Aniket Murarka

I am a member of the UT Intelligent Robotics Lab.

Research
My research is on building 2D local safety maps using vision to represent the navigability of the local 3D environment for a wheeled mobile robot. My experimental platform is a wheelchair robot called Vulcan.

Click here to see a movie of Vulcan building 3D maps of the robotics lab using stereo vision and lasers. The combined 3D vision and laser map of the lab thus created, can be projected down to give a 2D local safety map of the lab, shown here

Further details can be found in my dissertation proposal and in the IROS-08 and CRV-06 papers below.

Publications
A. Murarka, M. Sridharan and B. Kuipers. 2008.
Detecting obstacles and drop-offs using stereo and motion cues for safe local motion.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-08).

Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers and Brian Stankiewicz. 2007.
Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication.
In AAAI Spring Symposium Series, Interaction Challenges for Intelligent Assistants, Stanford, CA.

Aniket Murarka, Joseph Modayil, and Benjamin Kuipers. 2006.
Building local safety maps for a wheelchair robot using vision and lasers.
3rd Canadian Conference on Computer and Robot Vision (CRV-06).
(Best Student Paper)

Patrick Beeson, Aniket Murarka, and Benjamin Kuipers. 2006.
Adapting proposal distributions for accurate, efficient mobile robot localization.
IEEE International Conference on Robotics and Automaton (ICRA-06).

Benjamin Kuipers and Aniket Murarka. 2005.
Sensorimotor Learning in Robot Cognitive Mapping.
AAAI Workshop on Learning in Computer Vision.

Aniket Murarka and Benjamin Kuipers. 2001.
Using CAD Drawings for Robot Navigation.
IEEE International Conference on Systems Man, and Cybernetics (SMC-01).