Sambhu H. Karumanchi — accepted AI-conference papers

2025

Energy-constrained multi-robot exploration for autonomous map building

Sambhu H. Karumanchi, Bhagawan Rokaha, Alexander Schperberg, Abraham P. Vinod

IROS 2025

We consider the problem of building the map of an unknown environment using multiple mobile robots that have physical limitations arising from dynamics and a limited onboard battery. We consider the setting where the unknown environment has a set of charging stations that the robots must discover an

Cited by 1 Source ↗Scholar ↗

2020

Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy

Yipu Zhao, Justin S. Smith, Sambhu H. Karumanchi, Patricio A. Vela

ICRA 2020poster

Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of SLAM systems. In this paper, we raise the question on the impo…

Cited by 19 Source ↗code ↗Scholar ↗