publications

2025

1. 

   BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes

   Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, and 5 more authors

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

   HTML PDF

2024

1. ICRA

   

   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

   DOI 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},
     publisher = {ICRA},
   }

2. IROS

   

   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

   DOI 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},
     volume = {},
     number = {},
     pages = {},
     keywords = {},
     doi = {10.1109/IROS58592.2024.10802520}
   }

3. IROS

   

   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

   DOI arXiv Bib HTML PDF

   @inproceedings{vlpg,
     publisher = {IROS},
     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 = {10.1109/IROS58592.2024.10802008}
   }

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

   DOI 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

   

   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

   DOI arXiv Bib HTML

   @inproceedings{10341869,
     publisher = {IROS},
     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

   

   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

   DOI arXiv Bib HTML

   @inproceedings{9981353,
     publisher = {IROS},
     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

   

   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

   DOI arXiv Bib HTML

   @inproceedings{9982110,
     publisher = {IROS},
     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

   

   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

   DOI arXiv Bib HTML

   @inproceedings{9636618,
     publisher = {IROS},
     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

   DOI 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

   

   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

   DOI arXiv Bib HTML

   @inproceedings{9561257,
     publisher = {ICRA},
     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

   DOI 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

   DOI 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}
   }