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Nikolay Atanasov

Nikolay Atanasov

PhD, ESE '15 - Asst Professor, UCSD

Nikolay A. Atanasov joined the Department of Electrical and Computer Engineering at UC San Diego in Fall 2016 after completing a postdoctoral fellowship at the Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania. Atanasov received his Ph.D. in electrical and systems engineering from the University of Pennsylvania in 2015. His work proposed sensing models that enable the use of context and semantic information in robot localization, mapping, and navigation and developed algorithms for active information acquisition using autonomous robot teams. His contributions were recognized by the Joseph and Rosaline Wolf award for the best Ph.D. dissertation in electrical and systems engineering at the University of Pennsylvania in 2015. He holds a Bachelor of Engineering from Trinity College and a Master of Electrical Engineering from the University of Pennsylvania.
Nikolay Atanasov’s research focus is on controlling teams of aerial and ground robots to collect metric, semantic, and topological information in applications such as environmental monitoring, security and surveillance, localization and mapping, search and rescue. His work investigates how to perform distributed sensing and estimation of the evolution of physical processes of interest, how to plan robot motion that minimizes the estimation uncertainty, the energy expenditure, and the information exchange among the robots, and how to have the robots autonomously execute these motion plans in a safe and robust manner. In addition to system modeling, algorithm design, and theoretical analysis, his work involves experimental validation in real robot deployments.

Publications

Information Theoretic Active Exploration in Signed Distance Fields

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Continuous estimation using context-dependent discrete measurements

Publisher IEEE Transactions on Automatic Control

Maximum Information Bounds for Planning Active Sensing Trajectories

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

A unifying view of geometry, semantics, and data association in SLAM

Publisher International Joint Conference on Artificial Intelligence (IJCAI)

Anytime Planning for Decentralized Multirobot Active Information Gathering

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Dense 3-d mapping with spatial correlation via gaussian filtering

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Search-Based Motion Planning for Aggressive Flight in SE(3)

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Active end-effector pose selection for tactile object recognition through Monte Carlo tree search

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Calibration-free network localization using non-line-of-sight ultra-wideband measurements

Publisher ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)

Event-based feature tracking with probabilistic data association

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Event-based visual inertial odometry

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Probabilistic data association for semantic SLAM

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Scheduling nonlinear sensors for stochastic process estimation

Publisher IEEE American Control Conference (ACC)

Search-based motion planning for quadrotors using linear quadratic minimum time control

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Estimation of Blood Oxygen Content Using Context-Aware Filtering

Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)

Localization from semantic observations via the matrix permanent

Publisher International Journal of Robotics Research (IJRR)

Optimal temporal logic planning in probabilistic semantic maps

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Robust estimation using context-aware filtering

Publisher Annual Allerton Conference on Communication, Control, and Computing

Decentralized active information acquisition: Theory and application to multi-robot SLAM

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Distributed algorithms for stochastic source seeking with mobile robot networks

Publisher Journal of Dynamic Systems, Measurement, and Control

News

GRASP News

ICRA 2020 Recap

June 24, 2020


George Pappas

Joseph Moore Professor & Department Chair, ESE


Nikolay Atanasov