People


Faculty

Vijay Kumar

Vijay Kumar

Nemirovsky Family Dean, SEAS

Vijay studies collective behaviors in biological and robotic systems. He and his group design novel architectures, create abstractions for systems of interacting individuals, and develop new algorithms for cooperating robots. The overarching themes in his research include modeling nature and developing bio-inspired architectures and algorithms, understanding group/individual dynamics, and the design and composition of controllers for robust, scaleable autonomous systems. Vijay’s key challenges include operation in unstructured, dynamic environments, integration of control, communication and perception, and scaling down to smaller sizes with limited actuation, sensing, and computational resources. *Note: Dean Kumar is unable to take on any new Robotics MSE advisees at this time.

Research Areas

  • Data-Driven Control Algorithms
  • Distributed and Decentralized Control
  • Autonomy
  • Planning
  • Multi-robot Systems
  • Networked Robots
  • Swarm Robots
  • Flying Robots

Research Groups

Publications

A flying gripper based on cuboid modular robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

Publisher International Symposium on Experimental Robotics (ISER)

Active magnetic anomaly detection using multiple micro aerial vehicles

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Adaptive Partitioning for Cooperative Multi-agent Perimeter Defense

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

Analysis of ground effect for small-scale uavs in forward flight

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Autonomous flight

Publisher Annual Reveiws

Autonomous inspection of a containment vessel using a micro aerial vehicle

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Collaborative multiagent reinforcement learning in homogeneous swarms

Publisher International Conference on Learning Representations (ICLR)

Cooperative prediction of time-varying boundaries with a team of robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Cooperative team strategies for multi-player perimeter-defense games

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Cooperative transportation using small quadrotors using monocular vision and inertial sensing

Publisher Institute of Electrical and Electronics Engineers (IEEE)

DC-CAPT: Concurrent Assignment and Planning of Trajectories for Dubins Cars

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Dense 3-d mapping with spatial correlation via gaussian filtering

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Dense R-Robust Formations on Lattices

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Design and control of aerial modules for inflight self-disassembly

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Design guarantees for resilient robot formations on lattices

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Dfusenet: Deep fusion of rgb and sparse depth information for image guided dense depth completion

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Evaluating Robust, Perception Based Controllers with Quadrotors

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

Experiments in fast, autonomous, gps-denied quadrotor flight

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Feedback Enhanced Motion Planning for Autonomous Vehicles

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

Graph policy gradients for large scale robot control

Publisher Conference on Robot Learning (CoRL)

IMU-Based Inertia Estimation for a Quadrotor Using Newton-Euler Dynamics

Publisher Institute of Electrical and Electronics Engineers (IEEE)

IMU-Based Pedestrian Dead Reckoning with Learned Motion Model

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

Independent control of identical magnetic robots in a plane

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Mavnet: An effective semantic segmentation micro-network for mav-based tasks

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Micro Autonomous Systems and Technology (MAST) Final Annual Report for Program Capstone

Publisher Army Research Laboratory Adelphi United States

Mine Tunnel Exploration Using Multiple Quadrupedal Robots

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Next Generation Robotics

Publisher arXiv

Online estimation of geometric and inertia parameters for multirotor aerial vehicles

Publisher Institute of Electrical and Electronics Engineers (IEEE)

OpenUAV: a UAV testbed for the CPS and robotics community

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Reactive Temporal Logic Planning for Multiple Robots in Unknown Environments

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Realization of -Robust Formations in the Plane Using Control Barrier Functions

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Robust aerial robot swarms without collision avoidance

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Self-Reconfiguration in Response to Faults in Modular Aerial Systems

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Semi-dense visual-inertial odometry and mapping for quadrotors with swap constraints

Publisher Institute of Electrical and Electronics Engineers (IEEE)

SLOAM: Semantic lidar odometry and mapping for forest inventory

Publisher Institute of Electrical and Electronics Engineers (IEEE)

The gap in CS, mulling irrational exuberance

Publisher Association for Computing Machinery (ACM)

The grand challenges of Science Robotics

Publisher American Association for the Advancement of Science (AAAS)

The Tiercel: A Novel Autonomous Micro Aerial Vehicle That Can Map the Environment by Flying into Obstacles

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Trajectory Tracking with Velocity Constraints Using Control Barrier Functions

Publisher Institute of Electrical and Electronics Engineers (IEEE)

VIO-Swarm:: A swarm of 250g quadrotors

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Visual servoing of quadrotors for perching by hanging from cylindrical objects

Publisher Institute of Electrical and Electronics Engineers (IEEE)

News

GRASP News

ICRA 2021 – GRASP Accepted Papers

March 3, 2021


GRASP News

ICRA 2020 Recap

June 24, 2020


Student News

GRASP Lab’s high-flying robots

August 19, 2019


Faculty News

2018 RAS Pioneer Award

May 17, 2018


Student News

These Robots Can Assemble Themselves In Midair

January 18, 2018


Faculty News

Robohub: Smart Swarms with Vijay Kumar

October 28, 2017


Faculty News

Philly is robotics hub of the East Coast

May 14, 2017


Faculty News

The future of flying robots

October 15, 2015


Faculty News

Dr. Vijay Kumar on Mint India

November 6, 2014


Faculty News

‘Project Wing’ Dr. Vijay Kumar on Bloomberg TV

September 10, 2014


Faculty News

The James Bond of robots: Vijay Kumar at TED2012

February 29, 2012


Students

Austin Chen

Robotics MS '20; PhD, ESE


Spencer Folk

PhD, MEAM


Parakh M. Gupta

Visiting Scholar


Malakhi Hopkins

PhD, ESE


Arbaaz Khan

Robotics MSE '18 - PhD, ESE


Arjun Kumar

PhD, MEAM


Pratik Kunapuli

PhD, CIS


Elijah S. Lee

PHD, CIS


Alice Kate Li

PhD, ESE


Rebecca Li

PhD, MEAM


Xu Liu

Robotics MSE '19, PhD, MEAM


Wenxin Liu

PhD, CIS


Matthew Malencia

Robotics MSE '19, PhD, ESE


Ian Miller

PhD, ESE


Daniel Mox

PhD, MEAM


Ty Nguyen

PhD, MEAM


Chao Qu

Robotics MSE '14, PhD, CIS


Kelsey Saulnier

PhD, ESE


Jake Welde

PhD, MEAM


Research Staff

James Keller

PhD, MEAM '16 - Project Research Manager


Terry Kientz

Project Engineer, MEAM - (Robotics MSE '17)


Sandeep Manjanna

PostDoc, MEAM


Siddharth Mayya

PostDoc, MEAM


Jimmy Paulos

Robotics MSE '15; PhD, MEAM '17, PostDoc


Edward Steager

Research Investigator


Dinesh Thakur

Robotics MSE '11- Research Scientist


Alex Zhou

Researcher Scientist


Alumni

Nora Ayanian

PhD, MEAM '11 - Assistant Professor, University of Southern California


Sarath Kumar Barathi

Robotics MSE '16 - University of Pennsylvania


Spring Berman

Associate Professor of Mechanical and Aerospace Engineering, Arizona State University


Subhrajit Bhattacharya

PostDoc Math '16, PhD, MEAM '12 - Assistant Professor, Lehigh University


Benjamin Charrow

PhD, CIS '15 - Software Engineer / Tech Lead, Waymo


Sachin Chitta

PhD, MEAM '05 - Boston Dynamics


Avraham Cohen

PostDoc, MEAM '20


Gareth Cross

Robotics MSE '15 - Skydio


Philip Dames

PhD, MEAM '15; PostDoc, ESE '16 - Faculty, Temple University


Sambeeta Das

PostDoc'19 - University of Delaware


Jnaneshwar Das

PostDoc, MEAM'18 - Arizona State University


Jaydev Desai

PhD, MEAM '98 - Professor, Georgia Institute of Technology


Rafael Fierro

PostDoc, MEAM '01 - Professor, University of New Mexico


Luis Guerrero Bonilla

PhD, MEAM '19


Bhavya Narain Gupta

Robotics MSE '16 - Maidbot Inc


Anthony Hoogs

Senior Director of Computer Vision, Kitware, Inc.


Elizabeth Hunter

Robotics MSE '17; PhD, MEAM '20 - Treeswift


Konstantinos Karydis

PostDoc, MEAM '17; University of California


Monroe Kennedy

Robotics MSE '16; PhD, MEAM '19 - Stanford University


Nadia Kreciglowa

Robotics MSE '19


Alex Kushleyev

Robotics Researcher


Sikang Liu

PhD, MEAM '18


Giuseppe Loianno

Research Scientist '18 - NYU


Douglas Macharet

PostDoc, MEAM '20 - Federal University of Minas Gerais


Ashish Macwan

Robotics MSE '17


Anurag Makineni

Robotics MSE '18 - Skydio


Kartik Mohta

Robotics MSE '11; PhD, ESE '18 - Autel Robotics


Yash Mulgaonkar

Robotics MSE '12; PhD, MEAM '19 - Zoox


Daniel Orol

Robotics MSE '18 - Axon


Tolga Ozaslan

PhD, MEAM '19


Luciano Pimenta

Visiting Scholar, MEAM '08


Amanda Prorok

PostDoc, MEAM '15-'17 - Faculty, Cambridge University


Rattanachai (Tee) Ramaithitima

Robotics MSE '15; PhD, CIS '18


David Saldaña

PostDoc, MEAM '19 - Lehigh University


Mac Schwager

PostDoc '11- Stanford University


Jun Seo

PhD, MEAM '14 - Assistant Professor HKUST


Daigo Shishika

PostDoc, MEAM '20


Tom Sugar

PhD, MEAM '99 - Arizona State University


James Svacha

PhD, ESE '20 - Near Earth Autonomy


Sarah Tang

PhD, MEAM '18 - Software Eng at Nuro, Inc


Justin Thomas

PhD, MEAM '17 - Exyn Technologies


Pratap Tokekar

PostDoc, MEAM '15 - Assistant Professor at UMD


Guilherme Vicentim Narda

Visiting Scholar Under V. Kumar '20


Michael Watterson

PhD, ESE '18


Michael (Mickey) Whitzer

ROBO MSE '18; PhD, MEAM '20 - NASA


Denise Wong

Robotics MSE '15; PhD, MEAM '16; Exyn Technologies, Inc


John Wright

PostDoc 1999 - Millersville University


Valentin Wueest

Visiting Scholar, MEAM


Vijay Kumar

Research Areas

  • Data-Driven Control Algorithms
  • Distributed and Decentralized Control
  • Autonomy
  • Planning
  • Multi-robot Systems
  • Networked Robots
  • Swarm Robots
  • Flying Robots