Jacobs University EECS Smart Systems Contact & Directions Impressum

 

 

Kaustubh Pathak

Kaustubh Pathak


Postdoctoral Fellow
Electrical Eng. & Computer Science
Jacobs University Bremen
28759 Bremen, Germany.
Office: (+49)(421) 200-3512

Resume (PDF)

3D mapping project

List of journal articles in reverse chronological order

  1. K. Pathak, A. Birk, N. Vaskevicius, and J. Poppinga, ``Fast Registration Based on Noisy Planes with Unknown Correspondences for 3D Mapping,'' IEEE Transactions on Robotics (accepted), DOI: 10.1109/TRO.2010.2042989, 2010.

  2. K. Pathak, A. Birk, N. Vaskevicius, M. Pfingsthorn, S. Schwertfeger, and J. Poppinga, ``Online 3D SLAM by registration of large planar surface segments and closed form pose-graph relaxation,'' Journal of Field Robotics, vol. 27, no. 1, pp. 52-84, 2010.

  3. K. Pathak, A. Birk, N. Vaskevicius, ``Uncertainty analysis for optimum plane extraction from noisy 3D range-sensor point-clouds,'' Intelligent Service Robotics, vol. 3, pp. 37-48, 2010.

  4. N. Vaskevicius, A. Birk, K. Pathak, S. Schwertfeger, ``Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration,'' Advanced Robotics (accepted for the Special Issue on Advanced Space Robotics), 2010.

  5. S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, ``A differentially flat open-chain space robot with arbitrarily oriented joint axes and two momentum wheels at the base,'' IEEE Transactions on Automatic Control, vol. 54, no. 8, 2009.

  6. A. Birk, S. Schwertfeger, and K. Pathak, ``A networking framework for teleoperation in safety, security, and rescue robotics (SSRR),'' IEEE Wireless Communications, vol. 16, no. 1, pp. 6-13, 2009.

  7. J. Poppinga, A. Birk, and K. Pathak, ``Hough based terrain classification for realtime detection of drivable ground,'' Journal of Field Robotics, vol. 25, no. 1-2, pp. 67-88, 2008.

  8. J.-C. Ryu, K. Pathak, and S. K. Agrawal, ``Control of a passive mobility assist robot'', Journal of Medical Devices, vol. 2, no. 1, p. 011002, 2008.

  9. K. Pathak and S. K. Agrawal, ``Band-limited trajectory planning and tracking for certain dynamically stabilized mobile systems,'' Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 1, pp. 104-111, March 2006.

  10. S. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garratt, ``Approaches for a tether-guided landing of an autonomous helicopter,'' IEEE Transactions on Robotics, vol. 22, no. 3, pp. 536-544, June 2006.

  11. K. Pathak and S. K. Agrawal, ``An integrated path-planning and control approach for nonholonomic unicycles using switched local potentials,''IEEE Transactions on Robotics, vol. 21, no. 6, pp. 1201 - 1208, Dec 2005.

  12. K. Pathak, J. Franch, and S. K. Agrawal, ``Velocity and position control of a wheeled inverted pendulum by partial feedback linearization,'' IEEE Transactions on Robotics, vol. 21, no. 3, pp. 505 - 513, June 2005.

List of conference papers in reverse chronological order

  1. K. Pathak, N. Vaskevicius, J. Poppinga, M. Pfingsthorn, S. Schwertfeger, and A. Birk, ``Fast 3D mapping by matching planes extracted from range sensor point-clouds'' in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, Oct. 2009.

  2. K. Pathak, M. Pfingsthorn, N. Vaskevicius, and A. Birk, ``Relaxing loop-closing errors in 3D maps based on planar surface patches'' in International Conference on Advanced Robotics, Munich, Germany, June 2009.

  3. K. Pathak, N. Vaskevicius, and A. Birk, ``Revisiting uncertainty analysis for optimum planes extracted from 3D range sensor point-clouds'' in IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, May 2009.

  4. K. Pathak, A. Birk, and J. Poppinga, ``Sub-pixel depth accuracy with a time of flight sensor using multimodal gaussian analysis'' in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nice, France, 2008.

  5. J. Poppinga, N. Vaskevicius, A. Birk, and K. Pathak, ``Fast plane detection and polygonalization in noisy 3D range images'' in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nice France, 2008.

  6. K. Pathak, A. Birk, J. Poppinga, and S. Schwertfeger, ``3D forward sensor modeling and application to occupancy grid based sensor fusion'' in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Diego, Nov 2007.

  7. A. Birk, K. Pathak, J. Poppinga, S. Schwertfeger, and W. Chonnaparamutt, ``Intelligent behaviors in outdoor environments'' in The 13th IASTED Conf. on Robotics and Applications, K. Schilling, Ed., IASTED.Würzburg, Germany: ACTA Press, August 2007.

  8. K. Pathak, A. Birk, S. Schwertfeger, I. Delchev, and S. Markov, ``Fully autonomous operations of a Jacobs Rugbot in the Robocup rescue robot league 2006'' in International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007.

  9. J. Poppinga, M. Pfingsthorn, S. Schwertfeger, K. Pathak, and A. Birk, ``Optimized octtree datastructure and access methods for 3D mapping'' in International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007.

  10. N. Vaskevicius, A. Birk, K. Pathak, and J. Poppinga, ``Fast detection of polygons in 3D point clouds from noise-prone range sensors'' in International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007.

  11. J.-C. Ryu, K. Pathak, and S. Agrawal, ``Control of a passive mobility assistive robot'' in ASME International Mech. Engineering Congress and Exposition (IMECE).Chicago, IL: ASME, November 2006.

  12. A. Birk, K. Pathak, S. Schwertfeger, and W. Chonnaparamutt, ``The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations'' in IEEE International Workshop on Safety, Security and Rescue Robotics. IEEE Press, 2006.

  13. A. Birk, S. Markov, I. Delchev, and K. Pathak, ``Autonomous rescue operations on the IUB Rugbot'' in IEEE International Workshop on Safety, Security and Rescue Robotics. IEEE Press, 2006.

  14. S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, ``Design of a differentially flat open-chain space robot with arbitrarily oriented joints and two momentum wheels at the base'' in IEEE International Conference on Robotics and Automation, Orlando, FL, May 2006, pp. 3867 - 3872.

  15. K. Pathak and S. K. Agrawal, ``An integrated path planning and control framework for nonholonomic unicycles'' in IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 4594-4599.

  16. K. Pathak and S. K. Agrawal, ``An integrated spatial path-planning and controller design approach for a hover-mode helicopter model'' in IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 1890 - 1895.

  17. S.-R. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garrett, ``Autonomous helicopter landing on a moving platform using a tether'' in IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 3960 - 3965.

  18. K. Pathak, J. Franch, and S. K. Agrawal, ``Velocity control of a wheeled inverted pendulum by partial feedback linearization'' in 43rd IEEE Conference on Decision and Control, vol. 4, Dec 2004, pp. 3962 - 3967.

  19. K. Pathak and S. K. Agrawal, ``Optimal band-limited trajectory planning and control for an inverted wheeled pendulum'' in ASME International Mechanical Engineering Congress. Anaheim, CA: ASME, Nov 2004.

  20. K. Pathak and S. K. Agrawal, ``Planning and control of a nonholonomic unicycle using ring shaped local potential fields'' in American Control Conference, vol. 3, Boston, MA, June 2004, pp. 2368 - 2373.

  21. K. Pathak, S. K. Agrawal, and E. Messina, ``A computationally efficient scheme for hierarchical predictive control'' in Performance Metrics for Intelligent Systems PerMIS. Gaithersburg, MD: NIST, 2003.

  22. K. Pathak and N. Afzulpurkar, ``Tool calibration of a robot by force and torque sensing'' in 9th IEEE Int. Conf. on Mechatronics and Machine Vision in Practice, Chiang Mai, Thailand, Sept 2002.

IUB renamed Jacobs University