ReBiS - Reconfigurable Bipedal Snake robot. - Rohan Thakker; Ajinkya Kamat; Sachin Bharambe; Shital S. Chiddarwar; K. M. Bhurchandi (IROS, 2014)

Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. - Sofie Haesaert; Petter Nilsson; Cristian Ioan Vasile; Rohan Thakker; Ali-akbar Agha-mohammadi; Aaron D. Ames; Richard M. Murray (ADHS, 2018)

Onboard Stereo Vision for Drone Pursuit or Sense and Avoid. - Cevahir Çigla; Rohan Thakker; Larry H. Matthies (CVPR Workshops, 2018)

Differential Flatness Transformations for Aggressive Quadrotor Flight. - Benjamin Morrell; Marc Rigter; Gene Merewether; Robert Reid 001; Rohan Thakker; Theodore Tzanetos; Vinay Rajur; Gregory E. Chamitoff (ICRA, 2018)

Generalizing Informed Sampling for Asymptotically-Optimal Sampling-Based Kinodynamic Planning via Markov Chain Monte Carlo. - Daqing Yi; Rohan Thakker; Cole Gulino; Oren Salzman; Siddhartha S. Srinivasa (ICRA, 2018)

Characterization and Traversal of Pliable Vegetation for Robot Navigation. - Camilo Ordonez; Ryan Alicea; Brandon Rothrock; Kyle Ladyko; Jeremy Nash; Rohan Thakker; Shreyansh Daftry; Mario Harper; Emmanuel G. Collins Jr.; Larry H. Matthies (ISER, 2018)

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. - Petter Nilsson; Sofie Haesaert; Rohan Thakker; Kyohei Otsu; Cristian Ioan Vasile; Ali-Akbar Agha-Mohammadi; Richard M. Murray; Aaron D. Ames (Robotics: Science and Systems, 2018)

Comparison of Trajectory Optimization Algorithms for High-Speed Quadrotor Flight Near Obstacles. - Benjamin Morrell; Rohan Thakker; Gene Merewether; Robert Reid 001; Marc Rigter; Theodore Tzanetos; Gregory E. Chamitoff (IEEE Robotics Autom. Lett., 2018)

Temporal logic planning in uncertain environments with probabilistic roadmaps and belief spaces. - Sofie Haesaert; Rohan Thakker; Petter Nilsson; Ali-Akbar Agha-Mohammadi; Richard M. Murray (CDC, 2019)

Thermal-Inertial Odometry for Autonomous Flight Throughout the Night. - Jeff Delaune; Robert A. Hewitt; Laura Lytle; Cristina Sorice; Rohan Thakker; Larry H. Matthies (IROS, 2019)

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments. - David D. Fan; Rohan Thakker; Tara Bartlett; Meriem Ben Miled; Leon Kim; Evangelos A. Theodorou; Ali-akbar Agha-mohammadi (IROS, 2019)

Contact Inertial Odometry: Collisions are your Friends. - Thomas Lew; Tomoki Emmei; David D. Fan; Tara Bartlett; Angel Santamaria-Navarro; Rohan Thakker; Ali-akbar Agha-mohammadi (ISRR, 2019)

Towards Resilient Autonomous Navigation of Drones. - Angel Santamaria-Navarro; Rohan Thakker; David D. Fan; Benjamin Morrell; Ali-akbar Agha-mohammadi (ISRR, 2019)

Contact Inertial Odometry: Collisions are your Friend. - Thomas Lew; Tomoki Emmei; David D. Fan; Tara Bartlett; Angel Santamaria-Navarro; Rohan Thakker; Ali-akbar Agha-mohammadi (CoRR, 2019)

Bi-Directional Value Learning for Risk-Aware Planning Under Uncertainty. - Sung-Kyun Kim; Rohan Thakker; Ali-Akbar Agha-Mohammadi (IEEE Robotics Autom. Lett., 2019)

Bayesian Learning-Based Adaptive Control for Safety Critical Systems. - David D. Fan; Jennifer Nguyen; Rohan Thakker; Nikhilesh Alatur; Ali-akbar Agha-mohammadi; Evangelos A. Theodorou (ICRA, 2020)

Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions. - Rohan Thakker; Nikhilesh Alatur; David D. Fan; Jesus Tordesillas; Michael Paton; Kyohei Otsu; Olivier Toupet; Ali-akbar Agha-mohammadi (ISER, 2020)

Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration. - Takahiro Sasaki; Kyohei Otsu; Rohan Thakker; Sofie Haesaert; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2020)

ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots. - Harshad Zade; Aadesh Varude; Karan Pandya; Ajinkya Kamat; Shital S. Chiddarwar; Rohan Thakker (CASE, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data. - John So; Amber Xie; Sunggoo Jung; Jeffrey A. Edlund; Rohan Thakker; Ali-akbar Agha-mohammadi; Pieter Abbeel; Stephen James (CoRL, 2022)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

Principled ICP Covariance Modelling in Perceptually Degraded Environments for the EELS Mission Concept. - William Talbot; Jeremy Nash; Michael Paton; Eric Ambrose; Brandon Metz; Rohan Thakker; Rachel Etheredge; Masahiro Ono; Viorela Ila (IROS, 2023)

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures. - Rohan Thakker; Michael Paton; Marlin P. Strub; R. Michael Swan; Guglielmo Daddi; Rob Royce; L. Phillipe Tosi; Matthew Gildner; Tiago Vaquero; Marcel Veismann; Peter V. Gavrilov; Eloise Marteau; et al. (IROS, 2023)

Reinforcement learning-driven parametric curve fitting for snake robot gait design. - Jack Naish; Jacob Rodriguez; Jenny Zhang; Bryson Jones; Guglielmo Daddi; Andrew L. Orekhov; Rob Royce; Michael Paton; Howie Choset; Masahiro Ono; Rohan Thakker (L4DC, 2024)

Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent. - Rob Royce; Marcel Kaufmann; Jonathan Becktor; Sangwoo Moon; Kalind C. Carpenter; Kai Pak; Amanda Towler; Rohan Thakker; Shehryar Khattak (CoRR, 2024)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration. - Tiago Stegun Vaquero; Guglielmo Daddi; Rohan Thakker; Michael Paton; Ashkan Jasour; Marlin P. Strub; R. Michael Swan; Rob Royce; Matthew Gildner; L. Phillipe Tosi; Marcel Veismann; Peter V. Gavrilov; et al. (Sci. Robotics, 2024)

Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures. - Ashkan Jasour; Guglielmo Daddi; Masafumi Endo; Tiago Stegun Vaquero; Michael Paton; Marlin P. Strub; Sabrina Corpino; Michel D. Ingham; Masahiro Ono; Rohan Thakker (CoRR, 2025)

Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option. - Rohan Thakker; Adarsh Patnaik; Vince Kurtz; Jonas Frey; Jonathan Becktor; Sangwoo Moon; Rob Royce; Marcel Kaufmann; Georgios Georgakis; Pascal Roth; Joel Burdick; Marco Hutter 001; et al. (CoRR, 2025)