Minimal Perception: Enabling Autonomy on Resource Constrained Robots

Ph.D. Dissertation

Chahat Deep Singh, advised by Yiannis Aloimonos.
June 2023.

Ann G. Wylie Fellowship for Oustanding Dissertation

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Ajna: Generalized Deep Uncertainty For Minimal Perception on Parsimonious Robots

Science Robotics 2023

Chahat Deep Singh*, Nitin J. Sanket*, Cornelia Fermüller, Yiannis Aloimonos.

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Science Robotics - August 2023. (* Equal Contribution)

 Project Page  

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 Paper   

AcTExplore: Active Tactile Exploration on Unknown Objects

ICRA 2024

IEEE International Conference on Robotics and Automation (Under Review), 2024.

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RoboBeeHive: Pollinating Flowers in the Wild using a Swarm of Robot Bee Drones.

Chahat Deep Singh, Nitin J. Sanket, Yiannis Aloimonos.

BBC Earth

University of Maryland

IEEE Spectrum

Voice of America

UMD Research: Maryland Today

YourCurrent

Maryland Today

News Wires

AZO Robotics

ISR UMD

Drone DJ

Click here to go to the RoboBeeHive page.

SeaDroneSim2: Enhancing Detection of Martime and Marine Objects with Synthetic Images

RA-M 2023

Xiaomin Lin, Akshaj Gaur, Cheng Lio, Chahat Deep Singh, Nare Karapetyan, Miao Yu, Yiannis Aloimonos.

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Robot Automation Magazine (Under Review), 2023.

 Coming Soon  

TinyDepth: Generalized Neural Metric Depth for Palm-sized Robots

RA-L 2023

Chahat Deep Singh, Rohan Uttamsingh, Yashveer Jain, Cornelia Fermüller, Nitin. J. Sanket, Guido C.H.E. de Croon, Yiannis Aloimonos.

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IEEE Robotics and Automation Letter (Under Review), 2023.

 Coming Soon  

EVSaccades: Leveraging an Active Prism to Enhance Feature Detection in Neuromorphic Cameras

Science Robotics 2023

Botao He, Ze Wang, Yuan Zhou, Jingxi Chen, Chahat Deep Singh, Cornelia Fermüller, Yiannis Aloimonos, Fei Gao.

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Science Robotics (Under Review), 2022.

 Preprint Technical Report  

WorldGen: A Large Scale Generative Simulator

ICRA 2023

Chahat Deep Singh, Riya Kumari, Cornelia Fermüller, Nitin J. Sanket, Yiannis Aloimonos.

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IEEE International Conference on Robotics and Automation (ICRA), 2023.

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NudgeSeg: Zero-Shot Object Segmentation by Repeated Physical Interaction

IROS 2021

Chahat Deep Singh*, Nitin J. Sanket*, Cornelia Fermüller, Yiannis Aloimonos.
IEEE International Conference on Intelligent Robots and Systems (IROS), 2021. (* Equal Contribution)

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EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following

Nitin J. Sanket, Chahat Deep Singh, Chethan M. Parameshwara, Cornelia Fermüller, Guido C.H.E. de Croon, Yiannis Aloimonos, Robotics Science and Systems (RSS), 2021.

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MorphEyes: Variable Baseline Stereo For Quadrotor Navigation

Nitin J. Sanket, Chahat Deep Singh, Varun Asthana, Cornelia Fermüller, Yiannis Aloimonos, IEEE International Conference on Robotics and Automation (ICRA) , 2021.

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PRGFlow: Benchmarking SWAP-Aware Unified Deep Visual Inertial Odometry

Nitin J. Sanket, Chahat Deep Singh, Cornelia Fermüller, Yiannis Aloimonos, Electronics Letters 57, no. 16 (2021): 614-617.

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0-MMS: Zero-Shot Multi-Motion Segmentation With A Monocular Event Camera

Chethan M. Parameshwara, Nitin J. Sanket, Chahat Deep Singh, Cornelia Fermüller, Yiannis Aloimonos, IEEE International Conference on Robotics and Automation (ICRA), 2021.

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EVDodgeNet: Deep Dynamic Obstacle Dodging with Event Cameras

Nitin J. Sanket*, Chethan M. Parameshwara*, Chahat Deep Singh, Cornelia Fermüller, Davide Scaramuzza, Yiannis Aloimonos, IEEE International Confernce on Robotics and Automation, Paris, 2020. (* Equal Contribution)

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GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight

Chahat Deep Singh*, Nitin J. Sanket*, Kanishka Ganguly, Cornelia Fermüller, Yiannis Aloimonos, IEEE Robotics and Automation Letters, 2018. (* Equal Contribution)

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RAVHEN: Mobile Surveillance Spheroid Robot with Static Equilibrium Camera and Leaping Mechanism

RAVHEN: Reconnaissance Advanced Vehicle for Hostile ENvironment

Shamsheer Verma, Chahat Deep Singh, Sarthak Mittal, Prateek Arora and Arvind Rehalia. International Journal of Control Theory and Applications, 09(41) 2016, 473-488. ISSN: 0974-5572.

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A Novel Method to Increase Transmission Power Efficiency in Portable Systems

Chahat Deep Singh, B. Sridhar International Journal of Innovative Research in Science, Engineering and Technology, 04(11) 2015, ISSN: 2319-8753.

Paper 

REDIPS: Fully Automous and Controlled Quadraped Having Detection and Tracking

Shamsheer Verma, Chahat Deep Singh. International Journal of Engineering and Technical Research (IJETR), 02(09) 2014. ISSN: 2321-0869.

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