Publications
2020
"Manipulating Boxes Using A Zoned Gripper", Sachin Chitta, David Hershberger, Karl Pauwels, US Patent App. 16/538,114 [Link]
2018
"Locating, separating, and picking boxes with a sensor-guided robot", Sachin Chitta, David Hershberger, Karl Pauwels, US Patent 10,124,489 [Link]
2017
"ros_control: A generic and simple control framework for ROS", Sachin Chitta, Eitan Marder-Eppstein, Wim Meeussen, Vijay Pradeep, Adolfo Rodríguez Tsouroukdissian, Jonathan Bohren, David Coleman, Bence Magyar, Gennaro Raiola, Mathias Lüdtke, Enrique Fernandez Perdomo, The Journal of Open Source Software 2 (20), 456-456 [Link]
"Probabilistic collision detection between noisy point clouds using robust classification", Jia Pan, Sachin Chitta and Dinesh Manocha, Robotics Research, 77-94
2016
"MoveIt!: An Introduction", Sachin Chitta, Robot Operating System (ROS), 3-27
"Learning to plan for constrained manipulation from demonstrations", Michael Phillips, Victor Hwang, Sachin Chitta, Maxim Likhachev, Autonomous Robots 40 (1), 109-124
2015
"Learning grounded finite-state representations from unstructured demonstrations", Scott Niekum, Sarah Osentoski, George Konidaris, Sachin Chitta, Bhaskara Marthi, Andy G Barto, The International Journal of Robotics Research 34 (2), 131-157
"Towards a Data-Driven Approach to Human Preferences in Motion Planning", Arjun Menon, Pooja Kacker and Sachin Chitta, IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015 [Link]
2014
"Towards Reliable Grasping and Manipulation in Household Environments", Matei Ciocarlie, Kaijen Hsiao, E. Gil Jones, Sachin Chitta, Radu Bogdan Rusu, Ioan Sucan, Experimental Robotics, January 2014, Springer Berlin Heidelberg
"Learning grounded finite-state representations from unstructured demonstrations", Scott Niekum, Sarah Osentoski, George Konidaris, Sachin Chitta, Bhaskara Marthi and Andrew G. Barto, International Journal of Robotics Research, 2014
"Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study", Dave Coleman, Ioan Sucan, Sachin Chitta and Nikolaus Correll, arXiv preprint, arXiv:1404.3785 [Link]
2013
"Heuristic Search-based Planning for Manipulation", Benjamin Cohen, Sachin Chitta and Maxim Likhachev, International Journal of Robotics Research (IJRR), 2013
"Incremental Semantically Grounded Learning from Demonstration", Niekum, Scott., Chitta, Sachin., Barto, Andrew., Marthi, Bhaskara., and Osentoski, Sarah, Robotics Science and Systems (RSS), Berlin, Germany, 2013 [PDF], [Video]
"Learning to Plan for Constrained Manipulation from Demonstrations", Phillips, Mike., Hwang, Victor., Chitta, Sachin., and Likhachev, Maxim, Robotics Science and Systems (RSS), Berlin, Germany, 2013 [PDF]
"Anytime Incremental Planning with E-Graphs", Phillips, Mike., Dornbush, Andrew., Chitta, Sachin., and Likhachev, Maxim, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013 [PDF]
"Real-time Collision Detection and Distance Computation on Point Cloud Sensor Data", Pan, Jia., Sucan, Ioan., Chitta, Sachin., and Manocha, Dinesh, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013 [PDF]
"A Single Planner for a Composite Task of Approaching, Opening and Navigating through Non-spring and Spring-loaded Door", Gray, Steven., Chitta, Sachin., Kumar, Vijay., and Likhachev, Maxim, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013 [PDF]
2012
"E-Graphs: Bootstrapping Planning with Experience Graphs", Phillips, Michael., Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim, Robotics Science and Systems (RSS), Sydney, Australia, 2012 [PDF]
"FCL: A General Purpose Library for Collision and Proximity Queries", Pan, Jia., Chitta, Sachin., and Manocha, Dinesh, IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 2012 [PDF]
"Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation", Hornung, Armin., Phillips, Mike., Jones, Edward Gil., Bennewitz, Maren., Likhachev, Maxim., and Chitta, Sachin, IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 2012 [PDF]
"Search-based Planning for Dual-arm Manipulation with Upright Orientation Constraints", Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim, IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 2012 [PDF]
"A Generic Infrastructure for Benchmarking Motion Planners", Cohen, Benjamin., Sucan, Ioan A.., and Chitta, Sachin, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012 [PDF]
"Motion Planning With Constraints Using Configuration Space Approximations", Sucan, Ioan A.., and Chitta, Sachin, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012 [PDF]
"Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments", Chitta, Sachin., Jones, Edward Gil., Ciocarlie, Matei., and Hsiao, Kaijen, IEEE Robotics and Automation Magazine, Special Issue on Mobile Manipulation, Volume 19, Issue 2, 2012 [PDF][Video]
2011
"Probabilistic Collision Detection between Noisy Point Clouds using Robust Classification", Pan, Jia., Chitta, Sachin., and Manocha, Dinesh, International Symposium on Robotics Research (ISRR), Flagstaff, Arizona, 2011 [PDF]
"Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects", Scholz, Jonathan., Chitta, Sachin., Marthi, Bhaskara., and Likhachev, Maxim International Conference on Robotics and Automation, Shanghai, China, 2011 [PDF]
"Planning for Manipulation with Adaptive Motion Primitives", Cohen, Benjamin., Subramanian, Gokul., Chitta, Sachin., and Likhachev, Maxim, International Conference on Robotics and Automation, Shanghai, China, 2011 [PDF] [Video]
"Skill Learning and Task Outcome Prediction for Manipulation", Pastor, Peter., Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., and Schaal, Stefan, International Conference on Robotics and Automation, Shanghai, China, 2011 [PDF] (Nominated for Cotesys Best Cognitive Robotics Paper Award)
"STOMP: Stochastic Trajectory Optimization for Motion Planning", Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., Pastor, Peter., and Schaal, Stefan, International Conference on Robotics and Automation, Shanghai, China, 2011 [PDF]
"Human-Inspired Robotic Grasp Control with Tactile Sensing", Romano, Joseph., Hsiao, Kaijen., Niemeyer, Günter., Chitta, Sachin., and Kuchenbecker, Katharine J., IEEE Transactions on Robotics, Volume 27, Issue 6, p.1067-1079, 2011 [PDF]
"Tactile Sensing for Mobile Manipulation", Chitta, Sachin., Sturm, Jürgen., Piccoli, Matthew., and Burgard, Wolfram, IEEE Transactions on Robotics, 2011 [PDF]
2010
"Towards Reliable Grasping and Manipulation in Household Environments", Ciocarlie, Matei., Hsiao, Kaijen., Jones, Gil E.., Chitta, Sachin., Rusu, Radu Bogdan., and Sucan, Ioan Alexandru, International Symposium on Experimental Robotics (ISER), New Delhi, India, 2010 [PDF]
"Contact-Reactive Grasping of Objects with Partial Shape Information", Hsiao, Kaijen., Chitta, Sachin., Ciocarlie, Matei., and Jones, Gil E., IEEE International Conference on Intelligent Robots and Systems (IROS), 2010 [PDF]
"Autonomous Door Opening and Plugging In with a Personal Robot", Meeussen, Wim., Wise, Melonee., Glaser, Stuart., Chitta, Sachin., McGann, Conor., Mihelich, Patrick., Marder-Eppstein, Eitan., Muja, Marius., Eruhimov, Victor., Foote, Tully, et al., IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010 [PDF]
"Combining Planning Techniques for Manipulation Using Real-time Perception", Sucan, Ioan Alexandru., Kalakrishnan, Mrinal., and Chitta, Sachin, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010 [PDF]
"Planning for Autonomous Door Opening with a Mobile Manipulator", Chitta, Sachin., Cohen, Benjamin., and Likhachev, Maxim, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010 [PDF]
"Search-Based Planning for Manipulation with Motion Primitives", Cohen, Benjamin., Chitta, Sachin., and Likhachev, Maxim, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010 [PDF]
"Tactile Object Class and Internal State Recognition for Mobile Manipulation", Chitta, Sachin., Piccoli, Matthew., and Sturm, Jürgen, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010 [PDF]
2009
"Come on in, our community is wide open for Robotics Research!", Oyama, Akihisa., Konolige, Kurt., Cousins, Steve., Chitta, Sachin., Conley, Ken., and Bradski, Gary., Journal of the Robotics Society of Japan, 2009
"Dynamic Rolling for a Modular Loop Robot", Sastra, Jimmy., Chitta, Sachin., and Yim, Mark, International Journal of Robotics Research, Volume 28, Issue 6, 2009 [PDF]
"Laser-based Perception for Door and Handle Identification", Rusu, Radu Bogdan., Meeussen, Wim., Chitta, Sachin., and Beetz, Michael, International Conference on Advanced Robotics (ICAR), Munich, Germany, 2009 [PDF] (Winner, Best Paper Award)
"Model-based, Hierarchical Control of a Mobile Manipulation Platform", McGann, Conor., Berger, Eric., Bohren, Jonathan., Chitta, Sachin., Gerkey, Brian P.., Glaser, Stuart., Marthi, Bhaskara., Meeussen, Wim., Pratkanis, Tony., Marder-Eppstein, Eitan, et al., ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Thessaloniki, Greece, 2009 [PDF]
"Real-time Perception-Guided Motion Planning for a Personal Robot", Rusu, Radu Bogdan., Sucan, Ioan Alexandru., Gerkey, Brian P.., Chitta, Sachin., Beetz, Michael., and Kavraki, Lydia E., IEEE Intelligent Robots and Systems (IROS), St. Louis, MO, p.4245 - 4252, 2009 [PDF]
"Search-based planning for a legged robot over rough terrain", Vernaza, Paul., Kushleyev, Aleksandr., Lee, Daniel D.., Likhachev, Maxim., Bhattacharya, Subhrajit., and Chitta, Sachin, IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009 [PDF]
2008 and earlier...
"Automatic Configuration Recognition Methods in Modular Robots", Park, Michael., Chitta, Sachin., Teichman, Alex., and Yim, Mark, International Journal of Robotics Research, Volume 27, Issue 3-4, 2008 [PDF]
"Optimization of a Planar Quadruped Dynamic Leap", Bhattacharya, Subhrajit., Chitta, Sachin., Kumar, Vijay., and Lee, Daniel D., ASME International Design Engineering Technical Conferences (IDETC), New York, NY, 2008 [PDF] (Winner, MSC Simulation Best Paper Award)
"Proprioceptive Localization for a Quadrupedal Robot on Known Terrain", Chitta, Sachin., Vernaza, Paul., and Lee, Daniel D., IEEE International Conference on Robotics and Automation, Rome, Italy, 2007 [PDF] [Video]
"Dynamic Rolling for a Modular Loop Robot", Sastra, Jimmy., Chitta, Sachin., and Yim, Mark, International Symposium on Experimental Robotics, Rio De Janerio, Brazil, 2006 [IJRR Journal Version]
"RoboTrikke: Design, Modeling and Experimentation with a Robotic Trikke", Chitta, Sachin., Karabas, Mustafa., Galloway, Kevin., and Kumar, Vijay, ASME International Design Engineering Technical Conferences (IDETC), Philadelphia, Pennsylvania, 2006 [PDF]
"Biking without pedaling", Chitta, Sachin., and Kumar, Vijay, ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Long Beach, California, 2005 [PDF]
"RoboTrikke: A Novel Undulatory Locomotion System", Chitta, Sachin., Cheng, Peng., Frazzoli, Emilio., and Kumar, Vijay, IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005 [PDF]
"Design and Gait Control of a Rollerblading Robot", Chitta, Sachin., Heger, Frederik., and Kumar, Vijay, IEEE International Conference on Robotics and Automation, New Orleans, 2004 [PDF]
"Design, Analysis, Simulation and Experimental Results for a Rollerblading Robot", Chitta, Sachin., Heger, Frederik., and Kumar, Vijay, ASME International Design Engineering Technical Conferences (IDETC), Salt Lake City, Utah, 2004
"Dynamics and generation of gaits for a planar Rollerblader", Chitta, Sachin., and Kumar, Vijay, IEEE International Conference on Robotics and Automation, Las Vegas, Nevada, 2003 [PDF]
"Motion Planning for Heterogeneous Modular Mobile Systems", Chitta, Sachin., and Ostrowski, James P., IEEE International Conference on Robotics and Automation, Washington D.C., 2002
"New Insights into Quasi-Static and Dynamic Omnidirectional Quadruped Walking", Chitta, Sachin., and Ostrowski, James P., IEEE International Conference on Intelligent Robots and Systems, Maui, Hawaii, 2001