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Publications

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Edited books

  1. S. Carpin, I. Noda, E. Pagello, M. Reggiani, O. Von Stryk. "Proceedings of SIMPAR 2008", Springer, Lecture Notes in Artificial Intelligence (LNAI), vol 5325, 2008.

International Journals

  1. S. Carpin, C. Ferrari, E. Pagello. Map focus: A way to reconcile Reactivity and Deliberation in Multirobot Systems. In Robotics and Autonomous Systems, 41(4):245-255, 2002.   [pdf] http://dx.doi.org/10.1016/S0921-8890(02)00294-4
  2. S. Carpin, G. Pillonetto. Motion planning using adaptive random walks. In IEEE Transactions on Robotics, 21(1):129-136, 2005.   [pdf] http://dx.doi.org/10.1109/TRO.2004.833790
  3. S. Carpin, A. Birk, V. Jucikas. On map merging. In Robotics and Autonomous Systems, 53(1):1-14, 2005.   [pdf] http://dx.doi.org/10.1016/j.robot.2005.07.001
  4. A. Birk, S. Carpin. Rescue robotics: a crucial milestone on the road to autonomous systems. In Advanced Robotics, 20(5):595-605, 2006.  [pdf]
  5. A. Birk, S. Carpin. Merging occupancy grids from multiple robots. In Proceedings of the IEEE, 94(7):1384-1397, 2006.   [pdf]  http://dx.doi.org/10.1109/JPROC.2006.876965
  6. S. Carpin. Randomized motion planning - a tutorial. In International Journal of Robotics and Automation, 21(3):184-196, 2006.  [pdf]
  7. C. Mirolo, S. Carpin, E. Pagello. Incremental convex minimization for computing collision translations of convex polyhedra. In IEEE Transactions on Robotics, 23(3):403-415, 2007.   [pdf] http://dx.doi.org/10.1109/TRO.2007.895084
  8. A. Kolling, S. Carpin. Cooperative observation of multiple moving targets: an algorithm and its formalization. In International Journal of Robotics Research, 26(9):935-953, 2007.   [pdf] http://dx.doi.org/10.1177/0278364907080424
  9. S. Balakirsky, S. Carpin, A.Kleiner, M. Lewis, A. Visser, J. Wang, V.A. Ziparo. Towards heterogeneous robot teams for disaster mitigation: Results and Performance Metrics from RoboCup Rescue. In Journal of Field Robotics, 24(11-12):943-967, 2007.   [pdf]  http://dx.doi.org/10.1002/rob.20212
  10. S. Carpin. Fast and accurate map merging for multi-robot systems. In Autonomous Robots, 25(3):305-316, 2008.   [pdf] http://dx.doi.org/10.1007/s10514-008-9097-4  (software implementation available here)
  11. S. Carpin, M. Kallmann, E. Pagello. The challenge of motion planning for humanoid robots playing soccer. In International Journal of Humanoid Robotics, 5(3):481-499, 2008.   [pdf] http://dx.doi.org/10.1142/S0219843608001480
  12. S. Carpin, E. Pagello. An experimental study of distributed robot coordination. In Robotics and Autonomous Systems, 57(2):129-133, 2009.   [pdf] http://dx.doi.org/10.1016/j.robot.2008.07.001
  13. B. Balaguer, S. Balakirsky, S. Carpin, A. Visser. Evaluating Maps Produced by Urban Search and Rescue Robots: Lessons Learned from RoboCup. In Autonomous Robots, 27(4):449-464, 2009.   [pdf] http://dx.doi.org/10.1007/s10514-009-9141-z
  14. A. Kolling, S. Carpin. Pursuit-Evasion on Trees by Robot Teams. In IEEE Transactions on Robotics, 26(1):32-47, 2010.   [pdf]   http://dx.doi.org/10.1109/TRO.2009.2035737
  15. B. Balaguer, S. Carpin. A learning method to determine how to approach an unknown object to be grasped. In International Journal of Humanoid Robotics, 8(3):579-606, 2011.   [pdf]   http://dx.doi.org/10.1142/S0219843611002575
  16. G. Pillonetto, G. Erinc, S. Carpin. Online estimation of covariance parameters using extended Kalman filtering and application to robot localization. In Advanced Robotics, 26(18):2169-2188, 2012.   [pdf]   http://dx.doi.org/10.1080/01691864.2012.703303
  17. S. Carpin, N. Basilico, D. Burch, T.H. Chung, M. Kolsch. Variable resolution search with quadrotors: theory and practice. In Journal of Field Robotics, 30(5):685-701, 2013.   [pdf] http://dx.doi.org/10.1002/rob.21468
  18. G. Erinc, S. Carpin. Anytime merging of appearance-based maps. In Autonomous Robots, 36(3):241-256, 2014.    [pdf]   http://dx.doi.org/10.1007/s10514-013-9352-1  
  19. Y.-L. Chow, M. Pavone, B.M. Sadler, S. Carpin. Trading safety versus performance: rapid deployment of robotic swarms with robust performance constraints. In ASME Journal of Dynamic Systems, Measurement and Control, 137(3):031005, 2015.   [pdf]   http://dx.doi.org/10.1115/1.40281
  20. B. Balaguer, G. Erinc, S. Carpin. Real-Time WiFi Localization of Heterogeneous Robot Teams Using an Online Random Forest. In Autonomous Robots, 39(2):155-167, 2015.   [pdf]   http://dx.doi.org/10.1007/s10514-015-9432-5
  21. J. Falco, K. Van Wyk, S. Liu, S. Carpin. Grasping the performance: Facilitating Replicable Performance Measures via Benchmarking and Standardized Methodologies. In IEEE Robotics and Automation Magazine, 22(4):125-136, 2015.   [pdf]   http://dx.doi.org/10.1109/MRA.2015.2460891
  22. M. Pavone, S. Carpin. Guest Editorial: Constrained Decision-Making in Robotics. In Autonomous Robots, 39(4):465-467, 2015.   [pdf]   http://dox/doi.org/10.1007/s10514-015-9489-1
  23. S. Liu, S. Carpin. Partial Convex Hull for Efficient Grasp Quality Evaluation. In Robotics and Autonomous Systems, 86:57-69, 2016.  [pdf]  http://dx.doi.org/10.1016/j.robot.2016.09.004
  24. S. Feyzabadi, S. Carpin.  Planning Using Hierarchical Constrained Markov Decision Processes. In Autonomous Robots, 41(8):1589-1607, 2017. [pdf] http://dx.doi.org/10.1007/s10514-017-9630-4
  25. J.L. Susa Rincon, P. Tokekar, V. Kumar, S. Carpin. Rapid deployment of mobile robots under temporal, performance, perception, and resource constraints. In IEEE Robotics and Automation Letters, 2(4):2016-2023, 2017.  https://doi.org/10.1109/LRA.2017.2717080
  26. A. Kolling, A. Kleiner, S. Carpin. Coordinated Search With Multiple Robots Arranged in Line Formations. In IEEE Transactions on Robotics, 34(2):459-473, 2018.  [pdf] https://doi.org/10.1109/TRO.2017.2776305
  27. J.L. Susa Rincon, S. Carpin. Time constrained exploration using toposemantic spatial models: a reproducbile approach. In IEEE Robotics and Automation Magazine, 26(3):78-87, 2019. [pdf]    https://doi.org/10.1109/MRA.2019.2923452    Supplementary R-material on IEEE Dataport:    http://dx.doi.org/10.21227/b564-4e03
  28. T. Thayer, S. Vougioukas, K. Goldberg, S. Carpin. Multi-robot Routing Algorithms for Robots Operating in Vineyards. In IEEE Transactions on Automation Science and Engineering,  17(3):1184-1194, 2020  [pdf]   https://doi.org/10.1109/TASE.2020.2980854
  29. X. Chen, C.Ruiz, S. Zheng, L. Gao, A. Purohit, S. Carpin, P. Zhang. H-DrunkWalk: Collaborative and Adaptive Navigation for Heterogeneous MAV Swarm. In ACM Transactions on Sensor Networks, 16(2):1-27, 2020. https://doi.org/10.1145/3382094
  30. X. Kan, T. Thayer, S. Carpin, K. Karydis. Task planning on stochastic aisle graphs for precision agriculture. In IEEE Robotics and Automation Letters, 6(2):3287-3294, 2021 [pdf]  https://doi.org/10.1109/LRA.2021.3062337 (also appearing at ICRA2021)
  31. T. Thayer, S. Carpin. An Adaptive Method for the Stochastic Orienteering Problem. In IEEE Robotics and Automation Letters, 6(2):4185-4192, 2021 [pdf] https://doi.org/10.1109/LRA.2021.3068699  (also appearing at ICRA2021)
  32. F. Betti Sorbelli, S. Carpin, F. Corò, S.K. Das, A. Navarra, C.M. Pinotti. Speeding up Routing Schedules on Aisle-Graphs with Single Access. In IEEE Transactions on Robotics, 38(1):433-447, 2022  [pdf]   https://doi.org/10.1109/TRO.2021.3082021
  33. Y.Avigal, W.Pong, M. Presten, S. Aeron, A. Deza, S. Sharma, R. Parikh, S. Oehme, S. Carpin, J. Viers, S. Vougioukas, K. Goldberg. Simulating Polyculture Farming to Learn Automation Policies for Plant Diversity and Precision Irrigation, in IEEE Transactions on Automation Science and Engineering, 19(3):1352:1364, 2022  [pdf] https://doi.org/10.1109/TASE.2021.3138995.
  34. A. Grillo, S. Carpin, C.T. Ricchiuto, A. Sgorbissa. Trust as a Metric for Auction-based Task Assignment in a Cooperative Team of Robots with Heterogenous Capabilities. In Robotics and Autonomous Systems, 157-104266, 2022  [pdf] https://doi.org/10.1016/j.robot.2022.104266
  35.  A. Dechemi, D. Chatziparaschis, J. Chen, M. Campbell, A. Shamshirgaran, C. Mucchiani, A. Roy-Chowdhury, S. Carpin, K. Karydis. Robotic Assessment of a Crop's Need for Watering. In IEEE Robotics and Automation Magazine, 30(4):52-67, 2023 [pdf]  https://ieeexplore.ieee.org/document/10297985  (open access)
  36. S. Carpin. Solving Stochastic Orienteering Problems with Chance Constraints Using Monte Carlo Tree Search. In IEEE Transactions on Automation Science and Engineering. Accepted for publication. [pdf] Also available on ArXiv

International Conferences

  1. E. Pagello, C. Ferrari, S. Carpin, P. Patuelli, R. Polesel, R. Rosati, A. Speranzon. "Planning Multi-robot Systems Actions for Robotics Entartainment'', Intelligent Autonomous Systems (IAS6), Enrico Pagello et al. eds.,IOS Press, 2000, 139-147
  2. S. Carpin, C. Ferrari, E. Pagello. "A framework for distributed simulation of multirobot systems: the VLAB experience'', Distributed Autonomous Robotic Systems 4, L.E. Parker, G. Bekey, J. Barhen (Eds), Springer-Verlag, 2000, 45-54
  3. S. Carpin, E. Pagello. "A Distributed Algorithm for Multi-robot Motion Planning'', Proceedings of the Fourth European Workshop on Advanced Mobile Robots (EUROBOT01), 207-214, Lund (Sweden), September 2001
  4. S. Carpin, E. Pagello.  "Exploiting Multi-robot Geometry for Efficient Randomized Motion Planning'', Intelligent Autonomous Systems 7 (IAS7), Maria Gini et al. (eds), IOS Press, 2002, 54-62
  5. S. Carpin, L.E. Parker.  "Cooperative Leader Following in a Distributed Multi-robot System''. Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 2002, pp. 2994-3001 [pdf].
  6. S. Carpin, L.E. Parker.  "Cooperative Motion Coordination Adminst Dynamic Obstacles'', in ``Distributed Autonomous Robotic Systems 5'', H. Asama, T. Arai, T. Fukuda and T. Hasegava (Eds.), Springer 2002, pp. 145-154
  7. S. Carpin, G. Pillonetto.  "Robot motion planning using adaptive random walks''. Proceedings of the 2003 IEEE Conference on Robotics and Automation, Taipei (Taiwan), September 2003, pp. 3809-3814 [pdf]
  8. H. Kenn, S. Carpin, M. Pfingsthorn, B. Liebald, I. Hepes, C. Ciocov, A. Birk.  "FAST-Robotics: a rapid-prototyping framework for intelligent mobile robotics''. Proceedings of the 2003 International Conference on Artificial Intelligence and Applications, 76-81
  9. S. Carpin, G. Pillonetto.  "Learning sampling distributions for randomized motion planning: role of history size''. Proceedings of the 2003 IASTED International Conference on Artificial Intelligence and Applications, 58-63
  10. S. Carpin, G. Pillonetto. "Centralized multi-robot motion planning: a random walks based approach''. Intelligent Autonomous Systems 8 (IAS8), Frans Groen et al (eds.). IOS Press. 2004, 610-617
  11. S. Carpin. "Correlated samples for fast exploration of configuration spaces". Proceedings of the 2004 International Conference on Artificial Intelligence and Applications, pp. 202-206
  12. S. Carpin, A. Birk. "Stochastic map merging in rescue environments". In "RoboCup 2004: Robot Soccer World Cup VIII'', D. Nardi, M. Riedmiller, C. Sammut, J. Santos-Victor (Eds.) . LNAI Vol. 3276, Springer, 2005, pp. 483-490
  13. S. Carpin, G. Pillonetto. "Merging the adaptive random walks planner with the randomized potential field planner". Proceedings of the 2005 IEEE International workshop on Robot Motion and Control, pp. 151-156 [pdf]
  14. J. Wang, M. Lewis, M. Koes, S. Carpin. "Validating USARsim for use in HRI Research". Proceedings of the 49th meeting of the Human Factors and Ergonomics Society, pp. 457-461, 2005 [pdf]
  15. S. Carpin, E. Pagello. "An experimental study of distributed robot coordination". Intelligent Autonomous Systems 9. Tamio Arai, Rolf Pfeifer, Tucker Balch, and Hiroshi Yokoi Eds. , IOS Press, 2006, 199-206
  16. S. Carpin, J. Wang, M. Lewis, A. Birk, A. Jacoff. "High fidelity tools for rescue robotics: results and perspectives". Robocup 2005: Robot Soccer World Cup IX, LNAI Vol. 4020, Springer, 2006, pp. 301-311 [pdf]
  17. A. Kolling, S. Carpin. "Multirobot Cooperation for Surveillance of Multiple Moving Targets - A new behavioral approach". Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 1311-1316 [pdf]
  18. S. Carpin, C. Mirolo, E. Pagello. "A performance comparison of three algorithms for proximity queries relative to convex polyhedra". Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 3023-3028 [pdf]
  19. S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis, J. Wang. "Quantitative Assessments of USARSim Accuracy". Proceedings of PerMIS 2006, 111-118. [pdf]
  20. S. Balakirsky, C. Scrapper, S. Carpin, M. Lewis. "USARSim: providing a framework for multi-robot performance evaluation". Proceedings of PerMIS 2006, 98-102 [pdf]
  21. S. Carpin, M. Lewis, J. Wang, S. Balakirsky, C. Scrapper. "Bridging the gap between simulation and reality in urban search and rescue". In "Robocup 2006: Robot Soccer World Cup X", LNAI Vol. 4434, Springer, 2007, pp. 1-12 [pdf]
  22. S. Balakirsky, C. Scrapper, S. Carpin, M.Lewis. ”USARSim: A Robocup Virtual Urban Search and Rescue Competition”. SPIE Unmanned Systems Technology IX, Defense and Security Symposium, Vol. 6551, 2007 [pdf]
  23. G. Erinc, S. Carpin. ”A genetic algorithm for nonholonomic motion planning”. Proceedings of the IEEE 2007 International Conference on Robotics and Automation, 1843-1849 [pdf]
  24. C. Mirolo, S. Carpin, E. Pagello. "Exploring different coherence dimensions to answer proximity queries for convex polyhedra". Proceedings of the IEEE 2007 International Conference on Robotics and Automation, 2594-2599 [pdf]
  25. S. Carpin, M. Lewis, J. Wang, S. Balakirsky, C. Scrapper. ” USARSim: a robot simulator for research and education”. Proceedings of the IEEE 2007 International Conference on Robotics and Automation, 1400-1405 [pdf]
  26. A. Kolling, S. Carpin. "Detecting intruders in complex environments with limited range mobile sensors". Robot Motion and Control 2007. K. Kozlowski (Ed.), Lecture Notes in Control and Information Sciences (LNCIS) Vol. 360, Springer, 2007, pp. 417-246 [pdf]
  27. J. Wright, S. Carpin, A. Cerpa, G. Gavillan, M. Kallmann, C. Laird, K. Laird, S. Newsam, D. Noelle. "Collaboratory: an open source teaching and learning facility for computer science and engineering education". Proceedings of the 2007 International Conference on Frontiers in Education: Computer Science and Computer Engineering [pdf]
  28. G. Pillonetto, S. Carpin. "Multirobot localization with unknown variance parameters using iterated Kalman filtering". Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1709-1714 [pdf]
  29. S. Markov, S. Carpin. "A Cooperative Distributed Approach to Target Motion Control in Multirobot Observation of Multiple Targets". Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 931-936, [pdf]
  30. A. Kolling, S. Carpin. "The GRAPH-CLEAR problem: definition, theoretical properties and its connections to multirobot aided surveillance". Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1003-1008 [pdf]
  31. S. Balakirsky, C. Scrapper, S. Carpin. "The Evolution of Performance Metrics in the RoboCup Rescue Virtual Robot Competition". Proceedings of PerMIS 2007, 91-96 [pdf]
  32. A. Kolling, S. Carpin. "Multi-robot surveillance: an improved algorithm for the GRAPH-CLEAR problem". Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2360-2365 [pdf]
  33. S. Carpin. "Merging maps via Hough transform".Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1878-1883 [pdf] (software implementation available here)
  34. G. Erinc, G. Pillonetto, S. Carpin. "Online estimation of variance parameters: experimental results with application to localization". Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1890-1895 [pdf]
  35. A. Kolling, S. Carpin. "Extracting surveillance graphs from robot maps". Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2323-2328 [pdf]
  36. B. Balaguer, S. Carpin. "Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications", in ”Proceedings of the First International Conference on Simulation, Modeling and Programming for Autonomous Robots”, S. Carpin et al. (Eds.), Springer 2008, 222-233  [pdf]
  37. A. Censi, S. Carpin. "HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain", Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 3899-3906 [pdf] (software implementation available here)
  38. A. Kolling, S. Carpin. "Probabilistic Graph Clear". Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 3508-3514 [pdf]
  39. S. Carpin, A. Censi. "An experimental assessment of the HSM3D algorithm for sparse and colored data". Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3595-3600 [pdf]
  40. G. Erinc, S. Carpin. "Image-based mapping and navigation with heterogeneous robots". Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5807-5814 [pdf]
  41. A. Kolling, S. Carpin. "Surveillance strategies for target detection with sweep lines". Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5821-5827 [pdf]
  42. B. Balaguer, S. Carpin, S. Balakirsky, A. Visser. "Evaluation of RoboCup Maps". Proceedings of PerMIS 2009, 231-236. [pdf]
  43. S. Balakirsky, S. Carpin, A. Visser. "Evaluating the Robocup 2009 Virtual Robot Rescue Competition". Proceedings of PerMIS 2009, 117-122. [pdf]
  44. B. Balaguer, S. Carpin. "Efficient grasping of novel objects through dimensionality reduction", Proceedings of the 2010 IEEE International Conference on Robotics and Automation, 1279-1285 [pdf] [Video]
  45. A. Kolling, S. Carpin. "Multi-Robot Pursuit-Evasion without Maps", Proceedings of the 2010 IEEE International Conference on Robotics and Automation, 3045-3051 [pdf] [Video]
  46. B. Balaguer, S. Carpin.  "Motion Planning for Cooperative Manipulators Folding Flexible Planar Objects". Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3842-3847 [pdf]
  47. G. Pillonetto, A. Aravkin, S Carpin. "The unconstrained and inequality constrained moving horizon approach to robot localization". Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3830-3835 [pdf] [code available]
  48. G. Erinc, S. Carpin. "Evaluation criteria for appearance-based maps". Proceedings of PerMIS 2010 [pdf]
  49. B. Balaguer, S. Carpin.  "Learning End-Effector Orientations for Novel Object Grasping Tasks". Proceedings of 2010 IEEE/RAS International Conference on Humanoid Robots, 302-307 [pdf] Multimedia Material and Datasets
  50. T.H. Chung, S. Carpin "Multiscale Search using Probabilistic Quadtrees", Proceedings of the 2011 IEEE International Conference on Robotics and Automation, 2546-2553 [pdf] (software implementation available here) Video
  51. S. Carpin, D. Burch, T.H. Chung. "Searching for Multiple Targets Using Probabilistic Quadtrees". Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4536-4543 [pdf] (software implementation available here) Video
  52. B. Balaguer, S. Carpin. "Combining Imitation and Reinforcement Learning to Fold Deformable Planar Objects". Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1405-1412 [pdf] Video
  53. B. Balaguer, S. Carpin.  "Bimanual Regrasping from Unimanual Machine Learning". Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 3264-3270 [pdf] Video
  54. N. Basilico, S. Carpin.  "Online Patrolling Using Hierarchical Spatial Representations". Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2163-2169 [pdf]
  55. G. Erinc, S. Carpin.  "Anytime merging of appearance based maps". Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 1656-1662 [pdf]
  56. B. Balaguer, G. Erinc, S. Carpin. "Classification and Regression for WiFi Localization of Heterogeneous Robot Teams in Unknown Environments". Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3496-3503 [pdf] Video Datasets and code
  57. S. Carpin. "Distributed coverage while not being covered". Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 842-848 Video [pdf]
  58. S. Carpin, T.H. Chung, B.M. Sadler. "Theoretical Foundations of High-Speed Robot Deployment". Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2025-2032 [pdf]  (software implementation available here)
  59. S. Esser, A. Andreopoulos, R. Appuswamy, P. Datta, D. Barch, A. Amir, J. Arthur, A. Cassidy, M. Flickner, P. Merolla, S. Chandra, N. Basilico, S. Carpin, T. Zimmerman, F. Zee, R. Alvarez-Icaz.  "Cognitive Computing Systems: Algorithms and Applications for Networks of Neurosynaptic Cores". Proceedings of the 2013 International Joint Conference on Neural Networks, 1-10. [pdf]
  60. G. Erinc, B. Balaguer, S. Carpin. "Heterogeneous Map Merging Using WiFi Signals". Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5258-5264. [Video] [pdf]
  61. S. Feyzabadi, S. Carpin. "Knowledge and Data Representation for Motion Planning in Dynamic Environments". Robot Intelligence
    Technology and Applications 2. Jong-Hwan Kim et al. (Eds.), Advances in Intelligent Systems and Computing, Vol. 274, Springer, 2014, pp. 233-240.
  62. A. Purohit, P. Zhang, B. Sadler, S. Carpin. "Deployment of Swarms of Micro-Aerial Vehicles: from Theory to Practice",  Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 5408-5413. [pdf]
  63. S. Feyzabadi, S. Carpin. "Risk aware path planning using hierarchical constrained Markov decision processes". Proceedings of the 2014 IEEE International Conference on Automation Science and Engineering, 297-303. [pdf]
  64. S. Carpin, M. Pavone, B. Sadler. "Rapid multirobot deployment with time constraints". Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1147-1154. [pdf]
  65. S. Feyzabadi, S. Carpin. "HCMDP: a Hierarchical Solution to Constrained Markov Decision Processes". Proceedings of the 2015 IEEE International Conference on Robotics and Automation, 3971-3978. [pdf]
  66. S. Liu, S. Carpin. "Fast Grasp Quality Evaluation with Partial Convex Hull Computation". Proceedings of the 2015 IEEE International Conference on Robotics and Automation, 4279-4285. [pdf]  [code]
  67. S. Liu, S. Carpin. "Global Grasp Planning Using Triangular Meshes". Proceedings of the 2015 IEEE International Conference on Robotics and Automation, 4904-4910. [pdf] [code]
  68. S. Liu. S. Carpin. "A Fast Algorithm for Grasp Quality Evaluation  Using the Object Wrench Space". Proceedings of the 2015 IEEE International Conference on Automation Science and Engineering, 558-563. [pdf] [code]
  69. N. Basilico, S. Carpin. "Deploying Teams of Heterogeneous UAVs in Cooperative Two-Level Surveillance Missions." Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 610-615. [pdf]
  70. X. Chen, A. Purohit, C.R. Dominguez, S. Carpin, P. Zhang. "DrunkWalk: Collaborative and Adaptive Planning for Navigation of Micro-Aerial Sensor Swarms", Proceedings of ACM SenSys 2015, 295-308. [pdf]
  71. N. Basilico, T.H. Chung, S. Carpin. "Distributed online patrolling with multi-agent teams  of sentinels and searchers". Distributed Autonomous Robotics Systems, N.-Y. Chong and Y-J. Cho (Eds.), Springer, 3-16, 2016 [pdf] Best paper award finalist.
  72. S. Feyzabadi, S. Carpin. "Multi-objective planning with multiple high level task specifications". Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 5483-5490. [pdf]
  73. S. Carpin, Y. Chow, M. Pavone. "Risk aversion in finite Markov Decision Processes using total cost criteria and average value at risk". Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 335-342. [pdf]
  74. S. Liu, S. Carpin. "Kinematic Noise Propagation and Grasp Quality Evaluation", Proceedings of the 2016 IEEE International Conference on Automation Science and Engineering, 1177-1183.  [pdf]
  75. D.V. Gealy, S. McKinley, M. Guo, L. Miller, S. Vougioukas, J. Viers, S. Carpin, K. Goldberg. "DATE: a hendheld co-robotic device for automated tuning of emitters to enable preicsion irrigation". Proceedings of the 2016 IEEE International Conference on Automation Science and Engineering 922-927 [pdf].
  76. S. Feyzabadi, S. Carpin. "A toolbox for multi-objective planning in non-deterministic environments with simulation validation." Proceedings of the 2016 IEEE International Conference on Simulation, Modeling and Programming of Mobile Robots, 265-272. [pdf]. 
  77. S. Liu, Z. Hu, H. Zhang, M. Kwon, Z. Wang, Y. Xu, S. Carpin. "Grasp Quality Evaluation and Planning for Objects with Negative Curvature." Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2223-2229. [pdf].
  78. T. Thayer, S. Vougioukas, K. Goldberg, S. Carpin. "Routing Algorithms for Robot Assisted Precision Irrigation." Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2221-2228 [pdf].
  79. S. Liu, S. Carpin. "Grasp Quality Evaluation with Whole Arm Kinematic Noise Propagation." Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 5575-5581 [pdf].
  80. R. Berenstein, R. Fox, S. McKinley, S. Carpin, K. Goldberg. "Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot." Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2236-2243 [pdf].
  81. T. Thayer, S. Vougioukas, K. Goldberg, S. Carpin. "Multi-Robot Routing Algorithms for Robots Operating in Vineyards."  Proceedings of the 2018 IEEE International Conference on Automation Science and Engineering, 7-14. Best conference paper award  [pdf[. 
  82. D. Tseng, D. Wang, C. Chen, L. Miller, W. Song, J. Viers, S. Vougioukas, S. Carpin, J. Aparicio Ojea, K. Goldberg. "Towards Automating Precision Irrigation: Deep Learning to Infer Local Soil Moisture Conditions from Synthetic Aerial Agricultural Images". Proceedings of the 2018 IEEE International Conference on Automation Science and Engineering, 284-291. [pdf].
  83. J. Banfi, N. Basilico, S. Carpin. "Optimal Redeployment of Multirobot Teams for Communication Maintenance." Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3757-3764.  [pdf].
  84. C. Diaz Alvarenga, N. Basilico, S. Carpin. "Delayed and Time-Variant Patrolling Strategies against Attackers with Local Observation Capabilities". Proc. of the 2019 International Conference on Autonomous Agents and Multiagent Systems, 1928-1930 [pdf].
  85. T.C. Thayer, S. Vougioukas, K. Goldberg, S. Carpin. "Bi-Objective Routing for Robotic Irrigation and Sampling in Vineyards." Proceedings of the 2019 IEEE International Conference on Automation Science and Engineering, 1481-1488 [pdf].
  86.  M. Wiggert, L. Amladi, R. Berenstein, S. Carpin, J. Viers, S. Vougioukas, K. Goldberg. "RAPID-MOLT: A Meso-Scale, Open-Source, Low-Cost, Testbed for Robot Assisted Precision Irrigation and Delivery". Proceedings of the 2019 IEEE International Conference on Automation Science and Engineering, 1489-1496 [pdf].
  87. J.L. Susa Rincon, S. Carpin. "Map Merging of Oriented Topological Semantic Maps." Proceedings of the 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS) 202-208 [pdf]. 
  88. C. Diaz Alvarenga, N. Basilico, S. Carpin. "Delayed and Time-Variant Patrolling Strategies against Attackers with Local Observation Capabilities." Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4869-4876 [pdf]
  89. N. Basilico, S. Carpin. "Balancing Unpredictability and Coverage in Adversarial Patrolling Settings." Algorithmic Foundations or Robotics XIII. Springer, 762-777, 2020  [pdf].
  90. C. Diaz Alvarenga, N. Basilico, S. Carpin. "Multirobot Patrolling against Adaptive Opponents with Limited Information." Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2486-2492 [pdf].
  91. F. Betti Sorbelli, S. Carpin, F. Coro', A. Navarra, C.M. Pinotti.  "Optimal Routing Schedules for Robots Operating in Aisle-Structures". Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 4927-4933 [pdf]
  92. T. Thayer, S. Carpin. "Solving Large-Scale Stochastic Orienteering Problems with Aggregation ", Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2452-2458 [pdf]
  93. Y. Avigal, A. Deza, W. Wong, S. Oehme, M. Presten, M. Theis, J. Chui, P. Shao, H. Huang, A. Kotani, S. Sharma, M. Luo, S. Carpin, Joshua H. Viers, S. Vougioukas, K. Goldberg. "Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants". Proceedings of the 2021 IEEE International Conference on Robotics and Automation, 902-908 [pdf]
  94. T. Thayer, S. Carpin. "A Resolution Adaptive Algorithm for the Stochastic Orienteering Problem with Chance Constraints" Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 6388-6395 [pdf]
  95. T. Thayer, S. Carpin. "A Fast Algorithm for Stochastic Orienteering with Chance Constraints." Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 7398-7945 [pdf]
  96. S. Carpin. "Scheduling problems for robotics in precision agriculture". Proceedings of the 2022 IEEE International Symposium on Circuits and Systems", 1357-1361 [pdf]
  97. T. Thayer, S. Carpin. "Solving Stochastic Orienteering Problems with Chance Constraints Using Monte Carlo Tree Search". Proceedings of the 2022 IEEE International Conference on Automation Science and Engineering, 1170-1177 [pdf]
  98. A. Shamshirgaran, S. Carpin. "Reconstructing a Spatial Field with an Autonomous Robot Under a Budget Constraint". Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 8963-8970 [pdf]
  99. L. Booth, S. Carpin. "Distributed estimation of scalar fields with implicit coordination." Distributed Autonomous Robotics Systems, J. Bourgeois et al. (Eds.), Springer, 2024, 466-478.  [pdf]
  100. L. Booth, S. Carpin. "Informative path planning for scalar dynamic reconstruction using coregionalized Gaussian processes and a spatiotemporal kernel."  Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 8112-8119. [pdf].
  101. C. Diaz Alvarenga, S. Carpin. "Track, stop, and eliminate: an algorithm to solve stochastic orienteering problems using MCTS."  Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 9894-9901  [pdf]. 
  102. C. Diaz Alvarenga, N. Basilico, S. Carpin. "Learning Generalizable Patrolling Strategies through Domain Randomization of Attacker Behaviors." Proceedings of the 2024 IEEE International Conference on Robotics and Automation, 4406-4412. [pdf]
  103. C. Diaz Alvarenga, N. Basilico, S. Carpin. "Combining Coordination and Independent Coverage in Multirobot Graph Patrolling." Proceedings of the 2024 IEEE International Conference on Robotics and Automation, 4413-4419. [pdf]
  104. A. Shamshirgaran, S. Manjanna, S. Carpin. "Distributed Multi-robot Online Sampling with  Budget Constraints" Proceedings of the 2024 IEEE International Conference on Robotics and Automation 12658-12664. [pdf]
  105. E. Sani, A Sgorbissa, S. Carpin. "Improving the ROS 2 Navigation Stack with Real-Time Local Costmap Updates for Agricultural Applications" Proceedings of the 2024 IEEE International Conference on Robotics and Automation, 17701-17707. [pdf]

Book Chapters

  1. S. Carpin, C. Ferrari, E. Pagello, and P. Patuelli. "Bridging Deliberation and Reactivity in Cooperative Multi-robot Systems Through Map Focus'', Balancing Reactivity and Social Deliberation in Multi-Agent Systems, M. Hannebauer, J. Wendler, E. Pagello (Eds.), Lecture Notes in Artificial Intelligence (2103), Springer, 2001, pp. 35-52
  2. S. Carpin. ''Algorithmic Motion Planning: the Randomized Approach ''. Information transfer and combinatorics. R. Ahlswede, L. Baeumer. N. Cai, H. Aydinian, V. Blinovsky, C. Deppe, H. Mashurian (Eds.), LNCS Vol. 4123, Springer, 2006, pp. 725-753
  3. S. Balakirsky, S. Carpin, G. Dimitoglou, and B. Balaguer. "From Simulation to Real Robots with Predictable Results: Methods and Examples". Performance Evaluation and Benchmarking of Intelligent Systems, R. Madhavan, E. Tunstel, and E. Messina (Eds). Springer, 2009, pp. 113-137 [pdf]
  4. S. Carpin, K. Goldberg, S. Vougioukas, R. Berenstein, J. Viers. Use of intelligent/autonomous systems in crop Irrigation. In Robotics and Automation for Improving Agrilculture, J. Billingsley (Ed.), Burleigh Dodds, 2019, pp.137-159.  [pdf]

International Workshops and Symposia

  1. S. Carpin, C. Ferrari, F. Montesello, E. Pagello, P. Patuelli. "Scalable Deliberative Procedures for Efficient Multi-robot Coordination'', ECAI 2000 notes of the workshop "Balancing Reactivity and Social Deliberation in Multi-Agent Systems", 66-76, Berlin, August 2000.
  2. A. Birk, H. Kenn, S. Carpin, M. Pfingsthorn. "Toward Autonomous Rescue Robots''. Proceedings of the "First International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disasters", Padova, Italy, 2003
  3. S. Carpin, V. Jucikas, A. Birk. ”Multi-robot mapping for rescue robotics”. IEEE International Workshop on Safety, Security and Rescue Robotics. Bonn, Germany, 2004
  4. A. Birk, S. Carpin. "Rescue Robotics at the International University of Bremen (IUB): an integrative approach" Proceedings of the workshop Urban Search and Rescue: from Robocup to real world applications. Sendai, Japan, 2004
  5. A. Birk, S. Carpin, W. Chonnaparamutt, V. Jucikas, H. Bastani, I. Delchev, I. Krivulev, S. Lee, S. Markov, A. Pfeil. "The IUB 2005 Rescue Robot Team". Robocup 2005: Robot Soccer World Cup IX, Springer, Lecture Notes in Artificial Intelligence
  6. M. Mahmudi, S. Markov, Y. Nevatia, R. Rathnam, T. Stoyanov, S. Carpin. "VirtualIUB - development of a team of autonomous agents for the Virtual Robots Competition". SRMED 2006
  7. S. Balakirsky, M. Lewis, S. Carpin. "The Virtual Robots Competition: vision and short term roadmap". SRMED 2006
  8. S. Carpin, E. Pagello. ”The challenge of motion planning for humanoid robots playing soccer. "Humanoids Soccer Workshop" at IEEE Humanoids 2006
  9. S. Balakirsky, C. Scrapper, B. Balaguer, A. Farinelli, S. Carpin. "Virtual Robots: progresses and outlook". SRMED 2007
  10. B. Balaguer, S. Carpin, S. Balakirsky. "Towards Quantitative Comparisons of Robot Algorithms: Experiences with SLAM in Simulation and Real World Systems". Workshop on "Performance Evaluation and Benchmarking for Intelligent Robots and Systems" at IEEE/RSJ IROS 2007 [pdf]
  11. B. Balaguer, S. Carpin. "UC Mercenary Team Description Paper: RoboCup 2008 Virtual Robot Rescue Simulation League". Team Description Paper for RoboCup 2008 [pdf]
  12. B. Balaguer, S. Balakirsky, S. Carpin, M. Lewis, C. Scrapper. "USARSim: a validated simulator for research in robotics and automation". Workshop on "Robot simulators: available software, scientific applications and future trends", at IEEE/RSJ IROS 2008 [pdf]
  13. B. Balaguer, D. Burch, R. Sloan, S. Carpin. "UC Merced Team Description Paper: Robocup 2009 Virtual Robot Rescue Simulation Competition". Team Description Paper for RoboCup 2009 [pdf]
  14. M. Lewis, S. Carpin, S. Balakirsky. "Virtual Robots RoboCupRescue Competition: Contributions to Infrastructure and Science". IJCAI Workshop on Competitions in Artificial Intelligence and Robotics, IJCAI 2009 [pdf]
  15. A. Kolling, S. Carpin. "Solving Pursuit-evasion Problems with Graph-Clear: an Overview". Workshop on "Search and Pursuit/Evasion in the Physical World". ICRA 2010 [pdf] (invited paper)
  16. B. Balaguer, S. Carpin. “Human-Inspired Grasping of Novel Objects through Imitation Learning”, Workshop on ”Autonomous Grasping”. IEEE International Conference on Robotics and Automation, 2011 [pdf]
  17. B. Balaguer, S. Carpin. "An hybrid approach for robots learning folding tasks", Workshop on "New Developments in Imitation Learning", IEEE International Conference on Machine Learning, 2011 [pdf]
  18. T.H. Chung, S. Carpin. "Multi Target Search Using Probabilistic Quadtrees", INFORMS 2011.
  19. A. Purohit, S. Carpin, P. Zhang, "Adaptive planning for deployment of micro-aerial sensor swarms". Proceedings of the First Workshop on Robotic Sensor Networks (CPS Week), 2014. [pdf]
  20. S. Feyzabadi, S. Carpin, "Motion Planning with Safety Constraints and High-Level Task Specifications", Workshop on ``Planning, Control, and Sensing for Safe Human-Robot Interaction,"   IEEE International Conference on Robotics and Automation, 2015.
  21. D. Chatziparaschis, A. Shamshirgaran, C. Mucchiani, E. Scudiero, S. Carpin, K. Karydis. "Perceptual and Informative Planning in Orchards with Autonomous Mobile Agricultural Robots." AI in Ag Conference, 2023.

National Conferences 

  1. S. Carpin, C. Ferrari, E. Pagello. "VLAB - A Distributed Simulator for Multi-robot Systems'',AI*IA 2000, 7th symposium of the Italian Association for Artificial Intelligence, 99-102, Milano, September 2000
  2. S. Carpin, C. Ferrari, E. Pagello. "Enhanced Tools for Multirobots Simulation'', Proceedings of the 2000 Conference of Italian Society for Computer Simulations (ISCS2000), Lecce, November 2000
  3. S. Carpin, C. Ferrari.  "Efficient Algorithms for Collision Detection Between Rigid Bodies in the Simulation of a Dynamic System''. Proceedings of the 2001 Conference of the Italian Society for Computer Simulations
  4. S. Carpin, E. Pagello.  "On Parallel RRTs for Multi-robot Systems''. Proceedings of the 8th conference of the Italian Association for Artificial Intelligence, Siena, September 2002, pp. 834-841 [pdf]
  5. S. Carpin, E. Pagello.  "Design and implementation of a client/server simulator for robotic systems''. Proceedings of the 1st National Conference and Exhibition on Intelligent Autonomous Systems and Advanced Robotics. Frascati, 2002

Technical Reports

  1. A. Kolling, S. Carpin. "An improved algorithm for the GRAPH-CLEAR problem". Technical Report 2007-03. School of Engineering, University of California, Merced. [pdf]
  2. A. Kolling, S. Carpin. "On Weighted Edge-Searching". Technical Report 2009-01. School of Engineering, University of California, Merced. [pdf]
  3. S. Carpin, S. Liu, J. Falco, K. Van Vyk. "Multi-fingered robotic grasping: a primer."  arXiv:1607.06620v1,   2016

Theses

  1. A. Kolling. "Multi-robot Pursuit-Evasion," PhD Thesis, December 2009. [pdf]
  2. B. Balaguer. "Robots Learning to Manipulate: Real-Time Application-Oriented Algorithms Using Feature-Based and Machine Learning Techniques," PhD Thesis, August 2012. [pdf]
  3. D. Burch. "Hierarchical Search with Probabilistic Quadtrees Applied to Single and Multi-Agent Systems," MSc Thesis, December 2012. [pdf]
  4. G. Erinc. "Appearance-Based Navigation, Localization, Mapping, and Map Merging for Heterogeneous Teams of Robots,"  PhD Thesis, August 2013. [pdf]
  5. S. Feyzabadi. "Robot Planning with Constrained Markov Decision Processes," PhD Thesis, August 2017. [pdf]
  6. S. Liu. "Bridging the Gap in Grasp Quality Evaluation and Grasp Planning," PhD Thesis, November 2017. [pdf]
  7. J.L. Susa Rincon. "Probabilistic Constrained Decision Making for Robots Exploring, Mapping, and Navigating Indoor Environments," PhD Thesis, May 2020. [pdf]
  8. T.C. Thayer. "Planning Algorithms for Robots Operating in Vineyards," PhD Thesis, July 2021. [pdf]
  9. C. Diaz Alvarenga. "On patrolling security games, modeling agents, and computing viable strategies." PhD Thesis, June 2024 [pdf]
  10. A. Shamshirgaran. "Environmental monitoring with budget constraints using reinforcement learning." PhD Thesis, August 2024 [pdf]
  11. L. Booth. "Informative planning and robotic exploration for surveying environmental fields." PhD Thesis, September 2024 [pdf]