Kaustubh Pathak

Assistant Professor Electrical Engineering and 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, vol. 26, no. 3, pp. 424-441, 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, vol. 24, no. 8-9, pp. 1169-1197, June 2010.
5. A. Birk, N. Vaskevicius, K. Pathak, S. Schwertfeger, J. Poppinga, and H. Buelow, ``3-D perception and modeling, IEEE Robotics & Automation Magazine, vol. 16, no. 4, pp. 53-60, December 2009.
6. 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.
7. 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.
8. 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.
9. 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.
10. 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.
11. 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.
12. 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.
13. 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: Please refer to the resume (PDF file at the beginning of this page).