Spring Berman

ORCID

Publication Activity (10 Years)

Years Active: 2006-2024
Publications (10 Years): 79

Top Venues

CoRR

ACC

IEEE Robotics Autom. Lett.

CDC

Publications

Karthik Elamvazhuthi, Spring Berman
Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds. IEEE Trans. Autom. Control. 69 (3) (2024)
Shenbagaraj Kannapiran, Sreenithy Chandran, Suren Jayasuriya, Spring Berman
PathFinder: Attention-Driven Dynamic Non-Line-of-Sight Tracking with a Mobile Robot. CoRR (2024)
Hamed Farivarnejad, Amir Salimi Lafmejani, Spring Berman
Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles. Autom. 161 (2024)
Sangeet Sankaramangalam Ulhas, Shenbagaraj Kannapiran, Spring Berman
GAN-Based Domain Adaptation for Creating Digital Twins of Small-Scale Driving Testbeds: Opportunities and Challenges. IV (2024)
Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang, Spring Berman
Implementation of a Cosserat Rod-Based Configuration Tracking Controller on a Multi-Segment Soft Robotic Arm. IROS (2023)
Shenbagaraj Kannapiran, Nalin Bendapudi, Ming-Yuan Yu, Devarth Parikh, Spring Berman, Ankit Vora, Gaurav Pandey
Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching Using an Attention Graph Neural Network. IROS (2023)
Karthik Elamvazhuthi, Spring Berman
Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds. CoRR (2023)
Shenbagaraj Kannapiran, Nalin Bendapudi, Ming-Yuan Yu, Devarth Parikh, Spring Berman, Ankit Vora, Gaurav Pandey
Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Network. CoRR (2023)
Rakshith Subramanyam, Kowshik Thopalli, Spring Berman, Pavan K. Turaga, Jayaraman J. Thiagarajan
Single-Shot Domain Adaptation via Target-Aware Generative Augmentations. ICASSP (2023)
Carlo Sinigaglia, Francesco Braghin, Spring Berman
Optimal Control of Velocity and Nonlocal Interactions in the Mean-Field Kuramoto Model. ACC (2022)
Rakshith Subramanyam, Kowshik Thopalli, Spring Berman, Pavan K. Turaga, Jayaraman J. Thiagarajan
Single-Shot Domain Adaptation via Target-Aware Generative Augmentation. CoRR (2022)
Amir Salimi Lafmejani, Spring Berman, Georgios Fainekos
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments. CoRR (2022)
Aniket Shirsat, Shatadal Mishra, Wenlong Zhang, Spring Berman
Probabilistic Consensus on Feature Distribution for Multi-robot Systems with Markovian Exploration Dynamics. CoRR (2022)
Shiba Biswal, Karthik Elamvazhuthi, Spring Berman
Decentralized Control of Multiagent Systems Using Local Density Feedback. IEEE Trans. Autom. Control. 67 (8) (2022)
Aniket Shirsat, Shatadal Mishra, Wenlong Zhang, Spring Berman
Probabilistic Consensus on Feature Distribution for Multi-Robot Systems With Markovian Exploration Dynamics. IEEE Robotics Autom. Lett. 7 (3) (2022)
Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang, Spring Berman
Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model. CoRR (2022)
Hamed Farivarnejad, Spring Berman
Multirobot Control Strategies for Collective Transport. Annu. Rev. Control. Robotics Auton. Syst. 5 (2022)
Amir Salimi Lafmejani, Spring Berman, Georgios Fainekos
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments. IROS (2022)
Sangeet Sankaramangalam Ulhas, Aditya Ravichander, Kathryn A. Johnson, Theodore P. Pavlic, Lance Gharavi, Spring Berman
CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reflection on Autonomous Vehicles, Human-Robot Interaction, and Sociotechnical Imaginaries. CoRR (2022)
Roozbeh Khodambashi, Spring Berman, Ximin He, Daniel M. Aukes
Miniaturized Untethered Soft Robots Using Hydrogel-based Soft Voxel Actuators. RoboSoft (2021)
Azadeh Doroudchi, Spring Berman
Configuration Tracking for Soft Continuum Robotic Arms Using Inverse Dynamic Control of a Cosserat Rod Model. RoboSoft (2021)
Zahi M. Kakish, Karthik Elamvazhuthi, Spring Berman
Using Reinforcement Learning to Herd a Robotic Swarm to a Target Distribution. DARS (2021)
Zahi M. Kakish, Sritanay Vedartham, Spring Berman
Towards Decentralized Human-Swarm Interaction by Means of Sequential Hand Gesture Recognition. CoRR (2021)
Azadeh Doroudchi, Roozbeh Khodambashi, Mohammad Sharifzadeh, Dongting Li, Spring Berman, Daniel M. Aukes
Tracking Control of a Miniature 2-DOF Manipulator With Hydrogel Actuators. IEEE Robotics Autom. Lett. 6 (3) (2021)
Karthik Elamvazhuthi, Shiba Biswal, Spring Berman
Controllability and decentralized stabilization of the Kolmogorov forward equation for Markov chains. Autom. 124 (2021)
Amir Salimi Lafmejani, Spring Berman
Nonlinear MPC for collision-free and deadlock-free navigation of multiple nonholonomic mobile robots. Robotics Auton. Syst. 141 (2021)
Karthik Elamvazhuthi, Zahi M. Kakish, Aniket Shirsat, Spring Berman
Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach. IEEE Trans. Robotics 37 (2) (2021)
Amir Salimi Lafmejani, Hamed Farivarnejad, Spring Berman
Adaptation of Gradient-Based Navigation Control for Holonomic Robots to Nonholonomic Robots. IEEE Robotics Autom. Lett. 6 (1) (2021)
Shenbagaraj Kannapiran, Jeroen van Baar, Spring Berman
A Visual Inertial Odometry Framework for 3D Points, Lines and Planes. IROS (2021)
Shiba Biswal, Karthik Elamvazhuthi, Spring Berman
Stabilization of Nonlinear Discrete-Time Systems to Target Measures Using Stochastic Feedback Laws. IEEE Trans. Autom. Control. 66 (5) (2021)
Amir Salimi Lafmejani, Azadeh Doroudchi, Hamed Farivarnejad, Ximin He, Daniel Aukes, Matthew M. Peet, Hamidreza Marvi, Rebecca E. Fisher, Spring Berman
Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot. IEEE Robotics Autom. Lett. 5 (2) (2020)
Azadeh Doroudchi, Roozbeh Khodambashi, Amir Salimi Lafmejani, Daniel M. Aukes, Spring Berman
Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation. RoboSoft (2020)
Hamed Farivarnejad, Spring Berman
Decentralized Collective Transport along Manifolds Compatible with Holonomic Constraints by Robots with Minimal Global Information. ACC (2020)
Shiba Biswal, Karthik Elamvazhuthi, Hans D. Mittelmann, Spring Berman
Spectral Gap Optimization of Divergence Type Diffusion Operators. ECC (2020)
Ragesh K. Ramachandran, Zahi M. Kakish, Spring Berman
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots. IEEE Trans. Robotics 36 (5) (2020)
Hamed Farivarnejad, Spring Berman
Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles. Syst. Control. Lett. 144 (2020)
Aniket Shirsat, Spring Berman
Decentralized Multi-target Tracking with Multiple Quadrotors using a PHD Filter. CoRR (2020)
Zahi M. Kakish, Karthik Elamvazhuthi, Spring Berman
Using Reinforcement Learning to Herd a Robotic Swarm to a Target Distribution. CoRR (2020)
Shenbagaraj Kannapiran, Spring Berman
Go-CHART: A miniature remotely accessible self-driving car robot. IROS (2020)
Amir Salimi Lafmejani, Hamed Farivarnejad, Spring Berman
H∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics. IROS (2020)
Aniket Shirsat, Karthik Elamvazhuthi, Spring Berman
Multi-Robot Target Search using Probabilistic Consensus on Discrete Markov Chains. SSRR (2020)
Aniket Shirsat, Karthik Elamvazhuthi, Spring Berman
Multi-Robot Target Search using Probabilistic Consensus on Discrete Markov Chains. CoRR (2020)
Amir Salimi Lafmejani, Hamed Farivarnejad, Azadeh Doroudchi, Spring Berman
A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. ACC (2020)
Hosain Bagheri, Anna Hu, Sheldon Cummings, Cayla Roy, Rachel Casleton, Ashley Wan, Nicole Erjavic, Spring Berman, Matthew M. Peet, Daniel M. Aukes, Ximin He, Stephen C. Pratt, Rebecca E. Fisher, Hamid Marvi
New Insights on the Control and Function of Octopus Suckers. Adv. Intell. Syst. 2 (6) (2020)
Ragesh K. Ramachandran, Zahi M. Kakish, Spring Berman
Information correlated Lévy walk exploration and distributed mapping using a swarm of robots. CoRR (2019)
Ragesh K. Ramachandran, Spring Berman
Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength. CoRR (2019)
Karthik Elamvazhuthi, Hendrik Kuiper, Matthias Kawski, Spring Berman
Bilinear Controllability of a Class of Advection-Diffusion-Reaction Systems. IEEE Trans. Autom. Control. 64 (6) (2019)
Shiba Biswal, Karthik Elamvazhuthi, Spring Berman
Fastest Mixing Markov Chain on a Compact Manifold. CDC (2019)
Karthik Elamvazhuthi, Piyush Grover, Spring Berman
Optimal Transport Over Deterministic Discrete-Time Nonlinear Systems Using Stochastic Feedback Laws. IEEE Control. Syst. Lett. 3 (1) (2019)
Roderich Groß, Andreas Kolling, Spring Berman, Alcherio Martinoli, Emilio Frazzoli, Fumitoshi Matsuno
Guest editorial: Special issue on distributed robotics - from fundamentals to applications. Auton. Robots 42 (8) (2018)
Azadeh Doroudchi, Sachin Shivakumar, Rebecca E. Fisher, Hamid Marvi, Daniel Aukes, Ximin He, Spring Berman, Matthew M. Peet
Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. CDC (2018)
Karthik Elamvazhuthi, Spring Berman
Nonlinear Generalizations of Diffusion-Based Coverage by Robotic Swarms. CDC (2018)
Spring Berman, Sándor P. Fekete, Matthew J. Patitz, Christian Scheideler
Algorithmic Foundations of Programmable Matter (Dagstuhl Seminar 18331). Dagstuhl Reports 8 (8) (2018)
Karthik Elamvazhuthi, Piyush Grover, Spring Berman
Optimal Transport over Deterministic Discrete-time Nonlinear Systems using Stochastic Feedback Laws. CoRR (2018)
Hamed Farivarnejad, Spring Berman
Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport. ACC (2018)
Fangbo Zhang, Andrea L. Bertozzi, Karthik Elamvazhuthi, Spring Berman
Performance Bounds on Spatial Coverage Tasks by Stochastic Robotic Swarms. IEEE Trans. Autom. Control. 63 (6) (2018)
Vaibhav Deshmukh, Karthik Elamvazhuthi, Shiba Biswal, Zahi M. Kakish, Spring Berman
Mean-Field Stabilization of Markov Chain Models for Robotic Swarms: Computational Approaches and Experimental Results. IEEE Robotics Autom. Lett. 3 (3) (2018)
Karthik Elamvazhuthi, Shiba Biswal, Spring Berman
Mean-Field Stabilization of Robotic Swarms to Probability Distributions with Disconnected Supports. ACC (2018)
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
PDE-based optimization for stochastic mapping and coverage strategies using robotic ensembles. Autom. 95 (2018)
Karthik Elamvazhuthi, Vaibhav Deshmukh, Matthias Kawski, Spring Berman
Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part I: Global Controllability and Rational Feedbacks. CoRR (2017)
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
Controllability to equilibria of the 1-D fokker-planck equation with zero-flux boundary condition. CDC (2017)
Ganesh P. Kumar, Spring Berman
Design of Stochastic Robotic Swarms for Target Performance Metrics in Boundary Coverage Tasks. CoRR (2017)
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
Controllability to Equilibria of the 1-D Fokker-Planck Equation with Zero-Flux Boundary Condition. CoRR (2017)
Karthik Elamvazhuthi, Hendrik Kuiper, Spring Berman
PDE-Based Optimization for Stochastic Mapping and Coverage Strategies using Robotic Ensembles. CoRR (2017)
Hanjun Li, Chunhan Feng, Henry Ehrhard, Yijun Shen, Bernardo Cobos, Fangbo Zhang, Karthik Elamvazhuthi, Spring Berman, Matt Haberland, Andrea L. Bertozzi
Decentralized stochastic control of robotic swarm density: Theory, simulation, and experiment. IROS (2017)
Ragesh K. Ramachandran, Sean Wilson, Spring Berman
A Probabilistic Approach to Automated Construction of Topological Maps Using a Stochastic Robotic Swarm. IEEE Robotics Autom. Lett. 2 (2) (2017)
Karthik Elamvazhuthi, Matthias Kawski, Shiba Biswal, Vaibhav Deshmukh, Spring Berman
Mean-field controllability and decentralized stabilization of Markov chains. CDC (2017)
Shiba Biswal, Karthik Elamvazhuthi, Spring Berman
Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part II: Asymptotic Controllability and Polynomial Feedbacks. CoRR (2017)
Karthik Elamvazhuthi, Hendrik Kuiper, Matthias Kawski, Spring Berman
Bilinear Controllability of a Class of Advection-Diffusion-Reaction Systems. CoRR (2017)
Spring Berman
ACC 2017 tutorial session: Bio-inspired network dynamics and control. ACC (2017)
Ragesh K. Ramachandran, Spring Berman
The effect of communication topology on scalar field estimation by large networks with partially accessible measurements. ACC (2017)
Ragesh K. Ramachandran, Spring Berman
The Effect of Communication Topology on Scalar Field Estimation by Networked Robotic Swarms. CoRR (2016)
Karthik Elamvazhuthi, Chase Adams, Spring Berman
Coverage and Field Estimation on Bounded Domains by Diffusive Swarms. CoRR (2016)
Karthik Elamvazhuthi, Sean Wilson, Spring Berman
Confinement control of double integrators using partially periodic leader trajectories. ACC (2016)
Ragesh K. Ramachandran, Sean Wilson, Spring Berman
A Probabilistic Topological Approach to Feature Identification Using a Stochastic Robotic Swarm. DARS (2016)
Sean Wilson, Ruben Gameros, Michael Sheely, Matthew Lin, Kathryn Dover, Robert Gevorkyan, Matt Haberland, Andrea L. Bertozzi, Spring Berman
Pheeno, A Versatile Swarm Robotic Research and Education Platform. IEEE Robotics Autom. Lett. 1 (2) (2016)
Hamed Farivarnejad, Sean Wilson, Spring Berman
Decentralized sliding mode control for autonomous collective transport by multi-robot systems. CDC (2016)
Karthik Elamvazhuthi, Chase Adams, Spring Berman
Coverage and field estimation on bounded domains by diffusive swarms. CDC (2016)
Ganesh P. Kumar, Spring Berman
The Probabilistic Analysis of the Communication Network created by Dynamic Boundary Coverage. CoRR (2016)
Karthik Elamvazhuthi, Sean Wilson, Spring Berman
Confinement Control of Double Integrators using Partially Periodic Leader Trajectories. CoRR (2015)
Karthik Elamvazhuthi, Spring Berman
Optimal control of stochastic coverage strategies for robotic swarms. ICRA (2015)
Ragesh K. Ramachandran, Karthik Elamvazhuthi, Spring Berman
An Optimal Control Approach to Mapping GPS-Denied Environments Using a Stochastic Robotic Swarm. ISRR (1) (2015)
Ganesh P. Kumar, Spring Berman
Statistical analysis of stochastic multi-robot boundary coverage. ICRA (2014)
Sean Wilson, Theodore P. Pavlic, Ganesh P. Kumar, Aurélie Buffin, Stephen C. Pratt, Spring Berman
Design of ant-inspired stochastic control policies for collective transport by robotic swarms. Swarm Intell. 8 (4) (2014)
Karthik Elamvazhuthi, Spring Berman
Scalable Formation Control of Multi-robot Chain Networks Using a PDE Abstraction. DARS (2014)
Ganesh P. Kumar, Aurélie Buffin, Theodore P. Pavlic, Stephen Pratt, Spring Berman
A stochastic hybrid system model of collective transport in the desert ant aphaenogaster cockerelli. HSCC (2013)
Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, Spring Berman
An Enzyme-Inspired Approach to Stochastic Allocation of Robotic Swarms Around Boundaries. ISRR (2013)
Karthik Dantu, Spring Berman, Bryan Kate, Radhika Nagpal
A comparison of deterministic and stochastic approaches for allocating spatially dependent tasks in micro-aerial vehicle collectives. IROS (2012)
Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, Stephen Pratt
Experimental Study and Modeling of Group Retrieval in Ants as an Approach to Collective Transport in Swarm Robotic Systems. Proc. IEEE 99 (9) (2011)
Spring Berman, Radhika Nagpal, Ádám M. Halász
Optimization of stochastic strategies for spatially inhomogeneous robot swarms: A case study in commercial pollination. IROS (2011)
Spring Berman, Vijay Kumar, Radhika Nagpal
Design of control policies for spatially inhomogeneous robot swarms with application to commercial pollination. ICRA (2011)
Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, Stephen Pratt
Study of group food retrieval by ants as a model for multi-robot collective transport strategies. Robotics: Science and Systems (2010)
Spring Berman, Ádám M. Halász, M. Ani Hsieh, Vijay Kumar
Optimized Stochastic Policies for Task Allocation in Swarms of Robots. IEEE Trans. Robotics 25 (4) (2009)
Loic Matthey, Spring Berman, Vijay Kumar
Stochastic strategies for a swarm robotic assembly system. ICRA (2009)
Spring Berman, Vijay Kumar
Abstractions and algorithms for assembly tasks with large numbers of robots and parts. CASE (2009)
Spring Berman, Ádám M. Halász, M. Ani Hsieh, Vijay Kumar
Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites. CDC (2008)
M. Ani Hsieh, Ádám M. Halász, Spring Berman, Vijay Kumar
Biologically inspired redistribution of a swarm of robots among multiple sites. Swarm Intell. 2 (2-4) (2008)
Spring Berman, Ádám M. Halász, Vijay Kumar
MARCO: A Reachability Algorithm for Multi-affine Systems with Applications to Biological Systems. HSCC (2007)
Spring Berman, Ádám M. Halász, Vijay Kumar, Stephen Pratt
Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations. ICRA (2007)
Ádám M. Halász, M. Ani Hsieh, Spring Berman, Vijay Kumar
Dynamic redistribution of a swarm of robots among multiple sites. IROS (2007)

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Publication Activity (10 Years)

Top Topics

Top Venues

Spring Berman