Publications

Under Review

  1. Zhanteng Xie and Philip Dames. “Semantic2D: A Semantic Dataset for 2D Lidar Semantic Segmentation.” IEEE International Conference on Robotics and Automation (ICRA). 2025.
    [arXiv] [Video] [Dataset] [GitHub]
  2. Zhanteng Xie and Philip Dames. “SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation.” IEEE Transactions on Robotics (T-RO).
    [arXiv] [Video] [GitHub (predictor)] [GitHub (navigation)]
  3. Pujie Xin, Zhanteng Xie, and Philip Dames. “Towards Predicting Collective Performance in Multi-Robot Teams.” IEEE Transactions on Robotics (T-RO).
    [arXiv]
  4. Timothy Chen, Ola Shorinwa, Weijia Zeng, Joseph Bruno, Philip Dames, and Mac Schwager. “Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps.” IEEE Transactions on Robotics (T-RO).
    [arXiv]
  5. Pujie Xin and Philip Dames. “Comparison of Stochastic Optimization Strategies in Multi-Robot Multi-Target Tracking Scenarios.” Swarm Intelligence.
    [Research Square (pre-print)]
  6. Jun Chen, Mohammed Abugurain, Philip Dames, and Shinkyu Park. “Distributed Multi-Robot Multi-Target Tracking Using Heterogeneous Limited-Range Sensors.” IEEE Transactions on Robotics (T-RO).
    [arXiv]
  7. Lindsay Ouellette, Drew Kronstadt, Sunvy Yalamarthy, Philip Dames, Zhanteng Xie, Slobodan Vucetic, and Donald Hantula. “Human vs. Robot Approaches: The Influence of Negative Attitudes on Comfort Levels.” International Journal of Social Robotics.
  8. Jun Chen, Philip Dames, and Shinkyu Park. “Effective Tracking of Unknown Clustered Targets Using A Distributed Team of Mobile Robots.” Autonomous Robots.
    [Research Square (pre-print)]

2024

  1. Lindsay Ouellette, Julia Zortea, Alexandra Capalbo, Raz Shermister, Charles Furtado, Zhanteng Xie, Philip Dames, and Donald Hantula. “Too close for comfort? Navigating personal space in human-robot encounters.” Northeast Business & Economics Association (NBEA) Conference. Accepted.
  2. Alkesh Srivastava and Philip Dames. “Speech-Guided Sequential Planning for Autonomous Navigation using Large Language Model Meta AI 3 (Llama3).” International Conference on Social Robotics (ICSR). Accepted.
    [arXiv] [Video]
  3. Jun Chen, Mohammed Abugurain, Philip Dames, Shinkyu Park, Fei Xie, and Qi Mao. Late Breaking Results Poster: “Distributed Multi-Robot Multi-Target Tracking Using Heterogeneous Limited-Range Sensors.” IEEE International Conference on Robotics and Automation (ICRA). 2024.

2023

  1. Feng Luo, Ling Liu, G. Geoff Wang, Vijay Kumar, Mark S. Ashton, Jacob Abernethy,Fatemeh Afghah, Matthew H. E. M Browning, David Coyle, Philip Dames, Tom O’Halloran, James Hays, Patrick Heisl, Chenfanfu Jiang, Puskar Khanal, Venkat Narayan Krovi, Sara Kuebbing, Nianyi Li, JingJing Liang, Ninghao Liu, Steve McNulty, Christopher M. Oswalt, Neil Pederson, Demetri Terzopoulos, Christopher W. Woodall, Yongkai Wu, Jian Yang, Yin Yang, and Liang Zhao.  “Artificial Intelligence for Climate Smart Forestry: A Forward Looking Vision.” IEEE International Conference on Cognitive Machine Intelligence (CogMI). 2023.
    [DOI]
  2. Jun Chen and Philip Dames. “The Convex Uncertain Voronoi Diagram for Safe Multi-Robot Multi-Target Tracking Under Localization Uncertainty.” Journal of Intelligent and Robotic Systems, 109 (2023), 78.
    [Research Square] [DOI]
  3. Zhanteng Xie and Philip Dames. “Stochastic Occupancy Grid Map Prediction in Dynamic Scenes.” Conference on Robot Learning (CoRL). 2023.
    [arXiv] [OpenReview] [Video] [GitHub] [Dataset]
  4. Zhanteng Xie and Philip Dames. “DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles.” IEEE Transactions on Robotics (T-RO), 39.4 (2023), 2700-2719.
    [arXiv] [DOI] [Video] [GitHub]

2022

  1. Xuesu Xiao, Zifan Xu, Zizhao Wang, Yunlong Song, Garrett Warnell, Peter Stone, Tingnan Zhang, Shravan Ravi, Gary Wang, Haresh Karnan, Joydeep Biswas, Nicholas Mohammad, Lauren Bramblett, Rahul Peddi, Nicola Bezzo, Zhanteng Xie, and Philip Dames. “Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Benchmark Autonomous Robot Navigation Challenge at ICRA 2022.” IEEE Robotics and Automation Magazine, 29.4 (2022), 148-156.
    [arXiv] [DOI]
  2. Anway Bose, Joseph Bruno, Philip Dames, and Li Bai. “Time Constraint Finite-Horizon Path Planning Solution for Micromouse Extreme Problem.” IEEE 19th International Conference on Mobile Ad Hoc and Smart Systems (MASS). 2022.
    [DOI]
  3. Pujie Xin and Philip Dames. “Comparing Stochastic Optimization Methods for Multi-Robot, Multi-Target Tracking.” International Symposium on Distributed and Autonomous Systems (DARS). 2022.
    [PDF] [DOI]
  4. Pujie Xin and Philip Dames. “Distributed Multiple Hypothesis Tracker for Mobile Sensor Networks.” International Symposium on Distributed and Autonomous Systems (DARS). 2022.
    [PDF] [DOI]
  5. Jun Chen, Philip Dames, and Shinkyu Park. “Distributed Multi-robot Tracking of Unknown Clustered Targets with Noisy Measurements.” International Symposium on Distributed and Autonomous Systems (DARS). 2022.
    [PDF] [DOI]
  6. Jun Chen, Zhanteng Xie, and Philip Dames. “The Semantic PHD Filter for Multi-class Target Tracking: From Theory to Practice.” Robotics and Autonomous Systems, 149 (2022).
    [PDF] [DOI]

2021

  1. Zhanteng Xie, Pujie Xin, and Philip Dames. “Towards Safe Navigation Through Crowded Dynamic Environments.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.
    [PDF] [DOI]
  2. Jun Chen and Philip Dames.  “Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of View.”  IEEE International Conference on Robotics and Automation (ICRA). 2021.
    [PDF] [Video] [DOI]
  3. Deborah Wang, Brandon Lutz, Peter J. Cobb, and Philip Dames.  “RASCAL: Robotic Arm for Sherds and Ceramics Automated Locomotion.”  IEEE International Conference on Robotics and Automation (ICRA). 2021.
    [PDF] [Video] [DOI]

2020

  1. Jun Chen and Philip Dames.  “Collision-Free Distributed Multi-Target Tracking Using Teams of Mobile Robot with Localization Uncertainty.”  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2020.
    [PDF] [DOI]
  2. Jun Chen and Philip Dames. “Distributed Multi-Target Search and Tracking Using a Coordinated Team of Ground and Aerial Robots.” Workshop on Heterogeneous Multi-Robot Task Allocation and Coordination at Robotics: Science and Systems (RSS). 2020.
    [PDF] [Talk]
  3. Jun Chen and Philip Dames.  “Distributed and Collision-Free Coverage Control of a Team of Mobile Sensors Using the Convex Uncertainty Voronoi Diagram.”  American Control Conference (ACC). 2020.
    [PDF] [DOI]
  4. Philip Dames.  “Distributed Multi-Target Search and Tracking using the PHD Filter.”  Autonomous Robots, 44.3 (2020), 673-689.
    [DOI] (Open Access)

2019

  1. Jun Chen and Philip Dames.  “Multi-Class Target Tracking Using the Semantic PHD Filter.”  International Symposium on Robotics Research (ISRR). 2019.
    [PDF] [DOI] [Dataset]
  2. Jun Chen and Philip Dames.  “Distributed Multi-Target Search and Tracking Using a Coordinated Team of Ground and Aerial Robots.”  2nd IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS). 2019. [Poster Presentation]
  3. Peter Cobb, Tiffany Earley-Spadoni, Philip Dames.  “Centimeter-Level Recording for All: Field Experimentation with New, Affordable Geolocation Technology” Advances in Archaeological Practice, 7.4 (2019), 353-365.
    [DOI] (Open Access)

2018

  1. Soon-Jo Chung, Aditya Avinash Paranjape, Philip Dames, Shaojie Shen, and Vijay Kumar.  “A Survey on Aerial Swarm Robotics.” IEEE Transactions on Robotics, Special Issue on Aerial Swarm Robotics, 34.4 (2018): 837-855.
    [PDF] [DOI]
  2. Soon-Jo Chung, Aditya Paranjape, Philip Dames, Shaojie Shen, and Vijay Kumar. “Guest Editorial Special Section on Aerial Swarm Robotics.” IEEE Transactions on Robotics, Special Issue on Aerial Swarm Robotics, 34.4 (2018): 835-836.
    [DOI]
  3. Henry Carrillo, Philip Dames, Vijay Kumar, and José Castellanos. “A Utility Function for Graph SLAM based Autonomous Robotic Exploration Rooted in Rényi’s General Theory of Entropy.”  Autonomous Robots, 42 (2018): 235–256.
    [PDF] [DOI]

2017

  1. Philip Dames.  “Distributed Multi-Target Search and Tracking using the PHD Filter.”  1st IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS). 2017.
    [PDF] [Video] [DOI]
  2. Philip Dames, Pratap Tokekar, and Vijay Kumar. “Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots.” International Journal of Robotics Research (IJRR), 36.13-14 (2017): 1540-1553.
    [PDF] [Video] [DOI]
  3. Jonas Cleveland, Dinesh Thakur, Philip Dames, Cody Phillips, Terry Kientz, Kostas Daniilidis, John Bergstrom, and Vijay Kumar. “An Automated System for Semantic Object Labeling with Soft Object Recognition and Dynamic Programming Segmentation.” IEEE Transactions on Automation Science and Engineering, 14.2 (2017): 820-833.
    [PDF] [Video] [DOI]

2016

  1. Philip Dames, Mac Schwager, Daniela Rus, and Vijay Kumar. “Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles.” IEEE Robotics and Automation Letters, 1.1 (2016): 153-160.
    [PDF] [Video] [DOI]

2015

  1. Jonas Cleveland, Dinesh Thakur, Philip Dames, Cody Phillips, Terry Kientz, Kostas Daniilidis, John Bergstrom, and Vijay Kumar.  “An Automated System for Semantic Object Labeling with Soft Object Recognition and Dynamic Programming Segmentation.”  IEEE International Conference on Automation Science and Engineering (CASE). 2015.  Best Application Paper Finalist.
    [PDF] [DOI]
  2. Philip Dames and Vijay Kumar.  “Automated Detection, Localization, and Registration of Smart Devices With Multiple Robots.”  IEEE International Conference on Automation Science and Engineering (CASE). 2015.
    [PDF] [Video] [DOI]
  3. Philip M. Dames.  “Multi-Robot Active Information Gathering Using Random Finite Sets.”  University of Pennsylvania, 2015.
    [Dissertation]
  4. Henry Carrillo, Philip Dames, Vijay Kumar, and José Castellanos.  “Autonomous Robotic Exploration Using Occupancy Grid Maps and Graph SLAM Based on Shannon and Rényi Entropy.”  IEEE International Conference on Robotics and Automation (ICRA). 2015.
    [PDF] [Video] [DOI]
  5. Philip Dames and Vijay Kumar. “Autonomous Localization of an Unknown Number of Targets without Data Association Using Teams of Mobile Sensors.” IEEE Transactions on Automation Science and Engineering, 12.3 (2015): 850-864.
    [PDF] [Video] [DOI]
  6. Philip Dames and Vijay Kumar.  “Experimental Characterization of a Bearing-only Sensor for Use With the PHD Filter.”  arXiv: 1502.04661 [cs.RO], 2015.
  7. Philip Dames, Pratap Tokekar, and Vijay Kumar.  “Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots.”  International Symposium on Robotics Research (ISRR). 2015.
    [PDF] [Video] [DOI]

2014

  1. Philip Dames, Dinesh Thakur, Mac Schwager, and Vijay Kumar. “Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects.” IEEE Robotics and Automation Magazine, 21.2 (2014): 46-52.
    [PDF] [DOI]

2013

  1. Philip Dames and Vijay Kumar.  “Cooperative Multi-Target Localization with Noisy Sensors.”  IEEE International Conference on Robotics and Automation (ICRA). 2013.
    [PDF] [Video] [DOI]
  2. Philip Dames and Vijay Kumar.  “Technical Report: Cooperative Multi-Target Localization with Noisy Sensors.”  arXiv: 1302.3857 [cs.RO], 2013.
  3. Thomas Vose, Matthew Turpin, Philip Dames, Paul Umbanhowar, and Kevin Lynch.  “Modeling, Design, and Control of 6-DoF Flexure-Based Parallel Mechanisms for Vibratory Manipulation.”  Mechanism and Machine Theory, 64 (2013): 111-130.
    [DOI]

2012

  1. Philip Dames, Mac Schwager, Vijay Kumar, and Daniela Rus.  “A Decentralized Control Policy for Adaptive Information Gathering in Hazardous Environments.”  IEEE Conference on Decision and Control (CDC). 2012.
    [PDF] [DOI] [Extended version]
  2. Mac Schwager, Philip Dames, Daniela Rus, and Vijay Kumar.  “A Multi-Robot Control Policy for Information Gathering in the Presence of Unknown Hazards.”  International Symposium on Robotics Research (ISRR). 2011.
    [PDF] [Website] [DOI]