Refereed Conference and Journal Publications
2019
J. Wang, T. Shan, and B. Englot, "Virtual Maps for Autonomous Exploration with Pose SLAM," IEEE/RSJ International Conference on Intelligent Robots and Systems, Accepted, To Appear in November 2019.
F. Chen, J. Wang, T. Shan, and B. Englot, "Autonomous Exploration Under Uncertainty via Graph Convolutional Networks," International Symposium on Robotics Research, Accepted, To Appear in October 2019.
K. Doherty, T. Shan, J. Wang, and B. Englot, "Learning-aided 3D Occupancy Mapping with Bayesian Generalized Kernel Inference," IEEE Transactions on Robotics, DOI: 10.1109/TRO.2019.2912487, May 2019. (Link to IEEExplore, Video Attachment)
J. Wang, T. Shan, and B. Englot, "Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3471-3477, May 2019. (Full Text, Video Attachment)
D. Gao, J. Luo, W. Ma, and B. Englot, "Parameterized Nonlinear Suboptimal Control for Tracking and Rendezvous with a Non-cooperative Target," Aerospace Science and Technology, vol. 87, pp. 15-24, April 2019. (Link to Elsevier)
2018
J. Martin, J. Wang, and B. Englot, "Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation," 2nd Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 87, pp. 179-189, October 2018. (Full Text at PMLR)
T. Shan, K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping," 2nd Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 87, pp. 829-838, October 2018. (Full Text at PMLR, Video Attachment)
T. Shan and B. Englot, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4758-4765, October 2018. (Link to IEEExplore, Video Attachment)
J. Wang and B. Englot, "Robust Exploration with Multiple Hypothesis Data Association," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3537-3544, October 2018. (Link to IEEExplore)
2017
J. Wang and B. Englot, "Autonomous Exploration with Expectation-Maximization," Proceedings of the 18th International Symposium on Robotics Research, 16 pp., December 2017. (Full Text)
D. Gao, J. Luo, W. Ma, S. Bai, and B. Englot, "Efficient and Robust Feedback Motion Planning Under Uncertainty using the Pontryagin Difference," Proceedings of the IEEE International Conference on Decision and Control, pp. 939-946, December 2017. (Link to IEEExplore)
J. Martin and B. Englot, "Extending Model-Based Policy Gradients for Robots in Heteroscedastic Environments," 1st Annual Conference on Robot Learning, Proceedings of Machine Learning Research, vol. 78, pp. 438-447, November 2017. (Full Text at PMLR)
T. Shan and B. Englot, "Belief Roadmap Search: Advances in Optimal and Efficient Planning Under Uncertainty," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5318-5325, September 2017. (Link to IEEExplore)
S. Bai, F. Chen, and B. Englot, "Toward Autonomous Mapping and Exploration for Mobile Robots through Deep Supervised Learning," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2379-2384, September 2017. (Link to IEEExplore, Video Attachment)
J. Wang, S. Bai, and B. Englot, "Underwater Localization and 3D Mapping of Submerged Structures with a Single-Beam Scanning Sonar," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4898-4905, May 2017. (Link to IEEExplore, Video Attachment)
K. Doherty, J. Wang, and B. Englot, "Bayesian Generalized Kernel Inference for Occupancy Map Prediction," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3118-3124, May 2017. (Link to IEEExplore)2016
B. Englot, T. Shan, S.D. Bopardikar, and A. Speranzon, "Sampling-Based Min-Max Uncertainty Path Planning," Proceedings of the IEEE International Conference on Decision and Control, pp. 6863-6870, December 2016. (Link to IEEExplore)
S. Bai, J. Wang, F. Chen, and B. Englot, "Information-Theoretic Exploration with Bayesian Optimization," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1816-1822, October 2016. (Link to IEEExplore)
S.D. Bopardikar, B. Englot, A. Speranzon, and J. van den Berg, "Robust Belief Space Planning under Intermittent Sensing Via A Maximum Eigenvalue-based Bound," The International Journal of Robotics Research, vol. 35(13), pp. 1609-1626, October 2016. (Link to IJRR)
J. Wang and B. Englot, "Fast, Accurate Gaussian Process Occupancy Maps via Test-Data Octrees and Nested Bayesian Fusion," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1003-1010, May 2016. (Link to IEEExplore)
K. Doherty, J. Wang, and B. Englot, "Probabilistic Map Fusion for Fast, Incremental Occupancy Mapping with 3D Hilbert Maps," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1011-1018, May 2016. (Link to IEEExplore)
2015
T. Shan and B. Englot, "Sampling-Based Minimum Risk Path Planning in Multiobjective Configuration Spaces," Proceedings of the IEEE International Conference on Decision and Control, pp. 814-821, December 2015. (Link to IEEExplore)
S. Bai, J. Wang, K. Doherty, and B. Englot, "Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces," Proceedings of the 17th International Symposium on Robotics Research, 16 pp., September 2015. (Full Text)
S.D. Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path Planning: Localization Constraints and Collision Probability," IEEE Transactions on Robotics, vol. 31(3), pp. 562-577, June 2015. (Link to IEEExplore)
2014
S.D. Bopardikar, B. Englot, and A. Speranzon, "Robust Belief Roadmap: Planning Under Uncertain and Intermittent Sensing," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 6122-6129, June 2014. (Link to IEEExplore)
X.C. Ding, B. Englot, A. Pinto, A. Speranzon, and A. Surana, "Hierarchical Multi-Objective Planning: From Mission Specifications to Contingency Management," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3735-3742, June 2014. (Link to IEEExplore)
S.D. Bopardikar, B. Englot, and A. Speranzon, "Multi-Objective Path Planning in GPS Denied Environments Under Localization Constraints," Proceedings of the American Control Conference, pp. 1872-1879, June 2014. (Link to IEEExplore)
2013
B. Englot, T. Sahai, and I. Cohen, "Efficient Tracking and Pursuit of Moving Targets by Heuristic Solution of the Traveling Salesman Problem," Proceedings of the IEEE International Conference on Decision and Control, pp. 3433-3438, December 2013. (Link to IEEExplore)
B. Englot and F.S. Hover, "Three-Dimensional Coverage Planning for an Underwater Inspection Robot," The International Journal of Robotics Research, vol. 32(9-10), pp. 1048-1073, September 2013. (Link to IJRR)
G.A. Hollinger, B. Englot, F.S. Hover, U. Mitra, and G.S. Sukhatme, "Active Planning for Underwater Inspection and the Benefit of Adaptivity," The International Journal of Robotics Research, vol. 32(1), pp. 3-18, January 2013. (Link to IJRR)
2012
F.S. Hover, R.M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J.J. Leonard, "Advanced Perception, Navigation, and Planning for Autonomous In-Water Ship Hull Inspection," The International Journal of Robotics Research, vol. 31(12), pp. 1445-1464, October 2012. (Link to IJRR)
B. Englot and F.S. Hover, "Sampling-Based Sweep Planning to Exploit Local Planarity in the Inspection of Complex 3D Structures," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4456-4463, October 2012. (Link to IEEExplore)
B. Englot and F.S. Hover, "Sampling-Based Coverage Path Planning for Inspection of Complex Structures," Proceedings of the 22nd International Conference on Automated Planning and Scheduling, pp. 29-37, June 2012. (Link to AAAI)
G.A. Hollinger, B. Englot, F. Hover, U. Mitra, and G.S. Sukhatme, "Uncertainty-Driven View Planning for Underwater Inspection," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4884-4891, May 2012. (Link to IEEExplore)
2011
B. Englot and F. Hover, "Planning Complex Inspection Tasks Using Redundant Roadmaps," Proceedings of the 15th International Symposium on Robotics Research, 16 pp., August 2011. (Link to Conference Website)
B. Englot and F. Hover, "Multi-Goal Feasible Path Planning Using Ant Colony Optimization," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2255-2260, May 2011. (Link to IEEExplore)
N. Kumar, A.C. Lammert, B. Englot, F.S. Hover, and S.S. Narayanan, "Directional Descriptors Using Zernike Moment Phases for Object Orientation Estimation in Underwater Sonar Images," Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing, pp. 1025-1028, May 2011. (Link to IEEExplore)
2010 and Earlier
B. Englot and F. Hover, "Inspection Planning for Sensor Coverage of 3D Marine Structures," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4412-4417, October 2010. (Link to IEEExplore)
H. Johannsson, M. Kaess, B. Englot, F. Hover, and J. Leonard, "Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4396-4403, October 2010. (Link to IEEExplore)
B. Englot and F. Hover, "Stability and Robustness Analysis Tools for Marine Robot Localization and Mapping Applications," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4426-4432, October 2009. (Link to IEEExplore)
Other Publications
J. Wang, T. Shan, M. Chandrasekaran, T. Osedach, and B. Englot, "Deep Learning for Detection and Tracking of Underwater Pipelines using Multibeam Imaging Sonar," ICRA 2019 Workshop on Underwater Robotics Perception, 5 pp., May 2019. (Full Text)
F. Chen, S. Bai, T. Shan, and B. Englot, "Self-Learning Exploration and Mapping for Mobile Robots via Deep Reinforcement Learning," AIAA SciTech Forum, https://doi.org/10.2514/6.2019-0396, 11 pp., January 2019. (Full Text, Video Attachment)
D. Cui, B. Englot, R. Cui, and D. Xu, "Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method," Proceedings of the IEEE/MTS OCEANS Conference, 6 pp., October 2018. (Link to IEEExplore)
J. Wang and B. Englot, "A Processing Pipeline for Descriptive Underwater 3D Occupancy Mapping with Scanning Sonar," ICRA 2016 Workshop on Marine Robot Localization and Navigation, 3 pp., May 2016. Winner: The Bluefin Robotics Award for Best Navigation/Localization Paper and Poster. (Link to Paper at Workshop Website, Link to Poster)
Z. Clawson, X. Ding, B. Englot, T.A. Frewen, W.M. Sission, and A. Vladimirsky, "A Bi-Criteria Path Planning Algorithm for Robotics Applications," arXiv:1511.01166 [cs.RO], 18 pp., November 2015. (Link to arXiv)
N. Goldfarb, J. Wang, S. Bai, and B. Englot, "Toward Robust Localization and Mapping for Shallow Water ROV Inspections," Proceedings of the IEEE/MTS OCEANS Conference, 7 pp., October 2015. (Link to IEEExplore)
T. Shan and B. Englot, "Tunable-Risk Sampling-Based Path Planning Using a Cost Hierarchy," ICRA 2015 Workshop on Beyond Geometric Constraints: Planning for Solving Complex Tasks, Reducing Uncertainty, and Generating Informative Paths and Policies, 2 pp., May 2015. (Link to Workshop Website)
M.F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B.J. Englot, F.S. Hover, and J.J. Leonard, "Simultaneous Localization and Mapping in Marine Environments," Marine Robot Autonomy, M.Seto Ed., Springer: New York, pp. 329-372, December 2012. (Link to Springer)
M. Kaess, H. Johannsson, B. Englot, F. Hover, and J. Leonard, "Towards Autonomous Ship Hull Inspection Using the Bluefin HAUV," Proceedings of the 9th International Symposium on Technology and the Mine Problem, 11 pp., May 2010. (Link to MIT DSpace)
B. Englot, H. Johannsson, and F. Hover, "Perception, Stability Analysis, and Motion Planning for Autonomous Ship Hull Inspection," Proceedings of the 16th International Symposium on Unmanned Untethered Submersible Technology, 12 pp., August 2009. (Full Text)
Theses
S. Bai, Learning-Aided Autonomous Exploration, Ph.D. Thesis, Stevens Institute of Technology, May 2018. (Full Text)
In The News
"How Stevens Researchers Are Creating Better Maps for Robots, Self-Driving Cars," Stevens University News, June 2019. (Link to Stevens News)
"University Research with Ouster Lidar," Ouster Lidar Blog, April 2019. (Link to Ouster Blog)
"Artificial Intelligence Gets Real," Stevens University News, January 2019. (Link to Stevens News)
"How A.I. Robots can support NJ's Underwater Infrastructure," NJTV News, October 2018. (Link to NJTV News)
"A.I.-powered Robots Open Up an Underwater World," Environmental Monitor, October 2018. (Link to the Environmental Monitor)
"Maritime Security Solutions Impress at Stevens 2018 Summer Research Institute," Stevens University News, August 2018. (Link to Stevens News)
"A.I.-Equipped Robots Develop Situational Awareness in Earth's Most Uncertain Environment," featured at EurekAlert!, phys.org, and Stevens University News, July 2018. (Links to EurekAlert!, phys.org, and Stevens News)
"AI Robots Will Solve Underwater Infrastructure Damage Checks," Artificial Intelligence News, July 2018. (Link to AINews)
"SIT Advances Autonomous Mapping & Navigation Research Using Jackal UGV," Clearpath Robotics Blog, November 2017. (Link to Clearpath Robotics Blog)
"The Future of Maritime Safety Revealed at the Stevens Summer Research Institute," Stevens University News, August 2017. (Link to Stevens News)
"Dr. Brendan Englot on Making Marine Robotics More Autonomous," The Duro UAS Blog, June 2017. (Link to The Duro Blog)
"Robust Robotics: Designing Systems to Map, Inspect, and Aid in Emergencies," IMPACT Research Newsletter, April 2017. (Link to Spring 2017 Issue of IMPACT)
"Engineering New Solutions,'' Stevens University News, March 2017. (Link to Stevens News)
"Robust Robotics for a Safer World," Stevens University News, March 2017. (Link to Stevens News)
"Englot, Sabau Secure NSF CAREER Awards to Pursue Robotics, Systems Research," Stevens University News, March 2017. (Link to Stevens News)
"Brendan Englot Appointed Associate Editor of IEEE-JOE," Stevens University News, November 2014. (Link to Stevens News)
"ME Department Adding Tenure-Track Faculty in Robotics, Bionic Systems and Energy in Fall 2014," Stevens University News, April 2014. (Link to Stevens News)
"Sweeping Below Deck", The Economist, Technology Quarterly, September 2012. (Link to The Economist)
"Autonomous Robot Scans Ship Hulls for Mines," MIT News, July 2012. (Link to MIT News)
Public Invited Talks and Technology Demonstrations
CCNY/NYU Soft Robotics and Robot Learning Workshop, June 6, 2019. (Link)
MSC/CHDS Technology Foresight Forum, Participant in Autonomous Vehicles Panel, January 17, 2019. (Link)
SUBMERGE New York City Marine Science Festival, September 22, 2018.
University of Michigan Naval Architecture and Marine Engineering Seminar Series, March 12, 2018.
New York University Electrical and Computer Engineering Seminar Series, February 23, 2018. (Link)
University of Minnesota Roadway Safety Institute Seminar Series, January 25, 2018. (Link)
IROS 2017 Workshop on Perception and Planning for Robotic Inspection, September 24, 2017. (Link)
New York Metropolitan Section Joint Societies Meeting of SNAME / IMarEST / SMPE / ASNE, May 18, 2017. (Link)
City College of New York Mechanical Engineering Seminar Series, March 30, 2017.
University of Michigan Robotics Seminar Series, March 17, 2017. (Link)
University of Rhode Island Ocean Engineering Seminar Series, December 8, 2016.
SUBMERGE New York City Marine Science Festival, September 24, 2016.
New Jersey Tech Council, Participant in "What's Next in Robot Technology" Panel, September 17, 2015.
Rutgers University, Computer Science Department Colloquium, January 30, 2015. (Link)
Northwestern Polytechnical University, Department of Astronautics, December 18, 2014. (Link)