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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<h1><span style="color: black;">The Robust Field Autonomy Lab at Stevens Institute
of Technology</span> </h1><h1 style="color: black;"><small>Research Group of Brendan Englot, Ph.D. </small></h1>
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<h2>Refereed Conference and Journal Publications </h2>
<div style="padding: 10px 0pt; float: left;"><br><span style="font-weight: bold;"><br><br></span></div>
<p><big style="font-weight: bold;">2025</big></p>
<p>X. Lin, P. Szenher, Y. Huang, and B. Englot, "Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles," <span style="font-style: italic;">IEEE Robotics and Automation Letters</span>, vol. 10(2), pp. 1194-1201, February 2025. (<a href="https://ieeexplore.ieee.org/document/10804093">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2412.09466">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Lin_RA-L_2024_10-FinalVideo.mp4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/Distributional_RL_Decision_and_Control">Code Release</a>)</p>
<p>J. McConnell, I. Collado-Gonzalez, P. Szenher, and B. Englot, "Large-Scale Dense 3D Mapping Using Submaps Derived From Orthogonal Imaging Sonars," <span style="font-style: italic;">IEEE Journal of Oceanic Engineering</span>, vol. 50(1), pp. 354-369, January 2025. (<a href="https://ieeexplore.ieee.org/document/10742648">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2412.03760">Link to arXiv preprint</a>)</p>
<p><big style="font-weight: bold;">2024</big></p>
<p>E. Pearson, B. Mirisola, C. Murphy, C. Huang, C. O'Leary, F. Wong, J. Meyerson, L. Bonfim, M. Zecca, N. Spina, P. Szenher, S. Katari, S. Bhatt, T. Dohi, T. Colarusso, T. Gana, and B. Englot, "Robust Autonomous Mobile Manipulation for Substation Inspection," <span style="font-style: italic;">ASME Journal of Mechanisms and Robotics</span>, vol. 16(11), Article 115001, November 2024. (<a href="https://doi.org/10.1115/1.4065613">Link to ASME Digital Collection</a>, <a href="https://robustfieldautonomylab.github.io/Pearson_ASME_2024.mp4">Video Attachment</a>)</p>
<p>J. Sitler, S. Sowrirajan, B. Englot, and L. Wang, "A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems," <span style="font-style: italic;">Proceedings of the 21st International Conference on Ubiquitous Robots</span>, pp. 683-690, June 2024. (<a href="https://ieeexplore.ieee.org/document/10597507">Link to IEEExplore</a>)
<p>I. Collado-Gonzalez, J. McConnell, J. Wang, P. Szenher, and B. Englot, "Real-Time Planning Under Uncertainty for AUVs Using Virtual Maps," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 8334-8340, May 2024. (<a href="https://ieeexplore.ieee.org/document/10610245">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2403.04936">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Collado_ICRA24_Video.mp4">Video Attachment</a>)</p>
<p>Y. Huang, X. Lin, and B. Englot, "Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 7236-7242, May 2024. (<a href="https://ieeexplore.ieee.org/document/10611495">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2403.04021">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Huang_ICRA24_Video.mp4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/Multi-Robot-EM-Exploration">Code Release</a>)</p>
<p>X. Lin, Y. Huang, F. Chen, and B. Englot, "Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 8327-8333, May 2024. (<a href="https://ieeexplore.ieee.org/document/10611668">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2402.11799">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Lin_ICRA24_Video.mp4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/Multi_Robot_Distributional_RL_Navigation">Code Release</a>)</p>
<p>Y. Huang, X. Lin, M. Hernandez-Rocha, S. Narain, K. Pochiraju, and B. Englot, "Mission-oriented Gaussian Process Motion Planning for UUVs over Complex Seafloor Terrain and Current Flows," <span style="font-style: italic;">IEEE Robotics and Automation Letters</span>, vol. 9(2), pp. 1780-1787, February 2024. (<a href="https://ieeexplore.ieee.org/document/10380691">Link to IEEExplore</a>, <a href="https://robustfieldautonomylab.github.io/Huang_RA-L_2024_Video.mp4">Video Attachment</a>)</p>
<p><big style="font-weight: bold;">2023</big></p>
<p>X. Lin, J. McConnell, and B. Englot, "Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 6185-6191, October 2023. (<a href="https://ieeexplore.ieee.org/document/10342389">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2307.16240">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Lin_IROS_2023_video.mp4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/Distributional_RL_Navigation">Code Release</a>)</p>
<p>X. Lin, Y. Huang, D. Sun, T.-Z. Lin, B. Englot, R.M. Eustice, and M. Ghaffari, “A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios,” <span style="font-style: italic;">IEEE Access</span>, vol. 11, pp. 97239-97249, September 2023. (<a href="https://ieeexplore.ieee.org/document/10239392">Link to IEEExplore</a>)</p>
<p>E. Pearson, P. Szenher, C. Huang, and B. Englot, "Mobile Manipulation Platform for Autonomous Indoor Inspection in Low-Clearance Areas," <span style="font-style: italic;">Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference</span>, Paper No. DETC2023-111245, V001T01A014, August 2023. (<a href="https://doi.org/10.1115/DETC2023-111245">Link to ASME</a>, <a href="https://arxiv.org/abs/2309.10794">Link to arXiv preprint</a>)</p>
<p>X. Lin, P. Szenher, J.D. Martin, and B. Englot, "Robust Route Planning with Distributional Reinforcement Learning in a Stochastic Road Network Environment," <span style="font-style: italic;">Proceedings of the 20th International Conference on Ubiquitous Robots</span>, pp. 287-294, June 2023. (<a href="https://ieeexplore.ieee.org/document/10202222">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2304.09996">Link to arXiv preprint</a>, <a href="https://github.com/RobustFieldAutonomyLab/Stochastic_Road_Network">Code Release</a>)</p>
<p>E. Pearson and B. Englot, "A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments," <span style="font-style: italic;">Proceedings of the 20th International Conference on Ubiquitous Robots</span>, pp. 319-326, June 2023. (<a href="https://ieeexplore.ieee.org/document/10202392">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2308.05620">Link to arXiv preprint</a>, <a href="https://github.com/RobustFieldAutonomyLab/waypoint_navigation">Code Release</a>)</p>
<p>K. Hart, B. Englot, R. O'Shea, J. Kelly, and D. Martinez,
"Monocular Simultaneous Localization and Mapping using Ground Textures," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 2032-2038, May 2023. (<a href="https://ieeexplore.ieee.org/document/10161558">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2303.05946">Link to arXiv preprint</a>, <a href="https://www.youtube.com/watch?v=lJvTLQapsrQ">Video Attachment</a>, <a href="https://github.com/Navy-RISE-Lab/ground-texture-slam">Code Release</a>)</p>
<p>J. Meng, A. Humne, R. Bucknall, B. Englot, and Y. Liu,
"A Fully-Autonomous Framework of Unmanned Surface Vehicles in Maritime Environments Using Gaussian Process Motion Planning," <span style="font-style: italic;">IEEE Journal of Oceanic Engineering</span>, vol. 48(1), pp. 59-79, January 2023. (<a href="https://ieeexplore.ieee.org/document/9864318">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2204.10826">Link to arXiv preprint</a>)</p>
<p><big style="font-weight: bold;">2022</big></p>
<p>J. McConnell, I. Collado-Gonzalez, and B. Englot,
"Perception for Underwater Robots," <span style="font-style: italic;">Current Robotics Reports</span>, vol. 3, pp. 177–186, December 2022. (<a href="https://doi.org/10.1007/s43154-022-00096-3">Link to Springer</a>)</p>
<p>J. McConnell, Y. Huang, P. Szenher, I. Collado-Gonzalez, and B. Englot,
"DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 8457-8464, October 2022. (<a href="https://ieeexplore.ieee.org/document/9981822">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2210.00867">Link to arXiv preprint</a>, <a href="https://www.youtube.com/watch?v=Jc-uPaiCZtw">Link to Presentation</a>, <a href="https://robustfieldautonomylab.github.io/DRACo-SLAM_VideoAttachment.mp4">Video Attachment</a>, <a href="https://github.com/jake3991/DRACo-SLAM">Code Release</a>)</p>
<p>J. Wang, F. Chen, Y. Huang, J. McConnell, T. Shan, and B. Englot,
"Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments," <span style="font-style: italic;">IEEE Journal of Oceanic Engineering</span>, vol. 47(4), pp. 916-935, October 2022. (<a href="https://ieeexplore.ieee.org/document/9806387">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2202.08359">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Wang_IEEE_JOE_2022_video.mp4">Video Attachment</a>)</p>
<p>S. Narain, E. Mak, D. Chee, B. Englot, K. Pochiraju, N.K. Jha, and K. Narayan,
"Fast Design Space Exploration of Nonlinear Systems: Part I," <span style="font-style: italic;">IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems</span>, vol. 41(9), pp. 2970-2983, September 2022. (<a href="https://ieeexplore.ieee.org/document/9580747">Link to IEEExplore</a>)</p>
<p>E. Pearson, K. Doherty, and B. Englot,
"Improving Obstacle Boundary Representations in Predictive Occupancy Mapping," <span style="font-style: italic;">Robotics and Autonomous Systems</span>, vol. 153, Article 104077, July 2022. (<a href="https://www.sciencedirect.com/science/article/pii/S0921889022000380">Link to Elsevier</a>, <a href="https://youtu.be/VTUc4lQ2en4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/la3dm">Code Release</a>)</p>
<p>J. McConnell, F. Chen, and B. Englot,
"Overhead Image Factors for Underwater Sonar-based SLAM," <span style="font-style: italic;">IEEE Robotics and Automation Letters</span>, vol. 7(2), pp. 4901-4908, April 2022. (<a href="https://ieeexplore.ieee.org/document/9721066">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2202.05811">Link to arXiv preprint</a>, <a href="https://www.youtube.com/watch?v=_uWljtp58ks">Video Attachment</a>)</p>
<p>Y. Huang, T. Shan, F. Chen, and B. Englot,
"DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM with Two-Stage Global-Local Graph Optimization," <span style="font-style: italic;">IEEE Robotics and Automation Letters</span>, vol. 7(2), pp. 1150-1157, April 2022. (<a href="https://ieeexplore.ieee.org/document/9662965">Link to IEEExplore</a>, <a href="https://www.researchgate.net/publication/357319383_DiSCo-SLAM_Distributed_Scan_Context-Enabled_Multi-Robot_LiDAR_SLAM_with_Two-Stage_Global-Local_Graph_Optimization">Link to ResearchGate preprint</a>, <a href="https://robustfieldautonomylab.github.io/DiSCo-SLAM.mp4">Video Attachment</a>, <a href="https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM">Code Release</a>)</p>
<p><big style="font-weight: bold;">2021</big></p>
<p>Y.M. Chen and B. Englot,
"Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System," <span style="font-style: italic;">Proceedings of the 9th International Conference on Robot Intelligence Technology and Applications</span>, December 2021. (<a href="https://robustfieldautonomylab.github.io/Chen_Englot_RiTA_2021.pdf">Full Text</a>, <a href="https://robustfieldautonomylab.github.io/ChenEnglot.mp4">Link to Presentation</a>)</p>
<p>F. Chen, P. Szenher, Y. Huang, J. Wang, T. Shan, S. Bai, and B. Englot,
"Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 5193-5199, June 2021. (<a href="https://ieeexplore.ieee.org/document/9561917">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2105.04758">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/Chen_ICRA_2021_Presentation.mp4">Link to Presentation</a>, <a href="https://www.youtube.com/watch?v=62phOSf2HEg">Video Attachment</a>)</p>
<p>J. McConnell and B. Englot,
"Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 6761-6767, June 2021. (<a href="https://ieeexplore.ieee.org/document/9560737">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2104.03203">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/McConnell_ICRA_2021_Presentation.mp4">Link to Presentation</a>, <a href="https://www.youtube.com/watch?v=WouCrY9eK4o">Video Attachment</a>)</p>
<p>T. Shan, B. Englot, C. Ratti, and D. Rus,
"LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 5692-5698, June 2021. (<a href="https://ieeexplore.ieee.org/document/9561996">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2104.10831">Link to arXiv preprint</a>, <a href="https://www.youtube.com/watch?v=RfCEBiovx8M">Link to Presentation</a>, <a href="https://www.youtube.com/watch?v=8CTl07D6Ibc">Video Attachment</a>)</p>
<p>T. Shan, B. Englot, F. Duarte, C. Ratti, and D. Rus,
"Robust Place Recognition using an Imaging Lidar," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 5469-5475, June 2021. (<a href="https://ieeexplore.ieee.org/document/9562105">Link to IEEExplore</a>, <a href="https://arxiv.org/abs/2103.02111">Link to arXiv preprint</a>, <a href="https://www.youtube.com/watch?v=yJUY8IwZT_M">Link to Presentation</a>, <a href="https://www.youtube.com/watch?v=yH1hLBFaNoI">Video Attachment</a>)</p>
<p>S. Bai, T. Shan, F. Chen, L. Liu, and B. Englot,
"Information-Driven Path Planning," <span style="font-style: italic;">Current Robotics Reports</span>, vol. 2, pp. 177-188, June 2021. (<a href="https://link.springer.com/article/10.1007/s43154-021-00045-6">Link to Springer</a>)</p>
<p><big style="font-weight: bold;">2020</big></p>
<p>T. Shan, J. Wang, F. Chen, P. Szenher, and B. Englot,
"Simulation-based Lidar Super-resolution for Ground Vehicles," <span style="font-style: italic;">Robotics and Autonomous Systems</span>, vol. 134, Article 103647, December 2020. (<a href="https://www.sciencedirect.com/science/article/pii/S0921889020304875">Link to Elsevier</a>, <a href="https://youtu.be/rNVTpkz2ggY">Video Attachment</a>)</p>
<p>T. Shan, W. Wang, B. Englot, C. Ratti, and D. Rus,
"A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways," <span style="font-style: italic;">Proceedings of the IEEE Conference on Decision and Control</span>, pp. 4085-4092, December 2020. (<a href="https://ieeexplore.ieee.org/document/9304298">Link to IEEExplore</a>, <a href="https://arxiv.org/pdf/2007.08362v2.pdf">Link to arXiv preprint</a>)</p>
<p>F. Chen, J.D. Martin, Y. Huang, J. Wang, and B. Englot,
"Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 6140-6147, October 2020. (<a href="https://ieeexplore.ieee.org/document/9341657">Link to IEEExplore</a>, <a href="https://arxiv.org/pdf/2007.12640.pdf">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/index_files/Chen_IROS_2020_Presentation.mp4">Link to Presentation</a>, <a href="https://youtu.be/e7uM03hMZRo">Video Attachment</a>)</p>
<p>J.D. Martin, K. Doherty, C. Cyr, B. Englot, and J. Leonard,
"Variational Filtering with Copula Models for SLAM," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 5066-5073, October 2020. (<a href="https://ieeexplore.ieee.org/document/9341404">Link to IEEExplore</a>, <a href="https://arxiv.org/pdf/2008.00504.pdf">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/index_files/Martin_IROS_2020_Presentation.mp4">Link to Presentation</a>)</p>
<p>J. McConnell, J.D. Martin, and B. Englot,
"Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 1653-1660, October 2020. (<a href="https://ieeexplore.ieee.org/document/9340995">Link to IEEExplore</a>, <a href="https://arxiv.org/pdf/2007.10407.pdf">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/index_files/McConnell_IROS_2020_Presentation.mp4">Link to Presentation</a>, <a href="https://robustfieldautonomylab.github.io/McConnell_IROS_2020_video.mp4">Video Attachment</a>)</p>
<p>T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus,
"LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 5135-5142, October 2020. (<a href="https://ieeexplore.ieee.org/document/9341176">Link to IEEExplore</a>, <a href="https://arxiv.org/pdf/2007.00258v3.pdf">Link to arXiv preprint</a>, <a href="https://robustfieldautonomylab.github.io/index_files/Shan_IROS_2020_Presentation.mp4">Link to Presentation</a>, <a href="https://www.youtube.com/watch?v=A0H8CoORZJU">Video Attachment</a>)</p>
<p>J.D. Martin, M. Lyskawinski, X. Li, and B. Englot,
"Stochastically Dominant Distributional Reinforcement Learning," <span style="font-style: italic;">Proceedings of the International Conference on Machine Learning</span>, pp. 6931-6940, July 2020. (<a href="http://proceedings.mlr.press/v119/martin20a.html">Full text at PMLR</a>)</p>
<p>D. Gao, J. Luo, W. Ma, and B. Englot, "Online Feedback Motion Planning for Spacecraft Obstacle
Avoidance using Positively Invariant Sets," <span style="font-style: italic;">Advances in Space Research</span>, vol. 65(10), pp. 2424-2434, May 2020. (<a href="https://www.sciencedirect.com/science/article/pii/S0273117720300685">Link to Elsevier</a>)</p>
<p><big style="font-weight: bold;">2019</big></p><p>J. Wang, T. Shan, and B. Englot, "Virtual Maps for Autonomous Exploration with Pose SLAM," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 4899-4906, November 2019. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8967853&tag=1">Link to IEEExplore</a>, <a href="https://robustfieldautonomylab.github.io/Wang_IROS_2019_Video.mp4">Video Attachment</a>)</p>
<p>F. Chen, J. Wang, T. Shan, and B. Englot, "Autonomous Exploration Under Uncertainty via Graph Convolutional Networks," <span style="font-style: italic;">Proceedings of the 19th International Symposium on Robotics Research</span>, 16 pp., October 2019. (<a href="https://robustfieldautonomylab.github.io/Chen_ISRR_2019.pdf">Full Text</a>, <a href="https://robustfieldautonomylab.github.io/Chen_ISRR_2019_video.mp4">Video Attachment</a>)</p>
<p>K. Doherty, T. Shan, J. Wang, and B. Englot, "Learning-aided 3D Occupancy Mapping with Bayesian Generalized Kernel Inference," <span style="font-style: italic;">IEEE Transactions on Robotics</span>, vol. 35(4), pp. 953-966, August 2019. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8713569">Link to IEEExplore</a>, <a href="https://youtu.be/SRXLMALpU20">Video Attachment</a>)</p><p>J. Wang, T. Shan, and B. Englot, "Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery," <span style="font-style: italic;"><span style="font-style: italic;">Proceedings of the </span>IEEE International Conference on Robotics and Automation</span><span style="font-style: italic;"></span>, pp. 3471-3477, May 2019. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8794473">Link to IEEExplore</a>, <a href="http://personal.stevens.edu/~benglot/Wang_ICRA_2019_video.mp4">Video Attachment</a>)</p><p>D.
Gao, J. Luo, W. Ma, and B. Englot, "Parameterized Nonlinear Suboptimal
Control for Tracking and Rendezvous with a Non-cooperative Target," <span style="font-style: italic;">Aerospace Science and Technology</span>, vol. 87, pp. 15-24, April 2019. (<a href="https://ac.els-cdn.com/S1270963818307107/1-s2.0-S1270963818307107-main.pdf?_tid=48980dec-fb17-44f8-960f-38fc0992efcb&acdnat=1550068291_7c5aabba76d0ef9761804cbc56074768">Link to Elsevier</a>)</p><p><big style="font-weight: bold;">2018</big></p><p>J. Martin, J. Wang, and B. Englot, "Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation," <span style="font-style: italic;">2nd Annual Conference on Robot Learning</span>, <span style="font-style: italic;">Proceedings of Machine Learning Research</span>, vol. 87, pp. 179-189, October 2018. (<a href="http://proceedings.mlr.press/v87/martin18a/martin18a.pdf">Full Text at PMLR</a>)</p><p>T. Shan, K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping," <span style="font-style: italic;">2nd Annual Conference on Robot Learning</span>, <span style="font-style: italic;">Proceedings of Machine Learning Research</span>, vol. 87, pp. 829-838, October 2018. (<a href="http://proceedings.mlr.press/v87/shan18a/shan18a.pdf">Full Text at PMLR</a>, <a href="https://youtu.be/ewrCyDiWi-8">Video Attachment</a>)</p><p>T. Shan and B. Englot, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain," <span style="font-style: italic;"><span style="font-style: italic;">Proceedings of the </span>IEEE/RSJ International Conference on Intelligent Robots and Systems, </span>pp. 4758-4765, October 2018. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8594299">Link to IEEExplore</a>, <a href="https://www.youtube.com/watch?v=O3tz_ftHV48">Video Attachment</a>)</p><p>J. Wang and B. Englot, "Robust Exploration with Multiple Hypothesis Data Association," <span style="font-style: italic;"><span style="font-style: italic;">Proceedings of the </span>IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 3537-3544, October 2018. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8593753">Link to IEEExplore</a><a href="http://personal.stevens.edu/~benglot/Wang_Englot_IROS_2018_Preprint.pdf"></a>)</p><p><big style="font-weight: bold;">2017</big><br></p><p>J. Wang and B. Englot, "Autonomous Exploration with Expectation-Maximization," <span style="font-style: italic;">Proceedings of the 18th International Symposium on Robotics Research, </span>16 pp., December 2017. (<a href="http://personal.stevens.edu/~benglot/Wang_Englot_ISRR_2017.pdf">Full Text</a>)</p><p>D. Gao, J.
Luo, W. Ma, S. Bai, and B. Englot, "Efficient and Robust Feedback
Motion Planning Under Uncertainty using the Pontryagin Difference," <span style="font-style: italic;"><span style="font-style: italic;">Proceedings of the </span>IEEE Conference on Decision and Control</span>, pp. 939-946, December 2017. (<a href="http://ieeexplore.ieee.org/document/8263779">Link to IEEExplore</a><a href="http://personal.stevens.edu/~benglot/Gao_CDC_2017.pdf"></a>)</p><p>J. Martin and B. Englot, "Extending Model-Based Policy Gradients for Robots in Heteroscedastic Environments," <span style="font-style: italic;">1st Annual Conference on Robot Learning</span>, <span style="font-style: italic;">Proceedings of Machine Learning Research</span>, vol. 78, pp. 438-447, November 2017. (<a href="http://proceedings.mlr.press/v78/martin17a/martin17a.pdf">Full Text at PMLR</a>)</p><p>T. Shan and B. Englot, "Belief Roadmap Search: Advances in Optimal and Efficient Planning Under Uncertainty," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 5318-5325, September 2017. (<a href="http://ieeexplore.ieee.org/document/8206425/">Link to IEEExplore</a>)</p><p>S. Bai, F. Chen, and B. Englot, "Toward Autonomous Mapping and Exploration for Mobile Robots through Deep Supervised Learning," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 2379-2384, September 2017. (<a href="http://ieeexplore.ieee.org/document/8206050/">Link to IEEExplore</a>, <a href="https://youtu.be/wyU0j7R8bUg">Video Attachment</a>)</p><p>J. Wang, S.
Bai, and B. Englot, "Underwater Localization and 3D Mapping of
Submerged Structures with a Single-Beam Scanning Sonar," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 4898-4905, May 2017. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7989567">Link to IEEExplore</a>, <a href="https://www.youtube.com/watch?v=XdkxnGSEufw">Video Attachment</a>)</p>K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Occupancy Map Prediction," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 3118-3124, May 2017. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7989356">Link to IEEExplore</a><a href="http://personal.stevens.edu/~benglot/Doherty_Wang_Englot_ICRA_2017.pdf"></a>)<br><big style="font-weight: bold;"><br>2016</big><p>B. Englot, T. Shan, S.D. Bopardikar, and A. Speranzon, "Sampling-Based Min-Max Uncertainty Path Planning," <span style="font-style: italic;">Proceedings of the IEEE Conference on Decision and Control</span>, pp. 6863-6870, December 2016. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7799326">Link to IEEExplore</a><a href="http://personal.stevens.edu/~benglot/Englot_Shan_Bopardikar_Speranzon_CDC_2016.pdf"></a>)</p><p>S. Bai, J. Wang, F. Chen, and B. Englot, "Information-Theoretic Exploration with Bayesian Optimization," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, </span>pp. 1816-1822, October 2016. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759289">Link to IEEExplore</a>)</p><p>S.D. Bopardikar, B. Englot, A. Speranzon, and J. van den Berg,
"Robust Belief Space Planning under Intermittent Sensing Via A Maximum
Eigenvalue-based Bound," <span style="font-style: italic;">The International Journal of Robotics Research</span>, vol. 35(13), pp. 1609-1626, October 2016. (<a href="http://ijr.sagepub.com/content/35/13/1609">Link to IJRR</a>) </p><p>J. Wang and B. Englot, "Fast, Accurate Gaussian Process Occupancy Maps via Test-Data Octrees and Nested Bayesian Fusion," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 1003-1010, May 2016. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487232">Link to IEEExplore</a>)</p><p>K. Doherty, J. Wang, and B. Englot, "Probabilistic Map Fusion for Fast, Incremental Occupancy Mapping with 3D Hilbert Maps," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 1011-1018, May 2016. (<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487233">Link to IEEExplore</a>)</p><p><big style="font-weight: bold;">2015</big></p><p>T. Shan and B. Englot, "Sampling-Based Minimum Risk Path Planning in Multiobjective Configuration Spaces," <span style="font-style: italic;">Proceedings of the IEEE Conference on Decision and Control</span>, pp. 814-821, December 2015. (<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7402330&filter=AND%28p_Publication_Number:7396016%29">Link to IEEExplore</a>)</p><p>S. Bai, J. Wang, K. Doherty, and B. Englot, "Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces," <span style="font-style: italic;">Proceedings of the 17th International Symposium on Robotics Research</span>, 16 pp., September 2015. (<a href="http://personal.stevens.edu/~benglot/Bai_ISRR_2015.pdf">Full Text</a>)</p><p>S.D. Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path
Planning: Localization Constraints and Collision Probability," <span style="font-style: italic;">IEEE Transactions on Robotics</span>, vol. 31(3), pp. 562-577, June 2015. (<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7081368&filter%3DAND%28p_IS_Number%3A7117487%29">Link to IEEExplore</a>)</p><p><big style="font-weight: bold;">2014</big></p>
<p>S.D. Bopardikar, B. Englot, and A. Speranzon, "Robust Belief Roadmap: Planning Under Uncertain and Intermittent Sensing," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 6122-6129, June 2014. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6907761&tag=1">Link to IEEExplore</a>)</p><p>X.C.
Ding, B. Englot, A. Pinto, A. Speranzon, and A. Surana, "Hierarchical
Multi-Objective Planning: From Mission Specifications to Contingency
Management," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 3735-3742, June 2014. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6907400">Link to IEEExplore</a>)</p><p>S.D.
Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path Planning
in GPS Denied Environments Under Localization Constraints," <span style="font-style: italic;">Proceedings of the American Control Conference</span>, pp. 1872-1879, June 2014. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6858731">Link to IEEExplore</a>)</p><p style="width: 747px;"><big style="font-weight: bold;">2013</big></p><p style="width: 747px;">B.
Englot, T. Sahai, and I. Cohen, "Efficient Tracking and Pursuit of
Moving Targets by Heuristic Solution of the Traveling Salesman
Problem," <span style="font-style: italic;">Proceedings of the IEEE Conference on Decision and Control</span>, pp. 3433-3438, December 2013. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6760409">Link to IEEExplore</a>)</p><p style="width: 747px;">B. Englot and F.S. Hover, "Three-Dimensional Coverage Planning for an Underwater Inspection Robot," <span style="font-style: italic;">The International Journal of Robotics Research</span>, vol. 32(9-10), pp. 1048-1073, September 2013. (<a href="http://ijr.sagepub.com/content/32/9-10/1048.short">Link to IJRR</a>)</p><p style="width: 747px;">G.A.
Hollinger, B. Englot, F.S. Hover, U. Mitra, and G.S. Sukhatme, "Active
Planning for Underwater Inspection and the Benefit of Adaptivity," <span style="font-style: italic;">The International Journal of Robotics Research</span>, vol. 32(1), pp. 3-18, January 2013. (<a href="http://ijr.sagepub.com/content/32/1/3">Link to IJRR</a>)</p><p style="width: 747px;"><big style="font-weight: bold;">2012</big></p><p style="width: 747px;">F.S.
Hover, R.M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J.J.
Leonard, "Advanced Perception, Navigation, and Planning for Autonomous
In-Water Ship Hull Inspection," <span style="font-style: italic;">The International Journal of Robotics Research</span>, vol. 31(12), pp. 1445-1464, October 2012. (<a href="http://ijr.sagepub.com/content/31/12/1445.short">Link to IJRR</a>) </p><p>B.
Englot and F.S. Hover, "Sampling-Based Sweep Planning to Exploit Local
Planarity in the Inspection of Complex 3D Structures," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 4456-4463, October 2012. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386126">Link to IEEExplore</a>)</p><p>B. Englot and F.S. Hover, "Sampling-Based Coverage Path Planning for Inspection of Complex Structures," <span style="font-style: italic;">Proceedings of the 22nd International Conference on Automated Planning and Scheduling</span>, pp. 29-37, June 2012. (<a href="http://www.aaai.org/ocs/index.php/ICAPS/ICAPS12/paper/download/4728%26lt%3B/4711">Link to AAAI</a>)</p><p>G.A. Hollinger, B. Englot, F. Hover, U. Mitra, and G.S. Sukhatme, "Uncertainty-Driven View Planning for Underwater Inspection," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 4884-4891, May 2012. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6224726">Link to IEEExplore</a>)</p><p style="width: 747px;"><big style="font-weight: bold;">2011</big></p><p>B. Englot and F. Hover, "Planning Complex Inspection Tasks Using Redundant Roadmaps," <span style="font-style: italic;">Proceedings of the 15th International Symposium on Robotics Research</span>, 16 pp., August 2011. (<a href="http://www.isrr-2011.org/ISRR-2011//Program_files/Papers/Englot-ISRR-2011.pdf">Link to Conference Website</a>)</p><p>B. Englot and F. Hover, "Multi-Goal Feasible Path Planning Using Ant Colony Optimization," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Robotics and Automation</span>, pp. 2255-2260, May 2011. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980555">Link to IEEExplore</a>)</p><p>N.
Kumar, A.C. Lammert, B. Englot, F.S. Hover, and S.S. Narayanan,
"Directional Descriptors Using Zernike Moment Phases for Object
Orientation Estimation in Underwater Sonar Images," <span style="font-style: italic;">Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing</span>, pp. 1025-1028, May 2011. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5946581">Link to IEEExplore</a>)</p><p style="width: 747px;"><big style="font-weight: bold;">2010 and Earlier</big></p><p>B. Englot and F. Hover, "Inspection Planning for Sensor Coverage of 3D Marine Structures," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 4412-4417, October 2010. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5648908">Link to IEEExplore</a>)</p><p>H.
Johannsson, M. Kaess, B. Englot, F. Hover, and J. Leonard, "Imaging
Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 4396-4403, October 2010. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5650831">Link to IEEExplore</a>)</p><p>B. Englot and F. Hover, "Stability and Robustness Analysis Tools for Marine Robot Localization and Mapping Applications," <span style="font-style: italic;">Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, pp. 4426-4432, October 2009. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5354171">Link to IEEExplore</a>)</p>
<h2>Other Publications</h2>
<p>Y. Huang, X. Lin, and B. Englot, "Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty via Reinforcement Learning on Graphs," Work-In-Progress Paper, <span style="font-style: italic;">Proceedings of the 21st International Conference on Ubiquitous Robots</span>, pp. 836-839, June 2024. (<a href="https://robustfieldautonomylab.github.io/WI5A.22.pdf">Full Text</a>)
<p>Y. Huang and B. Englot, “Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization,” <span style="font-style: italic;">IEEE IROS 2023 Workshop on Closing the Loop on Localization</span>, 4 pp. October 2023. (<a href="https://robustfieldautonomylab.github.io/Huang_Englot_IROS_2023_LocalizationWorkshop.pdf">Full Text</a>)
<p>J. McConnell and B. Englot,
"Constructing Communication-Constrained Underwater Multi-Robot SLAM Datasets from an Ensemble of Single-Robot Data," <span style="font-style: italic;">IEEE ICRA 2023 Workshop on Communication Challenges in Multi-Robot Systems: Perception, Coordination, and Learning</span>, 5 pp., June 2023. (<a href="https://sites.google.com/view/camrs-icra2023/contributed-papers">Full Text</a>, <a href="https://robustfieldautonomylab.github.io/McConnell_ICRA_CAMRS_Poster.pdf">Workshop Poster</a>, <a href="https://github.com/jake3991/DRACo-SLAM">Code Release</a>)</p>
<p>S. Narain, D. Chee, P. Iyer, E. Mak, R. Valdez, M. Zhu, N. Jha, J. Fisac, K.-C. Hsu, P. Terway, K. Pochiraju, B. Englot, E. Pitz, S. Rooney, and Y. Huang,
"AIMED: AI-Mediated Exploration of Design: An Experience Report," <span style="font-style: italic;">Proceedings of Cyber-Physical Systems and Internet of Things Week</span>, pp. 134-140, May 2023. (<a href="https://dl.acm.org/doi/10.1145/3576914.3589205">Full Text at ACM Digital Library</a>)</p>
<p>J.D. Martin, P. Szenher, X. Lin, and B. Englot,
"The Stochastic Road Network Environment for Robust Reinforcement Learning," <span style="font-style: italic;">IEEE ICRA 2022 Workshop on Releasing Robots Into the Wild: Simulations, Benchmarks, and Deployment</span>, 5 pp., May 2022. (<a href="https://jdmartin86.github.io/assets/papers/2022_icra_workshop_srn.pdf">Full Text</a>, <a href="https://robustfieldautonomylab.github.io/Martin_ICRA_RRIW_Poster_2022.pdf">Workshop Poster</a>, <a href="https://github.com/RobustFieldAutonomyLab/Stochastic_Road_Network">Code Release</a>)</p>
<p>J. Wang, F. Chen, Y. Huang, J. McConnell, T. Shan, and B. Englot,
"Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments," <span style="font-style: italic;">IEEE ICRA 2021 Workshop on Underwater Active Perception</span>, 8 pp., June 2021. (<a href="https://robustfieldautonomylab.github.io/Wang_ICRA_2021_UW_Robotics_Workshop_Paper_v2.pdf">Full Text</a>, <a href="https://robustfieldautonomylab.github.io/Wang_ICRA_2021_UW_Robotics_Workshop_Poster.pdf">Workshop Poster</a>, <a href="https://robustfieldautonomylab.github.io/Wang_ICRA_2021_UW_Robotics_Workshop_Video.mp4">Video Attachment</a>)</p>
<p>T.P. Osedach, K. Singh, P.V. Teixeira, J.-B. Arber, A. Levesque, C. Chahbazian, D. Jain, B. Englot, J.J. Leonard, S. Vannuffelen, and S. Ossia, "Proxy Platform for Underwater Inspection, Maintenance, and Repair," <span style="font-style: italic;">Proceedings of the IEEE/MTS OCEANS Conference</span>, 5 pp., October 2020. (<a href="https://ieeexplore.ieee.org/abstract/document/9389148">Link to IEEExplore</a>)</p><p>
S. Narain, E. Mak, D. Chee, T. Huster, J. Cohen, K. Pochiraju, B. Englot, N.K. Jha, and K. Narayan, "Robot Design with Neural Networks, MILP Solvers, and Active Learning," arXiv:2010.09842 [cs.AI], 22 pp., October 2020. (<a href="https://arxiv.org/abs/2010.09842">Link to arXiv</a>)</p><p>
T. Shan and B. Englot, "A Lexicographic Search Method for Multi-Objective Motion Planning," arXiv:1909.02184v2 [cs.RO], 8 pp., August 2020. (<a href="https://arxiv.org/abs/1909.02184">Link to arXiv</a>)</p><p>
J.D. Martin, M. Lyskawinski, X. Li, and B. Englot,
"Stochastically Dominant Distributional Reinforcment Learning," <span style="font-style: italic;">NeurIPS 2019 Workshop on Safety and Robustness in Decision Making</span>, 15 pp., December 2019. (<a href="https://arxiv.org/pdf/1905.07318v2.pdf">Full Text</a>)</p><p>
J. Wang, T. Shan, M. Chandrasekaran, T. Osedach, and B. Englot,
"Deep Learning for Detection and Tracking of Underwater Pipelines using
Multibeam Imaging Sonar," <span style="font-style: italic;">ICRA 2019 Workshop on Underwater Robotics Perception</span>, 5 pp., May 2019. (<a href="http://personal.stevens.edu/~benglot/Wang_ICRA_2019_UWPerceptionWorkshop.pdf">Full Text</a>)</p>
<p>F. Chen, S. Bai, T. Shan, and B. Englot, "Self-Learning Exploration
and Mapping for Mobile Robots via Deep Reinforcement Learning," <span style="font-style: italic;">AIAA SciTech Forum</span>, https://doi.org/10.2514/6.2019-0396, 11 pp., January 2019. (<a href="http://personal.stevens.edu/~benglot/aiaa2019-Fanfei-Chen.pdf">Full Text</a>, <a href="https://www.youtube.com/watch?v=2gNF6efv12s">Video Attachment</a>)</p><p>D. Cui, B. Englot, R. Cui, and D. Xu, "Decentralized Formation
Control of Multiple Autonomous Underwater Vehicles with Input
Saturation Using RISE Feedback Method," <span style="font-style: italic;">Proceedings of the IEEE/MTS OCEANS Conference</span>, 6 pp., October 2018. (<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8604743">Link to IEEExplore</a><a href="http://personal.stevens.edu/~benglot/Cui_OCEANS_2018.pdf"></a>)</p><p>
Z. Clawson, X. Ding, B. Englot, T.A. Frewen, W.M. Sission, and A.
Vladimirsky, "A Bi-Criteria Path Planning Algorithm for Robotics
Applications," arXiv:1511.01166v2 [cs.RO], 19 pp., January 2017. (<a href="https://arxiv.org/abs/1511.01166">Link to arXiv</a>)</p><p>
J. Wang and B. Englot, "A Processing Pipeline for Descriptive Underwater 3D Occupancy Mapping with Scanning Sonar," <span style="font-style: italic;">ICRA 2016 Workshop on Marine Robot Localization and Navigation</span>, 3 pp., May 2016. <span style="font-weight: bold;">Winner: The Bluefin Robotics Award for Best Navigation/Localization Paper and Poster.</span> (<a href="http://icra2016.csail.mit.edu/navigation-localization-workshop/abstracts/11_Wang_Englot_Abstract.pdf">Link to Paper at Workshop Website</a>, <a href="http://personal.stevens.edu/~benglot/Wang_Englot_Poster_ICRA_2016.pdf">Link to Poster</a>)</p><p>
N. Goldfarb, J. Wang, S. Bai, and B. Englot, "Toward Robust Localization and Mapping for Shallow Water ROV Inspections," <span style="font-style: italic;">Proceedings of the IEEE/MTS OCEANS Conference</span>, 7 pp., October 2015. (<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7404413&filter=AND%28p_Publication_Number:7395976%29">Link to IEEExplore</a>)</p><p>T. Shan and B. Englot, "Tunable-Risk Sampling-Based Path Planning Using a Cost Hierarchy," <span style="font-style: italic;">ICRA
2015 Workshop on Beyond Geometric Constraints: Planning for Solving
Complex Tasks, Reducing Uncertainty, and Generating Informative Paths
and Policies</span>, 2 pp., May 2015. (<a href="http://people.csail.mit.edu/jingjin/ICRA15">Link to Workshop Website</a>)</p><p>M.F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland,
B.J. Englot, F.S. Hover, and J.J. Leonard, "Simultaneous Localization
and Mapping in Marine Environments," <span style="font-style: italic;">Marine Robot Autonomy</span>, M.Seto Ed., Springer: New York, pp. 329-372, December 2012. (<a href="http://link.springer.com/chapter/10.1007/978-1-4614-5659-9_8#page-1">Link to Springer</a>)</p><p>M. Kaess, H. Johannsson, B. Englot, F. Hover, and J. Leonard, "Towards Autonomous Ship Hull Inspection Using the Bluefin HAUV," <span style="font-style: italic;">Proceedings of the 9th International Symposium on Technology and the Mine Problem</span>, 11 pp., May 2010. (<a href="http://dspace.mit.edu/handle/1721.1/64472">Link to MIT DSpace</a>)</p><p>B.
Englot, H. Johannsson, and F. Hover, "Perception, Stability Analysis,
and Motion Planning for Autonomous Ship Hull Inspection," <span style="font-style: italic;">Proceedings of the 16th International Symposium on Unmanned Untethered Submersible Technology</span>, 12 pp., August 2009. (<a href="http://personal.stevens.edu/~benglot/mit_hauv_uust.pdf">Full Text</a>)</p>
<h2>Theses</h2>
<p>E. Pearson, <span style="font-style: italic;">Mapping, Localization, and Navigation for Robust Autonomous Inspection of Indoor Environments with Unmanned Ground Vehicles</span>, Ph.D. Thesis, Stevens Institute of Technology, January 2024. (<a href="https://robustfieldautonomylab.github.io/Pearson_PhD_Thesis_2023_12.pdf">Full Text</a>)</p>
<p>J. McConnell, <span style="font-style: italic;">Situational Awareness for Low Cost Underwater Autonomy</span>, Ph.D. Thesis, Stevens Institute of Technology, May 2023. (<a href="https://robustfieldautonomylab.github.io/McConnell_PhD_Thesis.pdf">Full Text</a>)</p>
<p>F. Chen, <span style="font-style: italic;">Deep Reinforcement Learning for Autonomous Robot Exploration Under Uncertainty</span>, Ph.D. Thesis, Stevens Institute of Technology, August 2021. (<a href="https://robustfieldautonomylab.github.io/Dissertation_Chen_2021.pdf">Full Text</a>)</p>
<p>J.D. Martin, <span style="font-style: italic;">Reinforcement Learning Algorithms for Representing and Managing Uncertainty in Robotics</span>, Ph.D. Thesis, Stevens Institute of Technology, May 2021. (<a href="https://robustfieldautonomylab.github.io/John_Martin_PhD_Thesis.pdf">Full Text</a>)</p>
<p>J. Wang, <span style="font-style: italic;">Towards 3D Mapping and Autonomous Exploration for Underwater Robots in Cluttered Environments</span>, Ph.D. Thesis, Stevens Institute of Technology, January 2020. (<a href="https://robustfieldautonomylab.github.io/Jinkun_Wang_PhD_Thesis.pdf">Full Text</a>)</p>
<p>T. Shan, <span style="font-style: italic;">Minimalistic and Learning-Enabled Navigation Algorithms for Unmanned Ground Vehicles</span>, Ph.D. Thesis, Stevens Institute of Technology, August 2019. (<a href="https://robustfieldautonomylab.github.io/Tixiao_Shan_Thesis_Reduced.pdf">Full Text</a>)</p>
<p>S. Bai, <span style="font-style: italic;">Learning-Aided Autonomous Exploration</span>, Ph.D. Thesis, Stevens Institute of Technology, May 2018. (<a href="http://personal.stevens.edu/~benglot/ShiBai_PhD_Thesis_Final.pdf">Full Text</a>)</p>
<h2>In The News</h2>
<p>"Brendan Englot Awarded $1.9 Million Office of Naval Research Grant to Help Autonomous Boats Make Smarter Decisions," <span style="font-style: italic;">Stevens University News</span>, October 2024. (<a href="https://www.stevens.edu/news/englot-autonomous-boats">Link to Stevens News</a>)</p>
<p>"Brain ... Trust? Stevens Professors on AI's Perils and Promise," <span style="font-style: italic;">Stevens Indicator Alumni Magazine</span>, May 2024. (<a href="https://www.stevens.edu/indicator/spring-2024/brain-trust">Link to Stevens Indicator</a>)</p>
<p>"These Underwater Robots are Mapping Where You Don't Want To," <span style="font-style: italic;">Stevens University News</span>, May 2024. (<a href="https://www.stevens.edu/news/these-underwater-robots-are-mapping-where-you-dont-want-to">Link to Stevens News</a>)</p>
<p>"Stevens Institute for Artificial Intelligence looks at Prospects for AI and Robotics," <span style="font-style: italic;">The Robot Report</span>, December 2023. (<a href="https://www.therobotreport.com/stevens-institute-for-artificial-intelligence-looks-at-ai-robotics-prospects/">Link to The Robot Report</a>)</p>
<p>"Stevens Is All In on AI," <span style="font-style: italic;">Stevens University News</span>, September 2023. (<a href="https://www.stevens.edu/news/stevens-is-all-in-on-ai">Link to Stevens News</a>)</p>
<p>"When You Think of AI, Think of Stevens: Relaunching the Stevens Institute for Artificial Intelligence," <span style="font-style: italic;">Stevens University News</span>, August 2023. (<a href="https://www.stevens.edu/news/when-you-think-of-ai-think-of-stevens-relaunching-the-stevens-institute-for">Link to Stevens News</a>)</p>
<p>"A Conversation With Brendan Englot, Stevens Institute’s New Director for Artificial Intelligence," <span style="font-style: italic;">Robotics 24/7</span>, April 2023. (<a href="https://www.robotics247.com/article/a_conversation_with_brendan_englot_stevens_institute_new_director_of_artificial_intelligence">Link to Robotics 24/7</a>)</p>
<p>"Call Him 'Mr. Robot'," <span style="font-style: italic;">Stevens University News</span>, February 2023. (<a href="https://www.stevens.edu/news/mr-robot-brendan-englot-artificial-intelligence-SIAI">Link to Stevens News</a>)</p>
<p>"ASME Features Stevens in New Video Series," <span style="font-style: italic;">Stevens University News</span>, January 2023. (<a href="https://www.stevens.edu/news/asme-features-stevens-in-new-video-series">Link to Stevens News</a>)</p>
<p>"Endowed Professors and Chairs, Accomplished Early-Career Faculty Honored," <span style="font-style: italic;">Stevens University News</span>, December 2022. (<a href="https://www.stevens.edu/news/endowed-professors-and-chairs-accomplished-early-career-faculty-honored">Link to Stevens News</a>)</p>
<p>"These Are the Drones You're Looking For: Improved Design, Detection, Navigation, Cyberdefense," <span style="font-style: italic;">Stevens University News</span>, December 2022. (<a href="https://www.stevens.edu/news/exploring-improved-drone-designs-defenses">Link to Stevens News</a>)</p>
<p>"Perception and Decision-Making for Underwater Robots," <span style="font-style: italic;">Robohub</span>, August 2022. (<a href="https://robohub.org/perception-and-decision-making-for-underwater-robots/">Link to Robohub</a>)</p>
<p>"Underwater Robots Get a Boost in Mapping the Ocean," <span style="font-style: italic;">IEEE Spectrum</span>, August 2022. (<a href="https://spectrum.ieee.org/mapping-unchartered-waters">Link to IEEE Spectrum</a>)</p>
<p>"Learning Never Exhausts the A.I.," <span style="font-style: italic;">The QTS Experience Podcast</span>, June 2022. (<a href="https://www.youtube.com/watch?v=PU4WCN3SDF0">Link to Podcast on YouTube</a>)</p>
<p>"SLAM Fused with Satellite Imagery," <span style="font-style: italic;">Robohub</span>, May 2022. (<a href="https://robohub.org/slam-fused-with-satellite-imagery-icra-2022">Link to Robohub</a>)</p>
<p>"Underwater Map-Making Robot Aces First Real-World Trials in Crowded Marina," featured at <span style="font-style: italic;">EurekAlert!</span> and <span style="font-style: italic;">Stevens University News</span>, May 2022. (Links to <a href="https://www.eurekalert.org/news-releases/952522">EurekAlert!</a> and <a href="https://www.stevens.edu/news/underwater-map-making-robot-aces-first-real-world-trials-crowded-marina">Stevens News</a>)</p>
<p>"Stevens Institute of Technology Develops SLAM Framework for Efficient Wireless Robot Communication," <span style="font-style: italic;">Clearpath Robotics Blog</span>, March 2022. (<a href="https://clearpathrobotics.com/blog/2022/03/stevens-institute-of-technology-develops-slam-framework-for-efficient-wireless-robot-communication/">Link to Clearpath Robotics Blog</a>)</p>
<p>"Brendan Englot and Long Wang Receive $375,000 USDA-NIFA Award to Fund Underwater Robotics Research," <span style="font-style: italic;">Stevens University News</span>, September 2021. (<a href="https://www.stevens.edu/news/brendan-englot-and-long-wang-receive-375000-usda-nifa-award-fund-underwater-robotics-research">Link to Stevens News</a>)</p>
<p>"Strategic Investments Fuel Record Growth of Stevens’ Research Enterprise," <span style="font-style: italic;">Stevens University News</span>, September 2021. (<a href="https://www.stevens.edu/news/strategic-investments-fuel-record-growth-stevens-research-enterprise">Link to Stevens News</a>)</p>
<p>"Brendan Englot Receives Con Edison Grant of $250,000 for Automated Mobile Robot Research," <span style="font-style: italic;">Stevens University News</span>, August 2021. (<a href="https://www.stevens.edu/news/brendan-englot-receives-con-edison-grant-250000-automated-mobile-robot-research">Link to Stevens News</a>)</p>
<p>"Advances in Underwater Robots," <span style="font-style: italic;">The American Society of Mechanical Engineers</span>, May 2021. (<a href="https://www.asme.org/topics-resources/content/advances-in-underwater-robots">Link to ASME</a>)</p>
<p>"IEEE Robotics and Automation Society Congratulates Recently Elevated Senior Members," <span style="font-style: italic;">IEEE Robotics & Automation Magazine</span>, March 2021. (<a href="https://ieeexplore.ieee.org/abstract/document/9382175">Link to IEEExplore</a>)</p>
<p>"Stevens Faculty Awarded $900,055 ONR Grant to Study Underwater Robots," <span style="font-style: italic;">Stevens University News</span>, March 2021. (<a href="https://www.stevens.edu/news/stevens-faculty-awarded-900055-onr-grant-study-underwater-robots">Link to Stevens News</a>)</p>
<p>"Stevens' Summer Research Institute Navigates COVID-19 by Pivoting to a Virtual Experience," <span style="font-style: italic;">Stevens University News</span>, September 2020. (<a href="https://www.stevens.edu/news/stevens-summer-research-institute-navigates-covid-19-pivoting-virtual-experience">Link to Stevens News</a>)</p>
<p>"Two Stevens Faculty Receive Prominent ONR YIP Award," <span style="font-style: italic;">Stevens University News</span>, July 2020. (<a href="https://www.stevens.edu/news/two-stevens-faculty-receive-prominent-onr-yip-award">Link to Stevens News</a>)</p>
<p>"How A University Pivoted to Virtual Instruction and Learning As the COVID-19 Crisis Escalated," <span style="font-style: italic;">Stevens University News</span>, May 2020. (<a href="https://www.stevens.edu/news/how-university-pivoted-virtual-learning-covid-19-crisis-escalated">Link to Stevens News</a>)</p>
<p>"Robots to Use New A.I. Tool to Evaluate All Possibilities Before Making Decisions," featured at <span style="font-style: italic;">EurekAlert!</span>, <span style="font-style: italic;">TechXplore</span> and <span style="font-style: italic;">Stevens University News</span>, April 2020. (Links to <a href="https://www.eurekalert.org/pub_releases/2020-04/siot-rtu041420.php">EurekAlert!</a>, <a href="https://techxplore.com/news/2020-04-robots-ai-tool-possibilities-decisions.html">TechXplore</a> and <a href="https://www.stevens.edu/news/robots-use-new-ai-tool-evaluate-all-possibilities-making-decisions">Stevens News</a>)</p>
<p>"Best and Brightest: ONR's 2020 Young Investigators," <span style="font-style: italic;">ONR Media Release</span>, April 2020. (<a href="https://www.onr.navy.mil/Media-Center/Press-Releases/2020/2020-ONR-YIP-Awardees">Link to ONR Media Release</a>)</p>
<p>"Improving Autonomous Vehicle Localization, Maps: Working with MIT, Stevens develops A.I. to navigate better and faster," <span style="font-style: italic;">IMPACT Research Newsletter</span>, November 2019. (<a href="https://www.stevens.edu/sites/stevens_edu/files/IMPACT_Fa2019.pdf">Link to Fall 2019 Issue of IMPACT</a>)</p>
<p>"How Stevens Researchers Are Creating Better Maps for Robots, Self-Driving Cars," <span style="font-style: italic;">Stevens University News</span>, June 2019. (<a href="https://www.stevens.edu/news/how-stevens-researchers-are-creating-better-maps-robots-self-driving-cars">Link to Stevens News</a>)</p><p>"University Research with Ouster Lidar," <span style="font-style: italic;">Ouster Lidar Blog</span>, April 2019. (<a href="https://www.ouster.io/blog-posts/2019/4/23/university-research-with-ouster-lidar">Link to Ouster Blog</a>)</p><p>"Artificial Intelligence Gets Real," <span style="font-style: italic;">Stevens University News</span>, January 2019. (<a href="https://www.stevens.edu/news/artificial-intelligence-gets-real">Link to Stevens News</a>)</p><p>"How A.I. Robots can support NJ's Underwater Infrastructure," <span style="font-style: italic;">NJTV News</span>, October 2018. (<a href="https://www.njtvonline.org/news/video/how-machine-learning-can-help-support-new-jerseys-infrastructure/">Link to NJTV News</a>)</p><p>"A.I.-powered Robots Open Up an Underwater World," <span style="font-style: italic;">Environmental Monitor</span>, October 2018. (<a href="https://www.fondriest.com/news/ai-powered-robots-open-up-an-underwater-world.htm">Link to the Environmental Monitor</a>)</p><p>"Maritime Security Solutions Impress at Stevens 2018 Summer Research Institute," <span style="font-style: italic;">Stevens University News</span>, August 2018. (<a href="https://www.stevens.edu/news/maritime-security-solutions-impress-stevens-2018-summer-research-institute">Link to Stevens News</a>)</p><p>"A.I.-Equipped Robots Develop Situational Awareness in Earth's Most Uncertain Environment," featured at <span style="font-style: italic;"><span style="font-style: italic;"><span style="font-style: italic;"></span></span>EurekAlert!</span>, <span style="font-style: italic;">phys.org</span>, and <span style="font-style: italic;">Stevens University News</span>, July 2018. (Links to <a href="https://www.eurekalert.org/pub_releases/2018-07/siot-ard071918.php">EurekAlert!</a>, <a href="https://phys.org/news/2018-07-ai-equipped-robots-situational-awareness-earth.html">phys.org</a>, and <a href="https://www.stevens.edu/news/ai-equipped-robots-develop-situational-awareness-earths-most-uncertain-environment">Stevens News</a>)</p><p>"AI Robots Will Solve Underwater Infrastructure Damage Checks," <span style="font-style: italic;">Artificial Intelligence News</span>, July 2018. (<a href="https://www.artificialintelligence-news.com/2018/07/20/ai-robots-underwater-infrastructure/">Link to AINews</a>)</p><p>"SIT Advances Autonomous Mapping & Navigation Research Using Jackal UGV," <span style="font-style: italic;">Clearpath Robotics Blog</span>, November 2017. (<a href="https://www.clearpathrobotics.com/sit-advances-autonomous-mapping-navigation-research-using-jackal-ugv">Link to Clearpath Robotics Blog</a>)</p><p>"The Future of Maritime Safety Revealed at the Stevens Summer Research Institute," <span style="font-style: italic;">Stevens University News</span>, August 2017. (<a href="https://www.stevens.edu/news/future-maritime-safety-revealed-stevens-summer-research-institute">Link to Stevens News</a>)</p><p>"Dr. Brendan Englot on Making Marine Robotics More Autonomous," <span style="font-style: italic;">The Duro UAS Blog</span>, June 2017. (<a href="https://blog.durouas.com/2017/06/09/dr-brendan-englot-on-making-marine-robotics-more-autonomous/">Link to The Duro Blog</a>)</p><p>"Robust Robotics: Designing Systems to Map, Inspect, and Aid in Emergencies," <span style="font-style: italic;">IMPACT Research Newsletter</span>, April 2017. (<a href="https://www.stevens.edu/sites/stevens_edu/files/IMPACT_Sp2017_HiRes.pdf">Link to Spring 2017 Issue of IMPACT</a>)</p><p>"Engineering New Solutions,'' <span style="font-style: italic;">Stevens University News</span>, March 2017. (<a href="https://www.stevens.edu/news/engineering-new-solutions">Link to Stevens News</a>)</p><p>"Robust Robotics for a Safer World," <span style="font-style: italic;">Stevens University News</span>, March 2017. (<a href="https://www.stevens.edu/news/robust-robotics-safer-world">Link to Stevens News</a>)</p><p>"Englot, Sabau Secure NSF CAREER Awards to Pursue Robotics, Systems Research," <span style="font-style: italic;">Stevens University News</span>, March 2017. (<a href="https://www.stevens.edu/news/englot-sabau-secure-nsf-career-awards-pursue-robotics-systems-research">Link to Stevens News</a>)</p><p>"Brendan Englot Appointed Associate Editor of IEEE-JOE," <span style="font-style: italic;">Stevens University News</span>, November 2014. (<a href="http://www.stevens.edu/news/content/brendan-englot-appointed-associate-editor-ieee-joe">Link to Stevens News</a>)</p><p>"ME Department Adding Tenure-Track Faculty in Robotics, Bionic Systems and Energy in Fall 2014," <span style="font-style: italic;">Stevens University News</span>, April 2014. (<a href="http://www.stevens.edu/news/content/me-department-adding-tenure-track-faculty-robotics-bionic-systems-and-energy-fall-2014">Link to Stevens News</a>)</p><p>"Sweeping Below Deck", <span style="font-style: italic;">The Economist</span>, Technology Quarterly, September 2012. (<a href="http://www.economist.com/node/21560985">Link to The Economist</a>)</p><p>"Autonomous Robot Scans Ship Hulls for Mines," <span style="font-style: italic;">MIT News</span>, July 2012. (<a href="http://newsoffice.mit.edu/2012/autonomous-robot-maps-ship-hulls-for-mines-0717">Link to MIT News</a>)</p>
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