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 Conference Papers

Rapid Quadrotor Navigation in Diverse Environments using
an Onboard Depth Camera
Jonathan Lee, Abhishek Rathod, Kshitij Goel, John Stecklein, and Wennie Tabib
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2024

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
Selected Manuscripts Under Review

Distance and Collision Probability Estimation from
Gaussian Surface Models
Kshitij Goel and Wennie Tabib
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 (Under Review)
Teaching

16-362: Mobile Robot
Algorithms Laboratory
Instructors: Wennie Tabib and Kshitij Goel
Carnegie Mellon University, Fall 2023