Publications

2017

  • [DOI] G. Christie, A. Shoemaker, K. Kochersberger, P. Tokekar, L. McLean, and A. Leonessa, “Radiation Search Operations using Scene Understanding with Autonomous UAV and UGV,” Journal of Field Robotics, 2017.
    [Bibtex]
    @Article{christie2017radiation,
    author = {Gordon Christie and Adam Shoemaker and Kevin Kochersberger and Pratap Tokekar and Lance McLean and Alexander Leonessa},
    title = {Radiation Search Operations using Scene Understanding with Autonomous UAV and UGV},
    journal = {Journal of Field Robotics},
    year = {2017},
    note = {To appear},
    doi = {10.1002/rob.21723},
    url = {https://arxiv.org/abs/1609.00017},
    }
  • P. Dames, P. Tokekar, and V. Kumar, “Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots,” International Journal of Robotics Research, 2017.
    [Bibtex]
    @Article{dames2017detecting,
    author = {Philip Dames and Pratap Tokekar and Vijay Kumar},
    title = {Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots},
    journal = {International Journal of Robotics Research},
    year = {2017},
    note = {To appear},
    }
  • [DOI] S. J. L. Rincon, P. Tokekar, V. Kumar, and S. Carpin, “Rapid Deployment of Mobile Robots under Temporal, Perfomance, Perception, and Resource Constraints,” IEEE Robotics & Automation Letters, 2017.
    [Bibtex]
    @Article{rincon2017rapid,
    author = {J.L. Susa Rincon and Pratap Tokekar and Vijay Kumar and Stefano Carpin},
    title = {Rapid Deployment of Mobile Robots under Temporal, Perfomance, Perception, and Resource Constraints},
    journal = {IEEE Robotics \& Automation Letters},
    year = {2017},
    note = {To appear},
    doi = {10.1109/LRA.2017.2717080},
    }
  • Y. Sung and P. Tokekar, “Algorithm for Searching and Tracking an Unknown and Varying Number of Mobile Targets using a Limited FoV Sensor,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.
    [Bibtex]
    @InProceedings{sung2017algorithm,
    author = {Yoonchang Sung and Pratap Tokekar},
    title = {Algorithm for Searching and Tracking an Unknown and Varying Number of Mobile Targets using a Limited FoV Sensor},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2017},
    note = {To appear},
    }
  • K. Yu, A. K. Budhiraja, and P. Tokekar, Algorithms for Routing of Unmanned Aerial Vehicles with Mobile Recharging Stations and for Package Delivery, 2017.
    [Bibtex]
    @Misc{yu2017algorithms,
    author = {Kevin Yu and Ashish Kumar Budhiraja and Pratap Tokekar},
    title = {Algorithms for Routing of Unmanned Aerial Vehicles with Mobile Recharging Stations and for Package Delivery},
    howpublished = {International Symposium on Aerial Robotics},
    month = {June},
    year = {2017},
    note = {Unrefereed},
    url = {https://arxiv.org/abs/1704.00079},
    }
  • L. Zhou and P. Tokekar, “Active Target Tracking with Self-Triggered Communications,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.
    [Bibtex]
    @InProceedings{zhou2017active,
    author = {Lifeng Zhou and Pratap Tokekar},
    title = {Active Target Tracking with Self-Triggered Communications},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2017},
    note = {To appear},
    }

2016

  • A. Preshant, K. Yu, and P. Tokekar, “A Geometric Approach for Multi-Robot Exploration in Orthogonal Polygons,” in Workshop on Algorithmic Foundations of Robotics (WAFR), 2016.
    [Bibtex]
    @InProceedings{preshant2016geometric,
    author = {Aravind Preshant and Kevin Yu and Pratap Tokekar},
    title = {A Geometric Approach for Multi-Robot Exploration in Orthogonal Polygons},
    booktitle = {Workshop on Algorithmic Foundations of Robotics (WAFR)},
    year = {2016},
    url = {http://www.wafr.org/papers/WAFR_2016_paper_25.pdf},
    }
  • [DOI] P. Tokekar and V. Isler, “Polygon Guarding with Orientation,” Computational Geometry: Theory and Applications, vol. 58, pp. 97-109, 2016.
    [Bibtex]
    @Article{tokekar2016polygon,
    author = {Pratap Tokekar and Volkan Isler},
    title = {Polygon Guarding with Orientation},
    journal = {Computational Geometry: Theory and Applications},
    year = {2016},
    volume = {58},
    pages = {97--109},
    month = {October},
    doi = {10.1016/j.comgeo.2016.07.004},
    publisher = {Elsevier {BV}},
    }
  • [DOI] P. Tokekar, J. Vander Hook, D. Mulla, and V. Isler, “Sensor Planning for a Symbiotic UAV and UGV System for Precision Agriculture,” IEEE Transactions on Robotics, vol. 32, iss. 6, pp. 1498-1511, 2016.
    [Bibtex]
    @Article{tokekar2016sensor,
    author = {Pratap Tokekar and Joshua {Vander Hook} and David Mulla and Volkan Isler},
    title = {Sensor Planning for a Symbiotic {UAV} and {UGV} System for Precision Agriculture},
    journal = {{IEEE} Transactions on Robotics},
    year = {2016},
    volume = {32},
    number = {6},
    pages = {1498--1511},
    doi = {10.1109/TRO.2016.2603528},
    }
  • [DOI] Z. Zhang and P. Tokekar, “Non-Myopic Target Tracking Strategies for Non-Linear Systems,” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2016, pp. 5591-5596.
    [Bibtex]
    @InProceedings{zhang2016nonmyopic,
    author = {Zhongshun Zhang and Pratap Tokekar},
    title = {Non-Myopic Target Tracking Strategies for Non-Linear Systems},
    booktitle = {Proceedings of the IEEE Conference on Decision and Control (CDC)},
    year = {2016},
    pages = {5591--5596},
    publisher = {IEEE},
    doi = {10.1109/cdc.2016.7799128},
    }

2015

  • P. Dames, P. Tokekar, and V. Kumar, “Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots,” in International Symposium on Robotics Research, 2015.
    [Bibtex]
    @InProceedings{dames2015detecting,
    Title = {Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots},
    Author = {Philip Dames and Pratap Tokekar and Vijay Kumar},
    Booktitle = {International Symposium on Robotics Research},
    Year = {2015}
    }
  • [DOI] J. Das, G. Cross, C. Qu, A. Makineni, P. Tokekar, Y. Mulgaonkar, and V. Kumar, “Devices, Systems, and Methods for Automated Monitoring enabling Precision Agriculture,” in Proceedings of IEEE Conference on Automation Science and Engineering (CASE), 2015, pp. 462-469.
    [Bibtex]
    @InProceedings{das2015devices,
    author = {Jnaneshwar Das and Gareth Cross and Chao Qu and Anurag Makineni and Pratap Tokekar and Yash Mulgaonkar and Vijay Kumar},
    title = {Devices, Systems, and Methods for Automated Monitoring enabling Precision Agriculture},
    booktitle = {Proceedings of IEEE Conference on Automation Science and Engineering (CASE)},
    year = {2015},
    pages = {462--469},
    month = {August},
    publisher = {IEEE},
    abstract = {Addressing the challenges of feeding the burgeoning world population with limited resources requires innovation in sustainable, efficient farming. The practice of precision agriculture offers many benefits towards addressing these challenges, such as improved yield and efficient use of such resources as water, fertilizer and pesticides. We describe the design and development of a light-weight, multi-spectral 3D imaging device that can be used for automated monitoring in precision agriculture. The sensor suite consists of a laser range scanner, multi-spectral cameras, a thermal imaging camera, and navigational sensors. We present techniques to extract four key data products - plant morphology, canopy volume, leaf area index, and fruit counts - using the sensor suite. We demonstrate its use with two systems: multi-rotor micro aerial vehicles and on a human-carried, shoulder-mounted harness. We show results of field experiments conducted in collaboration with growers and agronomists in vineyards, apple orchards and orange groves.},
    doi = {10.1109/CoASE.2015.7294123},
    }
  • [DOI] V. Isler, N. Noori, P. Plonski, A. Renzaglia, P. Tokekar, and J. Vander Hook, “Finding and Tracking Targets in the Wild: Algorithms and Field Deployments,” in IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015.
    [Bibtex]
    @InProceedings{isler2015finding,
    author = {Volkan Isler and Narges Noori and Patrick Plonski and Alessandro Renzaglia and Pratap Tokekar and Joshua {Vander Hook}},
    title = {Finding and Tracking Targets in the Wild: Algorithms and Field Deployments},
    booktitle = {{IEEE} International Symposium on Safety, Security, and Rescue Robotics ({SSRR})},
    year = {2015},
    month = {October},
    publisher = {IEEE},
    doi = {10.1109/SSRR.2015.7442996},
    }
  • [DOI] P. Tokekar and V. Kumar, “Visibility-Based Persistent Monitoring with Robot Teams,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 3387-3394.
    [Bibtex]
    @InProceedings{tokekar2015visibility,
    author = {Pratap Tokekar and Vijay Kumar},
    title = {Visibility-Based Persistent Monitoring with Robot Teams},
    booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2015},
    pages = {3387--3394},
    publisher = {IEEE},
    doi = {10.1109/IROS.2015.7353849},
    }
  • [DOI] J. Vander Hook, P. Tokekar, and V. Isler, “Algorithms for Cooperative Active Localization of Static Targets With Mobile Bearing Sensors Under Communication Constraints,” IEEE Transactions on Robotics, vol. 31, iss. 4, pp. 864-876, 2015.
    [Bibtex]
    @Article{vanderhook2015algorithms,
    author = {Joshua {Vander Hook} and Pratap Tokekar and Volkan Isler},
    title = {Algorithms for Cooperative Active Localization of Static Targets With Mobile Bearing Sensors Under Communication Constraints},
    journal = {IEEE Transactions on Robotics},
    year = {2015},
    volume = {31},
    number = {4},
    pages = {864--876},
    month = {aug},
    doi = {10.1109/TRO.2015.2432612},
    }

2014

  • [DOI] P. Tokekar, N. Karnad, and V. Isler, “Energy-Optimal Trajectory Planning for Car-Like Robots,” Autonomous Robots, vol. 37, iss. 3, pp. 279-300, 2014.
    [Bibtex]
    @Article{tokekar2014energy,
    author = {P. Tokekar and N. Karnad and V. Isler},
    title = {Energy-Optimal Trajectory Planning for Car-Like Robots},
    journal = {Autonomous Robots},
    year = {2014},
    volume = {37},
    number = {3},
    pages = {279--300},
    month = {apr},
    doi = {10.1007/s10514-014-9390-3},
    publisher = {Springer},
    }
  • [DOI] P. Tokekar, V. Isler, and A. Franchi, “Multi-Target Visual Tracking with Aerial Robots,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
    [Bibtex]
    @InProceedings{tokekar2014multi,
    author = {Pratap Tokekar and Volkan Isler and Antonio Franchi},
    title = {Multi-Target Visual Tracking with Aerial Robots},
    booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2014},
    doi = {10.1109/IROS.2014.6942986},
    }
  • [DOI] P. Tokekar and V. Isler, “Polygon Guarding with Orientation,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2014.
    [Bibtex]
    @InProceedings{tokekar2014polygon,
    author = {Pratap Tokekar and Volkan Isler},
    title = {Polygon Guarding with Orientation},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2014},
    doi = {10.1109/ICRA.2014.6906978},
    }
  • [DOI] J. Vander Hook, P. Tokekar, and V. Isler, “Cautious Greedy Strategy for Bearing-Only Active Localization: Analysis and Field Experiments,” Journal of Field Robotics, vol. 31, iss. 2, pp. 296-318, 2014.
    [Bibtex]
    @Article{vanderhook2014cautious,
    author = {Joshua {Vander Hook} and Pratap Tokekar and Volkan Isler},
    title = {Cautious Greedy Strategy for Bearing-Only Active Localization: Analysis and Field Experiments},
    journal = {Journal of Field Robotics},
    year = {2014},
    volume = {31},
    number = {2},
    pages = {296--318},
    month = {jan},
    doi = {10.1002/rob.21499},
    publisher = {Wiley-Blackwell},
    }

2013

  • [DOI] P. Plonski, P. Tokekar, and V. Isler, “Energy-Efficient Path Planning for Solar-Powered Mobile Robots,” in Experimental Robotics, Springer, 2013, pp. 717-731.
    [Bibtex]
    @InCollection{plonski2013aenergy,
    author = {Patrick Plonski and Pratap Tokekar and Volkan Isler},
    title = {Energy-Efficient Path Planning for Solar-Powered Mobile Robots},
    booktitle = {Experimental Robotics},
    publisher = {Springer},
    year = {2013},
    pages = {717--731},
    note = {The 13th International Symposium on Experimental Robotics},
    doi = {10.1007/978-3-319-00065-7_48},
    }
  • [DOI] P. Plonski, P. Tokekar, and V. Isler, “Energy-Efficient Path Planning for Solar-Powered Mobile Robots,” Journal of Field Robotics, vol. 30, iss. 4, pp. 583-601, 2013.
    [Bibtex]
    @Article{plonski2013energy,
    author = {Patrick Plonski and Pratap Tokekar and Volkan Isler},
    title = {Energy-Efficient Path Planning for Solar-Powered Mobile Robots},
    journal = {Journal of Field Robotics},
    year = {2013},
    volume = {30},
    number = {4},
    pages = {583--601},
    month = {may},
    doi = {10.1002/rob.21459},
    publisher = {Wiley-Blackwell},
    }
  • [DOI] P. Tokekar and V. Isler, “Sensor Placement and Selection for Bearing Sensors with Bounded Uncertainty,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2013.
    [Bibtex]
    @InProceedings{tokekar2013asensor,
    author = {Pratap Tokekar and Volkan Isler},
    title = {Sensor Placement and Selection for Bearing Sensors with Bounded Uncertainty},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2013},
    doi = {10.1109/ICRA.2013.6630920},
    }
  • [DOI] P. Tokekar, J. Vander Hook, D. Mulla, and V. Isler, “Sensor Planning for a Symbiotic UAV and UGV System for Precision Agriculture,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [Bibtex]
    @InProceedings{tokekar2013sensor,
    author = {Pratap Tokekar and Joshua {Vander Hook} and David Mulla and Volkan Isler},
    title = {Sensor Planning for a Symbiotic {UAV} and {UGV} System for Precision Agriculture},
    booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2013},
    doi = {10.1109/IROS.2013.6697126},
    }
  • [DOI] P. Tokekar, E. Branson, J. Vander Hook, and V. Isler, “Tracking Aquatic Invaders: Autonomous Robots for Invasive Fish,” IEEE Robotics & Automation Magazine, vol. 20, iss. 3, pp. 33-41, 2013.
    [Bibtex]
    @Article{tokekar2013tracking,
    author = {Pratap Tokekar and Elliot Branson and Joshua {Vander Hook} and Volkan Isler},
    title = {Tracking Aquatic Invaders: Autonomous Robots for Invasive Fish},
    journal = {{IEEE} Robotics {\&} Automation Magazine},
    year = {2013},
    volume = {20},
    number = {3},
    pages = {33--41},
    month = {sep},
    doi = {10.1109/MRA.2012.2220506},
    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
    }
  • [DOI] J. Vander Hook, P. Tokekar, E. Branson, P. Bajer, P. Sorensen, and V. Isler, “Local-Search Strategy for Active Localization of Multiple Invasive Fish,” in Experimental Robotics, Springer, 2013, pp. 859-873.
    [Bibtex]
    @InBook{vanderhook2013local,
    pages = {859--873},
    title = {Local-Search Strategy for Active Localization of Multiple Invasive Fish},
    publisher = {Springer},
    year = {2013},
    author = {Joshua {Vander Hook} and Pratap Tokekar and Elliot Branson and Przemyslaw Bajer and Peter Sorensen and Volkan Isler},
    note = {The 13th International Symposium on Experimental Robotics},
    booktitle = {Experimental Robotics},
    doi = {10.1007/978-3-319-00065-7_57},
    }

2012

  • [DOI] J. Vander Hook, P. Tokekar, and V. Isler, “Cautious Greedy Strategy for Bearing-based Active Localization: Experiments and Theoretical Analysis,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2012.
    [Bibtex]
    @InProceedings{vanderhook2012cautious,
    author = {Joshua {Vander Hook} and Pratap Tokekar and Volkan Isler},
    title = {Cautious Greedy Strategy for Bearing-based Active Localization: Experiments and Theoretical Analysis},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2012},
    doi = {10.1109/ICRA.2012.6225244},
    }

2011

  • [DOI] P. Tokekar, J. Vander Hook, and V. Isler, “Active Target Localization for Bearing Based Robotic Telemetry,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    [Bibtex]
    @InProceedings{tokekar2011active,
    author = {Pratap Tokekar and Joshua {Vander Hook} and Volkan Isler},
    title = {Active Target Localization for Bearing Based Robotic Telemetry},
    booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2011},
    doi = {10.1109/IROS.2011.6095177},
    }
  • [DOI] P. Tokekar, N. Karnad, and V. Isler, “Energy-Optimal Velocity Profiles for Car-Like Robots,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2011.
    [Bibtex]
    @InProceedings{tokekar2011energy,
    author = {Pratap Tokekar and Nikhil Karnad and Volkan Isler},
    title = {Energy-Optimal Velocity Profiles for Car-Like Robots},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2011},
    doi = {10.1109/ICRA.2011.5980374},
    }

2010

  • [DOI] D. Bhadauria, V. Isler, A. Studenski, and P. Tokekar, “A Robotic Sensor Network for Monitoring Carp in Minnesota Lakes,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2010.
    [Bibtex]
    @InProceedings{bhadauria2010robotic,
    author = {Deepak Bhadauria and Volkan Isler and Andrew Studenski and Pratap Tokekar},
    title = {A Robotic Sensor Network for Monitoring Carp in Minnesota Lakes},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2010},
    doi = {10.1109/ROBOT.2010.5509499},
    }
  • [DOI] P. Tokekar, D. Bhadauria, A. Studenski, and V. Isler, “A Robotic System for Monitoring Carp in Minnesota Lakes,” Journal of Field Robotics, vol. 27, iss. 6, pp. 779-789, 2010.
    [Bibtex]
    @Article{tokekar2010robotic,
    author = {Pratap Tokekar and Deepak Bhadauria and Andrew Studenski and Volkan Isler},
    title = {A Robotic System for Monitoring Carp in Minnesota Lakes},
    journal = {Journal of Field Robotics},
    year = {2010},
    volume = {27},
    number = {6},
    pages = {779--789},
    month = {September},
    doi = {10.1002/rob.20364},
    }

2009

  • [DOI] P. Tokekar, V. Bhatawadekar, D. Fehr, and N. Papanikolopoulos, “Experiments in Object Reconstruction using a Robot-mounted Laser Range-finder,” in Proceedings of 17th Mediterranean Conference on Control and Automation, 2009.
    [Bibtex]
    @InProceedings{tokekar2009experiments,
    author = {Pratap Tokekar and Vineet Bhatawadekar and Duc Fehr and Nikolaos Papanikolopoulos},
    title = {Experiments in Object Reconstruction using a Robot-mounted Laser Range-finder},
    booktitle = {Proceedings of 17th Mediterranean Conference on Control and Automation},
    year = {2009},
    month = {jun},
    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
    doi = {10.1109/MED.2009.5164667},
    }