Senthil Hariharan and Sathyamoorthy, Adarsh Jagan and Patel, Shivang and Otte, Michael and Xu, Huan and Lin, Ming C. and Manocha, Dinesh},
     journal = {IEEE Robotics and Automation Letters},
     title = {LSwarm: Efficient Collision Avoidance for Large Swarms With Coverage Constraints in Complex Urban Scenes},
     year = {2019},
     volume = {4},
     number = {4},
     pages = {3940-3947},
     keywords = {Collision avoidance;Sensors;Surveillance;Urban areas;Multi-robot systems;Path planning;Uncertainty;Collision Avoidance;Path Planning for Multiple Mobile Robots or Agents;Simulation and Animation},
     doi = {10.1109/LRA.2019.2929981}
   }