Research
My research aims to create teams of robots that can adapt their agency and knowledge with environmental complexity while operating near their sensing, compute, and physical limits. To this end, I design efficient on-device algorithms, spatially-scalable data structures, and tractable probabilistic reasoning methods.
Preprints
Distance and Collision Probability Estimation from
Gaussian Surface Models
Kshitij Goel and Wennie Tabib
arXiv preprint, 2024
Journal Articles
Incremental Multimodal Surface Mapping via Self-Organizing Gaussian
Mixture Models
Kshitij Goel and Wennie Tabib
IEEE Robotics and Automation Letters, Vol. 8 Issue 12, Dec. 2023
Probabilistic Point Cloud Modeling via
Self-Organizing Gaussian Mixture Models
Kshitij Goel, Nathan Michael, and Wennie Tabib
IEEE Robotics and Automation Letters, Vol. 8 Issue 5, May 2023
Autonomous Cave Surveying with an Aerial Robot
Wennie Tabib, Kshitij Goel, John Yao, Curtis Boirum, and Nathan Michael
IEEE Transactions on Robotics, Vol. 38 Issue 2, Apr. 2022
Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments
Micah Corah, Cormac O'Meadhra, Kshitij Goel, and Nathan Michael
IEEE Robotics and Automation Letters, Vol. 4 Issue 2, Apr. 2019
Selected Peer-Reviewed Conference Papers
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel and Wennie Tabib
IEEE International Conference on Robotics and Automation (ICRA), 2024
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
Kshitij Goel, Yves Georgy Daoud, Nathan Michael, and Wennie Tabib
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel, Wennie Tabib, and Nathan Michael
International Symposium on Experimental Robotics (ISER), 2021
Fast Exploration Using Multirotors: Analysis, Planning, and Experimentation
Kshitij Goel, Micah Corah, Curtis Boirum, and Nathan Michael
Field and Service Robotics (FSR), 2021
Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps
Wennie Tabib, Kshitij Goel, John Yao, Mosam Dabhi, Curtis Boirum, and Nathan Michael
Robotics: Science and Systems, 2019
Teaching
16-362: Mobile Robot Algorithms Laboratory
Instructors: Wennie Tabib and Kshitij Goel
Carnegie Mellon University, Fall 2023