Publications

REFEREED JOURNAL PUBLICATIONS

• C. Kessens, M. Kaplan, T. Rocks, P. Osteen, J. Rogers, A. Hurwitz, J. Fink, L. Quang, M. Gonzalez, J. Patel. M. DiBlasi, S. Patel, M. Weiker, D. Patel, J. Bowkett, R. Detry, S. Karumanchi, L. Matthies, J. Burdick, Y. Oza, A. Agarwal, A. Dornbush, D. Saxena, M. Likhachev, K. Schmeckpeper, K. Daniilidis, A. Kamat, A. Mandalika, S. Choudhary, S. Srinivasa, "Human-Scale Mobile Manipulation Using Roman", Field Robotics (FR) . 2022 [PDF]

• J. Jasper, A. Kourchians, M. Gonzalez, B. Emanuel, J. Nicholson, G. McCutcheon, M. Austin, M. Kozlowski, E. Holmes, R. Hegeman, S. McCrory, M. Zeher, D. Handelman, R. Griffin, S. Karumanchi, C. Hubicki, B. Kennedy, J. Clark, J. Pratt, D. Patel, J. Pusey,  "Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot", Field Robotics, 2022, 2, 325-355. [PDF]

• J. Bowkett, S. Karumanchi, R.  Detry, "Grasping and Transport of Unstructured Collections of Massive Objects". Field Robotics, 2022, 2, 385-405. [PDF]

• R. Griffin, S. McCrory, S. Bertrand, D. Calvert, I. Lee, P. Neuhaus, D. Stephen, J. Jasper, S. Karumanchi, A. Kourchians, B. Emanuel, E. Holmes, R. Hegeman, J. Pusey, J. Pratt . "Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot". Field Robotics, 2022, 2, 356-384. [PDF]

• S. Karumanchi, K. Edelberg, J. Nash, C. Bergh, R. Smith, B. Emanuel, J. Carlton, J. Koehler, J. Kim, R. Mukherjee, B. Kennedy, and P. Backes,  "Payload Centric Autonomy for In-Space Robotic Assembly of Modular Space Structures", Journal of Field Robotics (JFR). 2018;1–17. https://doi.org/10.1002/rob.21792 [online version][preprint][videos].

• S. Karumanchi, K. Edelberg, I. Baldwin, J. Nash, B. Satzinger, J. Reid, C. Lau, C. Bergh, J. Leichty, K. Carpenter, M. Shekels, M. Gildner, D. Newill-Smith, J. Carlton, J. Koehler, T. Dobreva, M. Frost, P. Hebert, J. Borders, J. Ma, B. Douillard, K. Shankar, K. Byl, J. Burdick, P. Backes and B. Kennedy, "Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals", Journal of Field Robotics: Special Issue on the 2015 DARPA Robotics Challenge Finals, 2016 [preprint].

• J. Park, S. Karumanchi, and K. Iagnemma, "Homotopy-based Divide-and-Conquer Strategy for Optimal Trajectory Planning", IEEE Transactions on Robotics (T-RO), 2015 [preprint].

• M. Fallon, S. Kuindersma, S. Karumanchi,  M. Antone, T. Schneider, H. Dai, C. Perez-D’Arpino, R. Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion, M. Posa, A. Valenzuela, P. Kuan-Ting Yu, J. A. Shah, K. Iagnemma, R. Tedrake, S. Teller, "An Architecture for Online Affordance-based Perception and Whole-body Planning", Journal of Field Robotics (JFR) (Special Issue on DARPA Robotics Challenge Trials), 2014 [preprint][download].

• S.J. Anderson, S. Karumanchi, K. Iagnemma, J.M. Walker,   "The Intelligent CoPilot: A Constraint-Based Approach to Shared-Adaptive Control of Ground Vehicles", IEEE Intelligent Transportation Systems Magazine, 2013 [pdf].

• S. Karumanchi, T. Allen, T. Bailey and S. Scheding, “Non-parametric Learning to Aid Path Planning Over Slopes”. The International Journal of Robotics Research (IJRR), Vol 29(8), Pages 997-1018, 2010 [pdf].

REFEREED CONFERENCE PAPERS

• J. Nicholson, J. Jasper, A. Kourchians, G. McCutcheon, M. Austin, M. Gonzalez, J. Pusey, S. Karumanchi, C. Hubicki, J. Clark, "LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot", Submitted to IEEE Intelligent Robots and Systems (IROS), 2020 [link].

• W. Reid, M. Paton, S. Karumanchi, B. Chamberlain-Simon, B. Emanuel, G. Meirion-Griffith, "Autonomous Navigation over Europa Analogue Terrain for an Actively Articulated Wheel-on-Limb Rover", IEEE Intelligent Robots and Systems (IROS), 2020 [link].

• C. Kessens, J. Fink, A. Hurwitz, M. Kaplan, P. Osteen, T. Rocks, J. Rogers, E. Stump, L. Quang, M. DiBlasi, M.  Gonzalez, D. Patel, J. Patel, S. Patel, M. Weiker, J. Bowkett, R. Detry, S. Karumanchi, J. Burdick, L. Matthies, Y. Oza, A. Agarwal, A. Dornbush, M. Likhachev, K. Schmeckpeper, K. Daniilidis, A. Kamat, S. Choudhury, A. Mandalika, S. Srinivasa,"Toward fieldable human-scale mobile manipulation using RoMan", Proc. SPIE 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II,  2020. [link] 

• P. Tavallali, S. Karumanchi, W. Reid, J. Bowkett, B. Kennedy,  "A Reinforcement Learning Framework for Space Missions in Unknown Environments", IEEE Aerospace Conference, 2020 [preprint].

• W. Reid, G. Meirion-Griffith, B. Emanuel, B. Chamberlain-Simon, S. Karumanchi,  "Mobility Mode Evaluation of a Wheel-on-Limb Rover on Glacial Ice Analogous to Europa Terrain",  IEEE Aerospace Conference, 2020 [preprint].

• W. Reid, G. Meirion-Griffith, S. Karumanchi, B. Emanuel,  B. Brendan Chamberlain-Simon, and M. Garrett, “Actively Articulated Wheel-on-Limb Mobility for Traversing Europa Analogue Terrain,” Conference on Field and Service Robotics, 2019 [pdf].

• C. Ordonez, R. Alicea, B. Rothrock, K. Ladyko, M. Harper, S. Karumanchi, L. Matthies, E. Collins, "Modeling and traversal of pliable materials for tracked robot navigation," Proc. SPIE 10640, Unmanned Systems Technology XX, 2018 [link].

• M. Burkhardt, S. Karumanchi, K. Edelberg, J. Burdick, and P. Backes, "Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian", IEEE International Conference on Robotics and Automation (ICRA), 2018 [preprint][spotlight video][extended video].

• P. Backes, K. Edelberg, P. Vieira, W. Kim, A. Brinkman, S. Brooks, S. Karumanchi, G. Merewether, W. Ubellacker, "The Intelligent Robotics System Architecture Applied to Robotics Testbeds and Research Platforms", IEEE Aerospace Conference, 2018 [preprint].

• S. Brooks, P. Goddard, P. Backes, S. B. Chamberlain, R. Smith, and S. Karumanchi, "An Untethered Mobile Limb for Modular In-Space Assembly",  IEEE Aerospace Conference, 2016 [pdf].

• P. Hebert, J. Ma, J. Borders, A. Aydemir, M. Bajracharya, N. Hudson, K. Shankar, S. Karumanchi, B. Douillard, and J. Burdick. “Supervised remote robot with guided autonomy and teleoperation (surrogate): A framework for whole-body mobile manipulation”. IEEE Int. Conf. on Robotics and Automation (ICRA), 2015 [pdf].

• R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, S. Teller,  “A Summary of Team MIT’s Approach to the Virtual Robotics Challenge”, IEEE International Conference on Robotics and Automation, 2014 [pdf][video].

• S. Karumanchi, K. Iagnemma, and S. Scheding, “Mobility Erosion: High Speed Motion Safety for Mobile Robots Operating in Off-Road Terrain”, IEEE International Conference on Robotics and Automation, 2013 [pdf][brief].

• S. Karumanchi and K. Iagnemma , “Reactive Control in Environments with Hard and Soft hazards”, IEEE Intelligent Robots and Systems, 2012  [pdf] .

• S.J. Anderson, S. Karumanchi , K. Iagnemma,  “Constraint-Based Planning and Control for Safe, Semi-Autonomous Control of Vehicles”, Proceedings of 2012 IEEE Intelligent Vehicles Symposium, June  2012, Alcalá de Henares, Spain [pdf] [In MIT news].

• S.J. Anderson, S. Karumanchi, B.J. Johnson, M.R. Rohde, K. Iagnemma,  “Constraint-based semi-autonomy for unmanned ground vehicles using local sensing”, SPIE Unmanned Systems Technology XIV, April 2012, Baltimore, Maryland, USA [pdf].

• S. Karumanchi, T. Allen, T. Bailey and S. Scheding, “Non-parametric Learning to Aid Path Planning Over Slopes”. Proceedings of Robotics: Science and Systems (RSS), July 2009, Seattle, USA [pdf].

TECH REPORTS

• M. Fallon, S. Kuindersma, S. Karumanchi,  M. Antone, T. Schneider, H. Dai, C. Perez-D’Arpino, R. Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion,  M. Posa, A. Valenzuela, P. Kuan-Ting Yu, J. A. Shah, K. Iagnemma, R. Tedrake, S. Teller, "An Architecture for Online Affordance-based Perception and Whole-body Planning", Tech Report, MIT-CSAIL-TR-2014-003, MIT Computer Science and Artificial Intelligence Lab (CSAIL) , 2014 [link][download].

• M. Childers, C. Lennon, B. Bodt, J. Pusey, S. Hill, R. Camden, J. Oh, R. Dean, T. Keegan, C. Diberardino, S. Karumanchi, B. Douillard, N. Gupta, C. Ordonez, J. Shill, E. Collins, J. Clark, D. Barber, J. Duperret, G. Wenger, M. Zhu, S. Park, D. Koditschek, A. Johnson, A. Suppe, and L. Navarro-Serment, "US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment", US Army Research Laboratory, ARL-TR-7729, July 2016. [link][download]

THESIS

• S. Karumanchi, "Off-road mobility analysis from proprioceptive feedback", Ph.D. thesis, The University of Sydney, Aug. 2010 [pdf].