Evolution of a four wheeled active suspension rover with minimal actuation for rough terrain mobility. - Arun Kumar Singh 001; Vijay Eathakota; K. Madhava Krishna; Arun H. Patil (ROBIO, 2009)

Determination of Optimally Stable Posture for Force Actuator Based Articulated Suspension for Rough Terrain Mobility. - Vijay Eathakota; Arun Kumar Singh 001; Srikant Kolachalam; K. Madhava Krishna (FIRA, 2010)

A novel compliant rover for rough terrain mobility. - Arun Kumar Singh 001; Rahul Kumar Namdev; Vijay Eathakota; K. Madhava Krishna (IROS, 2010)

Planning stable trajectory on uneven terrain based on Feasible Acceleration Count. - Arun Kumar Singh 001; K. Madhava Krishna; Vijay Eathakota (CDC/ECC, 2011)

Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization. - Arun Kumar Singh 001; Debasish Ghose; K. Madhava Krishna (ACC, 2012)

Multi-robot exploration with communication requirement to a moving base station. - Romit Pandey; Arun Kumar Singh 001; K. Madhava Krishna (CASE, 2012)

Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. - Arun Kumar Singh 001; K. Madhava Krishna; Srikanth Saripalli (IROS, 2012)

A semi-active robot for steep obstacle ascent. - Avinash Siravuru; V. V. Anurag; Arun Kumar Singh 001; Suril Vijaykumar Shah; K. Madhava Krishna (CCA, 2013)

Trajectory planning for monocular SLAM systems. - Laxit Gavshinde; Arun Kumar Singh 001; K. Madhava Krishna (CCA, 2013)

Multi Robot Collision Avoidance with Continuous Curvature Manoeuvres. - Tejas P. Parekh; Arun Kumar Singh 001; K. Madhava Krishna (AIR, 2013)

Reactive collision avoidance for multiple robots by non linear time scaling. - Arun Kumar Singh 001; K. Madhava Krishna (CDC, 2013)

Coordinating mobile manipulator's motion to produce stable trajectories on uneven terrain based on feasible acceleration count. - Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2013)

A simulation framework for evolution on uneven terrains for synchronous drive robot. - Gattupalli Aditya; Vijay Eathakota; Arun Kumar Singh 001; K. Madhava Krishna (Adv. Robotics, 2013)

Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments. - Bharath Gopalakrishnan; Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2014)

Model Predictive Control for Micro Aerial Vehicle Systems (MAV) Systems. - Gautham Vasan; Arun Kumar Singh 001; K. Madhava Krishna (CoRR, 2014)

Trajectory planning for monocular SLAM based exploration system. - Sarthak Upadhyay; Ayush Dewan; Arun Kumar Singh 001; K. Madhava Krishna (AIR, 2015)

Mobile robot navigation amidst humans with intents and uncertainties: A time scaled collision cone approach. - Akhil Nagariya; Bharath Gopalakrishnan; Arun Kumar Singh 001; Krishna Gupta; K. Madhava Krishna (CDC, 2015)

Closed form characterization of collision free velocities and confidence bounds for non-holonomic robots in uncertain dynamic environments. - Bharath Gopalakrishnan; Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2015)

A class of non-linear time scaling functions for smooth time optimal control along specified paths. - Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2015)

Overtaking maneuvers by non linear time scaling over reduced set of learned motion primitives. - Vishakh Duggal; Kumar Bipin; Arun Kumar Singh 001; Bharath Gopalakrishnan; Brijendra K. Bharti; Abdelaziz Khiat; K. Madhava Krishna (Intelligent Vehicles Symposium, 2015)

Planning non-holonomic stable trajectories on uneven terrain through non-linear time scaling. - Arun Kumar Singh 001; K. Madhava Krishna; Srikanth Saripalli (Auton. Robots, 2016)

Feasible acceleration count: A novel dynamic stability metric and its use in incremental motion planning on uneven terrain. - Arun Kumar Singh 001; K. Madhava Krishna (Robotics Auton. Syst., 2016)

Chance constraint based multi agent navigation under uncertainty. - Bharath Gopalakrishnan; Arun Kumar Singh 001; Meha Kaushik; K. Madhava Krishna; Dinesh Manocha (AIR, 2017)

PRVO: Probabilistic Reciprocal Velocity Obstacle for multi robot navigation under uncertainty. - Bharath Gopalakrishnan; Arun Kumar Singh 001; Meha Kaushik; K. Madhava Krishna; Dinesh Manocha (IROS, 2017)

Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving. - Mithun Babu; Yash Oza; C. A. Balaji; Arun Kumar Singh 001; Bharath Gopalakrishnan; K. Madhava Krishna (CoRR, 2017)

Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone. - Mithun Babu; Yash Oza; Arun Kumar Singh 001; K. Madhava Krishna; Shanti Medasani (ECC, 2018)

Model Predictive Control for Autonomous Driving considering Actuator Dynamics. - Mithun Babu; Raghu Ram Theerthala; Arun Kumar Singh 001; Bharath Gopalakrishnan; K. Madhava Krishna (CoRR, 2018)

Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding. - Bharath Gopalakrishnan; Arun Kumar Singh 001; K. Madhava Krishna; Dinesh Manocha (CoRR, 2018)

Model Predictive Control for Autonomous Driving considering Actuator Dynamics. - Mithun Babu; Raghu Ram Theerthala; Arun Kumar Singh 001; B. P. Baladhurgesh; Bharath Gopalakrishnan; K. Madhava Krishna; Shanti Medasani (ACC, 2019)

Model Predictive Control for Target Tracking in 3D with a Downward Facing Camera Equipped Fixed Wing Aerial Vehicle. - Pravin Mali; Arun Kumar Singh 001; Madhav Krishnal; P. B. Sujit (CASE, 2020)

Bi-Convex Approximation of Non-Holonomic Trajectory Optimization. - Arun Kumar Singh 001; Raghu Ram Theerthala; Mithun Babu; Unni Krishnan R. Nair; K. Madhava Krishna (ICRA, 2020)

A Novel Trajectory Optimization for Affine Systems: Beyond Convex-Concave Procedure. - Fatemeh Rastgar; Arun Kumar Singh 001; Houman Masnavi; Karl Kruusamäe; Alvo Aabloo (IROS, 2020)

Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles. - P. S. Naga Jyotish; Bharath Gopalakrishnan; A. V. S. Sai Bhargav Kumar; Arun Kumar Singh 001; K. Madhava Krishna; Dinesh Manocha (CoRR, 2020)

Reactive Navigation Under Non-Parametric Uncertainty Through Hilbert Space Embedding of Probabilistic Velocity Obstacles. - SriSai Naga Jyotish Poonganam; Bharath Gopalakrishnan; Venkata Seetharama Sai Bhargav Kumar Avula; Arun Kumar Singh 001; K. Madhava Krishna; Dinesh Manocha (IEEE Robotics Autom. Lett., 2020)

Incorporating Prediction in Control Barrier Function Based Distributive Multi-Robot Collision Avoidance. - Pravin Mali; K. Harikumar 001; Arun Kumar Singh 001; K. Madhava Krishna; P. B. Sujit (ECC, 2021)

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; Arun Kumar Singh 001; K. Madhava Krishna (ECC, 2021)

Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures. - Vivek Kantilal Adajania; Houman Masnavi; Fatemeh Rastgar; Karl Kruusamäe; Arun Kumar Singh 001 (IROS, 2021)

GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot. - Fatemeh Rastgar; Houman Masnavi; Karl Kruusamäe; Alvo Aabloo; Arun Kumar Singh 001 (CoRR, 2021)

Real-Time Multi-Convex Model Predictive Control for Occlusion Free Target Tracking. - Houman Masnavi; Vivek K. Adajania; Karl Kruusamäe; Arun Kumar Singh 001 (CoRR, 2021)

Non Holonomic Collision Avoidance of Dynamic Obstacles underNon-Parametric Uncertainty: A Hilbert Space Approach. - Anish Gupta; Unni Krishnan R. Nair; P. S. Naga Jyotish; Arun Kumar Singh 001; K. Madhava Krishna (CoRR, 2021)

GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization. - Fatemeh Rastgar; Houman Masnavi; Jatan Shrestha; Karl Kruusamäe; Alvo Aabloo; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2021)

Leveraging Distributional Bias For Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach. - Anish Gupta; Arun Kumar Singh 001; K. Madhava Krishna (CASE, 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 001; K. Madhava Krishna (ICRA, 2022)

Drift Reduced Navigation with Deep Explainable Features. - Mohd. Omama; Sundar Sripada V. S.; Sandeep Chinchali; Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2022)

Real-Time Multi-Convex Model Predictive Control for Occlusion-Free Target Tracking With Quadrotors. - Houman Masnavi; Vivek Kantilal Adajania; Karl Kruusamäe; Arun Kumar Singh 001 (IEEE Access, 2022)

Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems. - Dipanwita Guhathakurta; Fatemeh Rastgar; Aditya Sharma 001; K. Madhava Krishna; Arun Kumar Singh 001 (Frontiers Robotics AI, 2022)

Scalable and heterogenous mobile robot fleet-based task automation in crowded hospital environments - a field test. - Robert Valner; Houman Masnavi; Igor Rybalskii; Rauno Põlluäär; Erik Kõiv; Alvo Aabloo; Karl Kruusamäe; Arun Kumar Singh 001 (Frontiers Robotics AI, 2022)

Multi-Modal Model Predictive Control Through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving. - Vivek K. Adajania; Aditya Sharma 001; Anish Gupta; Houman Masnavi; K. Madhava Krishna; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2022)

Visibility-Aware Navigation With Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost. - Houman Masnavi; Jatan Shrestha; Manav Mishra; P. B. Sujit; Karl Kruusamäe; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2022)

Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution. - Shashank Srikanth; Mithun Babu; Houman Masnavi; Arun Kumar Singh 001; Karl Kruusamäe; Krishnan Madhava Krishna (Sensors, 2022)

Solving Chance-Constrained Optimization Under Nonparametric Uncertainty Through Hilbert Space Embedding. - Bharath Gopalakrishnan; Arun Kumar Singh 001; K. Madhava Krishna; Dinesh Manocha (IEEE Trans. Control. Syst. Technol., 2022)

UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps. - Sudarshan S. Harithas; Ayyappa Swamy Thatavarthy; Gurkirat Singh; Arun Kumar Singh 001; K. Madhava Krishna (ACC, 2023)

GPU Accelerated Batch Trajectory Optimization for Autonomous Navigation. - Fatemeh Rastgar; Houman Masnavi; Karl Kruusamäe; Alvo Aabloo; Arun Kumar Singh 001 (ACC, 2023)

UAP-BEV: Uncertainty Aware Planning Using Bird's Eye View Generated From Surround Monocular Images. - Vikrant Dewangan; Basant Sharma; Tushar Choudhary; Sarthak Sharma; Aakash Aanegola; Arun Kumar Singh 001; K. Madhava Krishna (CASE, 2023)

Disentangling Planning and Control for Non-Prehensile Tabletop Manipulation. - Vishal Reddy Mandadi; Kallol Saha; Dipanwita Guhathakurta; M. Nomaan Qureshi; Aditya Agarwal; Bipasha Sen; Dipanjan Das 003; Brojeshwar Bhowmick; Arun Kumar Singh 001; K. Madhava Krishna (CASE, 2023)

Bi-Level Optimization Augmented with Conditional Variational Autoencoder for Autonomous Driving in Dense Traffic. - Arun Kumar Singh 001; Jatan Shrestha; Nicola Albarella (CASE, 2023)

AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments. - Vivek K. Adajania; Siqi Zhou; Arun Kumar Singh 001; Angela P. Schoellig (ICRA, 2023)

Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution. - Prajwal Thakur; M. Nomaan Qureshi; Arun Kumar Singh 001; Y. V. S. Harish; Pushkal Katara; Houman Masnavi; K. Madhava Krishna; Brojeshwar Bhowmick (IJCNN, 2023)

Hilbert Space Embedding-Based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction. - Basant Sharma; Aditya Sharma 001; K. Madhava Krishna; Arun Kumar Singh 001 (IROS, 2023)

End-to-End Learning of Behavioural Inputs for Autonomous Driving in Dense Traffic. - Jatan Shrestha; Simon Idoko; Basant Sharma; Arun Kumar Singh 001 (IROS, 2023)

Talk2BEV: Language-enhanced Bird's-eye View Maps for Autonomous Driving. - Vikrant Dewangan; Tushar Choudhary; Shivam Chandhok; Shubham Priyadarshan; Anushka Jain; Arun Kumar Singh 001; Siddharth Srivastava 004; Krishna Murthy Jatavallabhula; K. Madhava Krishna (CoRR, 2023)

VACNA: Visibility-Aware Cooperative Navigation With Application in Inventory Management. - Houman Masnavi; Jatan Shrestha; Karl Kruusamäe; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2023)

AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space. - Vivek K. Adajania; Siqi Zhou; Arun Kumar Singh 001; Angela P. Schoellig (ICRA, 2024)

EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning. - Kallol Saha; Vishal Reddy Mandadi; Jayaram Reddy; Ajit Srikanth; Aditya Agarwal; Bipasha Sen; Arun Kumar Singh 001; K. Madhava Krishna (ICRA, 2024)

Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization. - Simon Idoko; Basant Sharma; Arun Kumar Singh 001 (IROS, 2024)

Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model. - Amith Manoharan; Aditya Sharma 001; Himani Belsare; Kaustab Pal; K. Madhava Krishna; Arun Kumar Singh 001 (IROS, 2024)

LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving. - Pranjal Paul; Anant Garg; Tushar Choudhary; Arun Kumar Singh 001; K. Madhava Krishna (IROS, 2024)

CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation. - Naman Kumar 003; Antareep Singha; Laksh Nanwani; Dhruv Potdar; Tarun R; Fatemeh Rastgar; Simon Idoko; Arun Kumar Singh 001; K. Madhava Krishna (CoRR, 2024)

DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control. - Md Faizal Karim; Shreya Bollimuntha; Mohammed Saad Hashmi; Autrio Das; Gaurav Singh; Srinath Sridhar 002; Arun Kumar Singh 001; Nagamanikandan Govindan; K. Madhava Krishna (CoRR, 2024)

PRIEST: Projection Guided Sampling-Based Optimization for Autonomous Navigation. - Fatemeh Rastgar; Houman Masnavi; Basant Sharma; Alvo Aabloo; Jan Swevers; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2024)

Differentiable-Optimization Based Neural Policy for Occlusion-Aware Target Tracking. - Houman Masnavi; Arun Kumar Singh 001; Farrokh Janabi-Sharifi (IEEE Robotics Autom. Lett., 2024)

GPD: Guided Polynomial Diffusion for Motion Planning. - Ajit Srikanth; Parth Mahanjan; Kallol Saha; Vishal Reddy Mandadi; Pranjal Paul; Pawan Wadhwani; Brojeshwar Bhowmick; Arun Kumar Singh 001; K. Madhava Krishna (CoRR, 2025)

Swarm-Gen: Fast Generation of Diverse Feasible Swarm Behaviors. - Simon Idoko; B. Bhanu Teja; K. Madhava Krishna; Arun Kumar Singh 001 (CoRR, 2025)

π-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles. - Edvin Martin Andrejev; Amith Manoharan; Karl-Eerik Unt; Arun Kumar Singh 001 (CoRR, 2025)

$ pi$-MPPI: A Projection-Based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles. - Edvin Martin Andrejev; Amith Manoharan; Karl-Eerik Unt; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2025)

Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy. - Basant Sharma; Arun Kumar Singh 001 (IEEE Robotics Autom. Lett., 2025)

MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control. - Basant Sharma; Prajyot Jadhav; Pranjal Paul; K. Madhava Krishna; Arun Kumar Singh 001 (CoRR, 2025)