• Home
• News & Information
• Ocean Observatories
• Research & Development
• Data & Images
• Marine Operations

 

Publications

2013 :

• Hierarchical Probabilistic Regression for AUV-based Adaptive Sampling of Marine Phenomena J. Das, J. Harvey, F. Py, H. Vatsangham, R. Graham, K. Rajan and G. S Sukhatme, In International Conf. on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany [bibtex]
  @inproceedings{jdas13,
  author = {J. Das and J. Harvey and F. Py and H. Vathsangam and R. Graham and K. Rajan and G. S. Sukhatme},
  year = {2013},
  month = {May},
  title = {{Hierarchical Probabilistic Regression for AUV-based Adaptive Sampling of Marine Phenomena}},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  address = {Karlsruhe, Germany}}
  
  
  
  

2012 :

• Towards Deliberative Control in Marine Robotics K. Rajan, F. Py and J. Barreiro in Marine Robot Autonomy, Ed. M. Seto, Springer Verlag, December 2012. [bibtex]
  @incollection{rajan12b,
  author = {K. Rajan and F. Py and J. Barreiro},
  title = {{Towards Deliberative Control in Marine Robotics}},
  year = 2012,
  month = {December},
  booktitle = {Marine Robot Autonomy},
  editor = {M. Seto},
  isbn = {978-1461456582},
  publisher = {Springer Verlag},
  }
  
  
  

• ODSS: A Decision Support System for Ocean Exploration K. Gomes, D. Cline, D. Edgington, M. Godin, T. Maughan, M. McCann, T. O'Reilly, F. Bahr, F. Chavez, M. Messi, J. Das and K. Rajan Workshop on Data-Driven Decision Guidance and Support Systems (DGSS), 29th IEEE International Conference on Data Engineering 2013,  Brisbane, Australia. [bibtex]
  @inproceedings{gomes13,
  title = {{ODSS: A Decision Support System for Ocean Exploration}},
  author = {K. Gomes and D. Cline and D. Edgington and M. Godin and T. Maughan and M. McCann and T. O'Reilly and F. Bahr and F. Chavez and M. Messi and J. Das and K. Rajan},
  Booktitle = {{Workshop on Data-Driven Decision Guidance and Support Systems (DGSS), 29th IEEE International Conference on Data Engineering}},
  year = 2013,
  address = {Brisbane, Australia}}
  
  
  

• Integrating Autonomous Underwater Vessels, Surface Vessels and Aircraft as Persistent Surveillance Components of Ocean Observing Studies P. McGillivary, J. Sousa, R. Martins, K. Rajan and F. Leroy IEEE Autonomous Underwater Vehicles 2012,  Southampton UK. [bibtex]
  @inproceedings{mcgillivary12,
  title = {{Integrating Autonomous Underwater Vessels, Surface Vessels and Aircraft as Persistent Surveillance Components of Ocean Observing Studies}},
  author = {P. McGillivary, J. Sousa, R. Martins, K. Rajan and F. Leroy },
  Booktitle = {{IEEE Autonomous Underwater Vehicles}},
  year = 2012,
  address = {Southampton, UK}}
  
  
  

• Experiments with Deliberative Planning on Autonomous Underwater Vehicles J. Pinto, J. Sousa, F. Py and K. Rajan, IROS Workshop on Robotics for Environmental Modeling 2012,  Algarve, Portugal. [bibtex]
  @inproceedings{pinto12,
  title = {{Experiments with Deliberative Planning on Autonomous Underwater Vehicles}},
  author = {J. Pinto and J. Sousa and F. Py and K. Rajan},
  Booktitle = {{IROS Workshop on Robotics for Environmental Modeling}},
  year = 2012,
  address = {Algarve, Portugal}}
  
  
  

• Multi-stage Bayesian Regression for Adaptive Sampling of Marine Phenomena J. Das, J. Harvey, F. Py, H.Vathsangam, R. Graham, K. Rajan and G. S. Sukhatme, RSS Workshop on Robotics for Environmental Modeling 2012,  Sydney, Australia. [bibtex]
  @inproceedings{das12a,
  title = {{Multi-stage Bayesian Regression for Adaptive Sampling of Marine Phenomena}},
  author = {J. Das and J. Harvey and F. Py and H. Vathsangam and R. Graham and K. Rajan and G. S. Sukhatme},
  Booktitle = {{RSS Workshop on Robotics for Environmental Modeling}},
  year = 2012,
  address = {Sydney, Australia}}
  
  
  

• Exploring Space-Time Tradeoffs in Autonomous Sampling for Marine Robotics R. Graham, F. Py, J. Das, D. Lucas, T. Maughan and K. Rajan 13th Int'l Symp. on Experimental and Robotics (ISER) June 2012,  Quebec City, Canada. [bibtex]
  @inproceedings{graham12,
  title = {{Exploring Space-Time Tradeoffs in Autonomous Sampling for Marine Robotics}},
  author = {R. Graham and F. Py and J. Das and D. Lucas and T. Maughan and K. Rajan},
  Booktitle = {{Intnl. Symp. on Experimental Robotics (ISER)}},
  year = 2012,
  address = {Quebec City, Canada}}
  
  
  

• T-REX: Partitioned Inference for AUV Mission Control K. Rajan and F. Py in Further Advances in Unmanned Marine Vehicles Eds. G. N. Roberts and R. Sutton, The Institution of Engineering and Technology, UK, July 2012. [bibtex]
  @incollection{rajan12,
  author = {K. Rajan and F. Py},
  title = {{T-REX: Partitioned Inference for AUV Mission Control}},
  year = 2012,
  booktitle = {Further Advances in Unmanned Marine Vehicles},
  editor = {G. N. Roberts and R. Sutton},
  isbn = {978-1849194792},
  publisher = {The Institution of Engineering and Technology (IET)},
  }
  
  
  

• Coordinated Sampling of Dynamic Oceanographic Features with Underwater Vehicles and Drifters J Das, F. Py, T. Maughan, T. O’Reilly, M. Messié, J. P. Ryan, G. S Sukhatme and K. Rajan,  Intnl. Journal of Robotics Research 31(5) 626–646, 2012 [bibtex]
  @article{das11b,
  author = {J. Das and F. Py and T. Maughan and M. Messie and T. O'Reilly and J. P. Ryan and G. S. Sukhatme and K. Rajan},
  title = {{Coordinated Sampling of Dynamic Oceanographic Features with AUVs and Drifters}},
  journal = {{Intnl. J. of Robotics Research}},
  volume = 31,
  issue = 5,
  pages = {626\-646},
  note = {{April}},
  year = 2012}
  

• AUV Based Multi-vehicle Collaboration: Salinity Studies in Mar Menor Coastal Lagoon J. Gonzalez, I. Masmitja, S. Gomariz, E. Molino, J. del Rio, A. Manuel, J. Busquets, A. Guerrero, F. López, M. Carreras, D. Ribas, A. Carrera, C. Candela, P. Ridao, J. Sousa, P. Calado, J. Pinto, A. Sousa, R. Martins, D. Borrajo, A. Olaya, B. Garau, I. Gonzalez, S. Torres, K. Rajan, M. McCann and J. Gilabert, In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV) , Porto, Portugal [bibtex]
  @inproceedings{gonzalez12,
  title = {{AUV Based Multi-vehicle Collaboration: Salinity Studies in Mar Menor Coastal Lagoon}},
  author = {J. Gonzalez and I. Masmitja and S. Gomariz and E. Molino and
  J. del Rio and A. Manuel and J. Busquets and
  1 A. Guerrero and F. Lopez and M. Carreras and
  D. Ribas and A. Carrera and C. Candela and P. Ridao
  and J. Sousa and P. Calado and J. Pinto and A. Sousa
  and R. Martins and D. Borrajo and A. Olaya and
  B. Garau and I. Gonzalez and S. Torres and K. Rajan
  and M. McCann and J. Gilabert},
  booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV)}
  address = {Porto, Portugal},
  year = 2012,
  month = May}
  
  
  

• An Online Utility-Based Approach for Sampling Dynamic Ocean Fields A. Garcia-Olaya, F. Py, J. Das and K. Rajan in IEEE J. of Oceanic Engineering 37(2), 185–203, 2012 [bibtex]
  @article{olaya12,
  author={A. Garcia-Olaya and F. Py and J. Das and K. Rajan},
  journal={IEEE Journal of Oceanic Engineering},
  title={{An Online Utility-Based Approach for Sampling Dynamic Ocean Fields}},
  year={2012},
  month={April},
  volume={37},
  number={2},
  pages={185-203},
  doi={10.1109/JOE.2012.2183934},
  ISSN={0364-9059}}
  
  
  

• An Experimental Momentum-based Front Detection Method for Autonomous Underwater Vehicles J. Gottlieb, R. Graham, T. Maughan, F. Py, G. Elkaim and K. Rajan, In International Conf. on Robotics and Automation (ICRA) 2012, St. Paul, Minnesota [bibtex]
  @inproceedings{fronts11,
  author = {J. Gottlieb and R. Graham and T. Maughan and F. Py and J.P. Ryan and G. Elkaim and K. Rajan},
  title = {{An Experimental Momentum-based Front Detection for Autonomous Underwater Vehicles}},
  address = {St. Paul, MN},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year = 2012}
  
  
  
  

2011 :

• Solving Continuous-Time Transition-Independent DEC-MDP with Temporal Constraints Z. Yin, K. Rajan and M. Tambe, In AAMAS Workshop on Multiagent Sequential Decision Making in Uncertain Domains (MSDM), 2011, Taipei, Taiwan [bibtex]
  @inproceedings{zyin11,
  title = {{Solving Continuous-Time Transition-Independent DEC-MDP with Temporal Constraints}},
  author = {Z. Yin, K. Rajan, M. Tambe},
  booktitle = {Proceedings of the AAMAS Workshop on Multiagent Sequential Decision Making in Uncertain Domains (MSDM)},
  year = 2011,
  address = {Taipei, Taiwan}}
  

• AUV-2011-Underwater Robotics Experiment in the Mar Menor Coastal Lagoon J. Gilabert, S. Gomariz, E. Molino, J. del Rio, A. Manel, M.Carreras, P. Ridau, J. Sousa, R. Martins, D. Borrajo, A. Olaya, B. Garau, I. Gonzalez, J. Busquets, A. Guerrero, F. Garcia-Córdova, and K. Rajan, In MarTech 2011, Cadiz, Spain [bibtex]
  @inproceedings{gilabert11,
  title = {{AUV-2011-Underwater Robotics Experiment in the Mar Menor Coastal Lagoon}},
  author = {J. Gilabert and S. Gomariz and E. Molino and J. del Rio and
  A. Manuel and M.Carreras and P. Ridao and J. Sousa
  and R. Martins and D. Borrajo and A. Olaya and
  B. Garau and I. Gonzalez and J. Busquets and
  A. Guerrero and F. Garcia-Córdova and K. Rajan},
  booktitle = {Proceedings of the Fourth International Workshop on Marine Technology (MarTech)},
  year = 2011,
  address = {Cadiz, Spain}}
  

• Towards Mixed-initiative, Multi-robot Field Experiments: Design, Deployment, and Lessons Learned  J. Das, T. Maughan, M. McCann, M. Godin, T. O'Reilly, M. Messié, F. Bahr, K. Gomes, F. Py, J.Bellingham, G. S. Sukhatme and K. Rajan, In International Conference on Intelligent Robots and Systems (IROS) 2011, San Francisco [bibtex]
  @inproceedings{das11,
  author = {J. Das and T. Maughan and M. McCann and M. Godin and
  T. O'Reilly and M. Messie and F. Bahr and K. Gomes
  and F. Py and J. Bellingham and G. S. Sukhatme and K. Rajan},
  title = {Towards Mixed-initiative, Multi-robot Field Experiments:
  Design, Deployment, and Lessons Learned},
  booktitle = {Proc. Intelligent Robots and Systems (IROS)},
  year = 2011,
  address = {San Francisco, California}}
  
  
  

• A Goal-Oriented Autonomous Controller for Space Exploration A. Ceballos, S. Bensalem, A. Cesta, L. de Silva , S. Fratini , F. Ingrand , J. Ocon, A. Orlandini, F. Py, K. Rajan, R. Rasconi and M. van Winnendael, 11th Symposium on Advanced Space Technologies in Robotics and Automation, ESA/ESTEC, Noordwijk, the Netherlands [bibtex]
  @inproceedings{goac11,
  title = {A Goal-oriented Autonomous Controller for Space Exploration},
  author = {A. Ceballos and S. Bensalem and A. Cesta and L. de Silva
  and S. Fratini and F. Ingrand and J. Ocon and
  A. Orlandini and F. Py and K. Rajan and R. Rasconi
  and M. van Winnendael},
  booktitle = {Proc. 11th Symposium on Advanced Space Technologies in Robotics and Automation},
  month = {April},
  address = {Noordwijk, the Netherlands},
  year = 2011}
  


• Optimizing Hidden Markov Models for Ocean Feature Detection S. Kumar, S. Celorrio, F. Py, D. Khemani and K. Rajan 24th Intnl. Florida AI Research Society (FLAIRS) conference, Palm Beach, FL [bibtex]
  @inproceedings{kumar11,
  title = {{Optimizing Hidden Markov Models for Ocean Feature Detection}},
  author = {S. Kumar and S. Celorrio and F. Py and D. Khemani and K. Rajan},
  booktitle = {Proceedings 24th Intnl. Florida AI Research Society (FLAIRS) conference},
  address = {Palm Beach, FL},
  year = 2011}
  
  
  

2010 :

• Simultaneous Tracking and Sampling of Dynamic Oceanographic Features with Autonomous Underwater Vehicles and Lagrangian Drifters J. Das, F. Py, T. Maughan, T. O'Reilly, M. Messie, J. P. Ryan, K. Rajan and G. S. Sukhatme 12th Int'l Symp. on Experimental and Robotics (ISER) Dec 2010,  New Delhi, India. [bibtex]
  @inproceedings{das10,
  author = {J. Das and F. Py and T. Maughan and T. O'Reilly and M. Messie and J. P. Ryan and K. Rajan and G. S. Sukhatme},
  title = {{Simultaneous Tracking and Sampling of Dynamic Oceanographic Features with Autonomous Underwater Vehicles and Lagrangian Drifters}},
  Booktitle = {{Intnl. Symp. on Experimental Robotics (ISER)}},
  year = 2010,
  address = {New Delhi, India}}
  
  
  

• Mobile autonomous process sampling within coastal ocean observing systems. J. P. Ryan, S.B. Johnson, A. Sherman, K. Rajan, F. Py, H. Thomas, J.B.J. Harvey, L. Bird, J.D. Paduan and R. C. Vrijenhoek, Limnology Oceanography: Methods 8, 2010, 394-402 [bibtex]
  @article{ryan10,
  Author = {J. P. Ryan and S. Johnson and A. Sherman and K. Rajan and F. Py and H. Thomas and J.B.J. Harvey and L. Bird and J. Paduan and R. Vrijenhoek},
  Title = {{Mobile autonomous process sampling within coastal ocean observing systems}},
  Journal = {Limnology \& Oceanograhy: Methods},
  volume = {8},
  pages = {394-402},
  year = 2010}
  
  
  

• Randomized Testing for Robotic Plan Execution for Autonomous Systems. Z. Saigol, F. Py, K. Rajan, C. McGann, J. Wyatt and R. Dearden. IEEE Autonomous Underwater Vehicles 2010,  September 2010, Monterey, California [bibtex]
  @inproceedings{saigol10,
  title = {{Randomized Testing for Robotic Plan Execution for Autonomous Systems}},
  author = {Z. Saigol and F. Py and K. Rajan and C. McGann and J. Wyatt and R. Dearden},
  booktitle = {IEEE Autonomous Underwater Vehicles 2010 (AUV 2010)},
  address = {Monterey, California},
  year = 2010,
  month = {September}}
  
  
  

• Adaptive Control of AUVs Using Onboard Planning and Execution. K. Rajan, F. Py and C. McGann, Sea Technology April May (Non peer-reviewed magazine article)

• A Systematic Agent Framework for Situated Autonomous Systems. F. Py, K. Rajan and C. McGann. 9th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS),  May 2010, Toronto, Canada [bibtex]
  @inproceedings{py10,
  author = {F. Py and K. Rajan and C. McGann},
  title = {{A Systematic Agent Framework for Situated Autonomous Systems}},
  booktitle = {{9th International Conf. on Autonomous Agents and Multiagent Systems}},
  year = {2010},
  month = {May},
  address = {Toronto, Canada}}
  
  
  

• Towards Marine Bloom Trajectory Prediction for AUV Mission Planning. J. Das, K. Rajan, S. Frolov, J. Ryan, F. Py, D. Caron and G. S. Sukhatme.  IEEE International Conference on Robotics and Automation (ICRA), May 2010, Anchorage, AL [bibtex]
  @inproceedings{Das-2010,
  author = {J. Das and K. Rajan and S. Frolov and J.P. Ryan and F. Py and D. A. Caron and G. S. Sukhatme},
  title = {{Towards Marine Bloom Trajectory Prediction for AUV Mission Planning}},
  booktitle = {Intnl. Conf. on Robotics and Automation (ICRA)},
  month = "May",
  address = {Anchorage, Alaska},
  year = "2010"}
  
  
  

2009 :

• Onboard Adaptive Control of AUVs using Automated Planning and Execution. K. Rajan, F. Py, C. McGann, J. P. Ryan, T. O'Reilly, T. Maughan and B. Roman. International Symposium on Unmanned Untethered Submersible Technology (UUST) August 2009. Durham, NH. [bibtex]
  @inproceedings{rajan09,
  title = {{Onboard Adaptive Control of AUVs using Automated Planning and Execution}},
  author = {K. Rajan and F. Py and C. McGann and J. P. Ryan and T. O'Reilly and T. Maughan and B. Roman},
  booktitle = {International Symposium on Unmanned Untethered Submersible Technology (UUST)},
  month = {August},
  year = 2009,
  address = {Durham, NH}}
  
  
  

• Integrated Planning and Execution for Robotic Exploration. C. McGann, F. Py, K. Rajan and A. Garcia Olaya. International Workshop on Hybrid Control of Autonomous Systems July 2009. Pasadena, CA. [bibtex]
  @inproceedings{mcgann09,
  Address = {Pasadena, California},
  Author = {C. McGann and F. Py and K. Rajan and A. Olaya},
  Booktitle = {Intnl. Workshop on Hybrid Control of Autonomous Systems, in IJCAI09},
  Title = {{Integrated Planning and Execution for Robotic Exploration}},
  Year = {2009}}
  
  
  

2008 :

• Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle. C. McGann, F. Py, K. Rajan, H. Thomas, R. Henthorn and R. McEwen. 11th Int'l Symp. on Experimental and Robotics (ISER) July 2008, Athens, Greece. [bibtex]
  @inproceedings{mcgann08d,
  Address = {Athens},
  Author = {C. McGann and F. Py and K. Rajan and J. P. Ryan and H. Thomas and R. Henthorn and R. McEwen},
  Booktitle = {{Intnl. Symp. on Experimental Robotics (ISER)}},
  Title = {{Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle}},
  Year = 2008}
  
• A Deliberative Architecture for AUV Control. C. McGann, F. Py, K. Rajan, R. Henthorn and R. McEwen. International Conf. on Robotics and Autonomation (ICRA) 2008. Pasadena, CA. [bibtex]
  @inproceedings{mcgann08a, Address = {Pasadena},
  Author = {C. McGann and F. Py and K. Rajan and H. Thomas and R. Henthorn and R. McEwen},
  Booktitle = {Intnl. Conf. on Robotics and Automation (ICRA)},
  Month = {May},
  Title = {{A Deliberative Architecture for AUV Control}},
  Year = {2008}}
  
• Adaptive Control for Autonomous Underwater Vehicles. C. McGann, F. Py, K. Rajan and R. Henthorn. Assoc. for the Advancement of Artificial Intelligence (AAAI) 2008. Chicago, IL. [bibtex]
  @inproceedings{mcgann08b,
  Address = {Chicago, IL},
  Author = {C. McGann and F. Py and K. Rajan and J. P. Ryan and R. Henthorn},
  Booktitle = {AAAI},
  Title = {{Adaptive Control for Autonomous Underwater Vehicles}},
  Year = 2008}
  

2007 :

• Robotics in Remote and Hostile Environments J. Bellingham and K. Rajan  Science; cover article 318, 1098 (2007), DOI: 10.1126/science.1146230185–203, [bibtex]
  @article{Bellingham07,
  author = {J.G. Bellingham and K. Rajan},
  title = "{{Robotics in Hostile Environments}}",
  journal = {Science},
  Number = 5893,
  Volume = 300,
  Year = 2007}
  
• T-REX: A Model-Based Architecture for AUV Control. C. McGann, F. Py, K. Rajan, H. Thomas, R. Henthorn and R. McEwen. 3rd Workshop on Planning and Plan Execution for Real-World Systems 2007. Providence, RI. [bibtex]
  @inproceedings{mcgann07,
  title = {{T-REX: A Model-Based Architecture for AUV Control}},
  author = {C. McGann and F. Py and K. Rajan and H. Thomas and R. Henthorn and R. McEwen},
  booktitle = {3rd Workshop on Planning and Plan Execution for Real-World Systems, ICAPS},
  year = 2007,
  address = {Providence, RI}}
  
• Robust Mission Planning using Deliberative Autonomy for Autonomous Underwater Vehicles. K. Rajan, C. McGann F. Py and H. Thomas. Workshop on Robotics in Challenging and Hazardous Environments 2007. Rome, Italy. [bibtex]
  @inproceedings{rajan07,
  title = {{Robust Mission Planning using Deliberative Autonomy for Autonomous Underwater Vehicles}},
  author = {K. Rajan and C. McGann and F. Py and H. Thomas},
  booktitle = {Workshop on Robotics in Challenging and Hazardous Environments, ICRA},
  year = 2007,
  address = {Rome}}
  
• In Situ Analysis for Intelligent Control. M. Fox, D. Long, F. Py, K. Rajan and J. P. Ryan. Proc. of IEEE/OES OCEANS Conference 2007. Aberdeen, Scotland. [bibtex]
  @inproceedings{fox2007,
  Author = {M. Fox and D. Long and F. Py and K. Rajan and J. P. Ryan},
  Booktitle = {Proc. of IEEE/OES OCEANS Conference},
  Publisher = {IEEE},
  Title = {{In Situ Analysis for Intelligent Control}},
  Year = {2007}}
  

---