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Posts
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portfolio
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publications
Object guided autonomous exploration for mobile robots in indoor environments
Published in In the proceedings of Unmanned Systems Technology XVI, 2014
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Recommended citation: Carlos Nieto-Granda, Siddarth Choudhary, John Rogers, Jeff Twigg, Varun Murali, Henrik Christensen, "Object guided autonomous exploration for mobile robots in indoor environments." In the proceedings of Unmanned Systems Technology XVI, 2014.
Object guided autonomous exploration for mobile robots in indoor environments
Published in Unmanned Systems Technology XVI 9084, 207-212, 2014, 2014
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Recommended citation: Carlos Nieto-Granda and Siddarth Choudhary and John G Rogers III and Jeff Twigg and Varun Murali and Henrik I Christensen "Object guided autonomous exploration for mobile robots in indoor environments." Unmanned Systems Technology XVI 9084, 207-212, 2014, 2014.
Active planning based extrinsic calibration of exteroceptive sensors in unknown environments
Published in In the proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
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Recommended citation: Varun Murali, Carlos Nieto, Siddharth Choudhary, Henrik Christensen, "Active planning based extrinsic calibration of exteroceptive sensors in unknown environments." In the proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm
Published in In the proceedings of 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016
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Recommended citation: Roozbeh Khodambashi, Gil Weinberg, William Singhose, Shima Rishmawi, Varun Murali, Euisun Kim, "User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm." In the proceedings of 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016.
Active planning based extrinsic calibration of exteroceptive sensors in unknown environments
Published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016, 2016
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Recommended citation: Varun Murali and Carlos Nieto and Siddharth Choudhary and Henrik I Christensen "Active planning based extrinsic calibration of exteroceptive sensors in unknown environments." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016, 2016.
User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm
Published in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016, 2016
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Recommended citation: Roozbeh Khodambashi and Gil Weinberg and William Singhose and Shima Rishmawi and Varun Murali and Euisun Kim "User oriented assessment of vibration suppression by command shaping in a supernumerary wearable robotic arm." 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016, 2016.
Utilizing semantic visual landmarks for precise vehicle navigation
Published in In the proceedings of 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017
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Recommended citation: Varun Murali, Han-Pang Chiu, Supun Samarasekera, Rakesh Kumar, "Utilizing semantic visual landmarks for precise vehicle navigation." In the proceedings of 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017.
Utilizing semantic visual landmarks for precise vehicle navigation
Published in 2017 IEEE 20th International Conference on Intelligent Transportation …, 2017, 2017
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Recommended citation: Varun Murali and Han-Pang Chiu and Supun Samarasekera and Rakesh Teddy Kumar "Utilizing semantic visual landmarks for precise vehicle navigation." 2017 IEEE 20th International Conference on Intelligent Transportation …, 2017, 2017.
Augmented reality driving using semantic geo-registration
Published in In the proceedings of 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 2018
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Recommended citation: Han-Pang Chiu, Varun Murali, Ryan Villamil, G Kessler, Supun Samarasekera, Rakesh Kumar, "Augmented reality driving using semantic geo-registration." In the proceedings of 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 2018.
The blackbird dataset: A large-scale dataset for uav perception in aggressive flight
Published in In the proceedings of International Symposium on Experimental Robotics, 2018
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Recommended citation: Amado Antonini, Winter Guerra, Varun Murali, Thomas Sayre-McCord, Sertac Karaman, "The blackbird dataset: A large-scale dataset for uav perception in aggressive flight." In the proceedings of International Symposium on Experimental Robotics, 2018.
Augmented reality driving using semantic geo-registration
Published in 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 423-430, 2018, 2018
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Recommended citation: Han-Pang Chiu and Varun Murali and Ryan Villamil and G Drew Kessler and Supun Samarasekera and Rakesh Kumar "Augmented reality driving using semantic geo-registration." 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 423-430, 2018, 2018.
The blackbird dataset: A large-scale dataset for uav perception in aggressive flight
Published in International Symposium on Experimental Robotics, 130-139, 2018, 2018
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Recommended citation: Amado Antonini and Winter Guerra and Varun Murali and Thomas Sayre-McCord and Sertac Karaman "The blackbird dataset: A large-scale dataset for uav perception in aggressive flight." International Symposium on Experimental Robotics, 130-139, 2018, 2018.
Asymptotic optimality of a time optimal path parametrization algorithm
Published in IEEE Control Systems Letters, 2019
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Recommended citation: Igor Spasojevic, Varun Murali, Sertac Karaman, "Asymptotic optimality of a time optimal path parametrization algorithm." IEEE Control Systems Letters, 2019.
Flightgoggles: Photorealistic sensor simulation for perception-driven robotics using photogrammetry and virtual reality
Published in arXiv preprint arXiv:1905.11377, 2019
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Recommended citation: Winter Guerra, Ezra Tal, Varun Murali, Gilhyun Ryou, Sertac Karaman, "Flightgoggles: Photorealistic sensor simulation for perception-driven robotics using photogrammetry and virtual reality." arXiv preprint arXiv:1905.11377, 2019.
Perception-aware trajectory generation for aggressive quadrotor flight using differential flatness
Published in In the proceedings of 2019 American Control Conference (ACC), 2019
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Recommended citation: Varun Murali, Igor Spasojevic, Winter Guerra, Sertac Karaman, "Perception-aware trajectory generation for aggressive quadrotor flight using differential flatness." In the proceedings of 2019 American Control Conference (ACC), 2019.
Asymptotic optimality of a time optimal path parametrization algorithm
Published in IEEE Control Systems Letters 3 (4), 835-840, 2019, 2019
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Recommended citation: Igor Spasojevic and Varun Murali and Sertac Karaman "Asymptotic optimality of a time optimal path parametrization algorithm." IEEE Control Systems Letters 3 (4), 835-840, 2019, 2019.
Flightgoggles: Photorealistic sensor simulation for perception-driven robotics using photogrammetry and virtual reality
Published in arXiv preprint arXiv:1905.11377, 2019, 2019
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Recommended citation: Winter Guerra and Ezra Tal and Varun Murali and Gilhyun Ryou and Sertac Karaman "Flightgoggles: Photorealistic sensor simulation for perception-driven robotics using photogrammetry and virtual reality." arXiv preprint arXiv:1905.11377, 2019, 2019.
Perception-aware trajectory generation for aggressive quadrotor flight using differential flatness
Published in 2019 American Control Conference (ACC), 3936-3943, 2019, 2019
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Recommended citation: Varun Murali and Igor Spasojevic and Winter Guerra and Sertac Karaman "Perception-aware trajectory generation for aggressive quadrotor flight using differential flatness." 2019 American Control Conference (ACC), 3936-3943, 2019, 2019.
Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation
Published in In the proceedings of 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
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Recommended citation: Igor Spasojevic, Varun Murali, Sertac Karaman, "Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation." In the proceedings of 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020.
Perception-aware time optimal path parameterization for quadrotors
Published in In the proceedings of 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
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Recommended citation: Igor Spasojevic, Varun Murali, Sertac Karaman, "Perception-aware time optimal path parameterization for quadrotors." In the proceedings of 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.
The blackbird uav dataset
Published in The International Journal of Robotics Research, 2020
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Recommended citation: Amado Antonini, Winter Guerra, Varun Murali, Thomas Sayre-McCord, Sertac Karaman, "The blackbird uav dataset." The International Journal of Robotics Research, 2020.
Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation
Published in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, 2020
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Recommended citation: Igor Spasojevic and Varun Murali and Sertac Karaman "Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation." 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, 2020.
Perception-aware time optimal path parameterization for quadrotors
Published in 2020 IEEE International Conference on Robotics and Automation (ICRA), 3213-3219, 2020, 2020
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Recommended citation: Igor Spasojevic and Varun Murali and Sertac Karaman "Perception-aware time optimal path parameterization for quadrotors." 2020 IEEE International Conference on Robotics and Automation (ICRA), 3213-3219, 2020, 2020.
The blackbird uav dataset
Published in The International Journal of Robotics Research 39 (10-11), 1346-1364, 2020, 2020
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Recommended citation: Amado Antonini and Winter Guerra and Varun Murali and Thomas Sayre-McCord and Sertac Karaman "The blackbird uav dataset." The International Journal of Robotics Research 39 (10-11), 1346-1364, 2020, 2020.
6D object pose estimation with pairwise compatible geometric features
Published in In the proceedings of 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
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Recommended citation: Muyuan Lin, Varun Murali, Sertac Karaman, "6D object pose estimation with pairwise compatible geometric features." In the proceedings of 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021.
6D object pose estimation with pairwise compatible geometric features
Published in 2021 IEEE International Conference on Robotics and Automation (ICRA), 10966 …, 2021, 2021
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Recommended citation: Muyuan Lin and Varun Murali and Sertac Karaman "6D object pose estimation with pairwise compatible geometric features." 2021 IEEE International Conference on Robotics and Automation (ICRA), 10966 …, 2021, 2021.
Semantic visual landmarks for navigation
Published in US Patent 10,929,713, 2021, 2021
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Recommended citation: Han-Pang Chiu and Supun Samarasekera and Rakesh Kumar and Varun Murali "Semantic visual landmarks for navigation." US Patent 10,929,713, 2021, 2021.
A planted clique perspective on hypothesis pruning
Published in IEEE Robotics and Automation Letters, 2022
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Recommended citation: Muyuan Lin, Varun Murali, Sertac Karaman, "A planted clique perspective on hypothesis pruning." IEEE Robotics and Automation Letters, 2022.
A planted clique perspective on hypothesis pruning
Published in IEEE Robotics and Automation Letters 7 (2), 5167-5174, 2022, 2022
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Recommended citation: Muyuan Lin and Varun Murali and Sertac Karaman "A planted clique perspective on hypothesis pruning." IEEE Robotics and Automation Letters 7 (2), 5167-5174, 2022, 2022.
Augmenting reality using semantic segmentation
Published in US Patent 11,676,296, 2023, 2023
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Recommended citation: Han-Pang Chiu and Supun Samarasekera and Rakesh Kumar and Ryan Villamil and Varun Murali and Gregory Drew Kessler "Augmenting reality using semantic segmentation." US Patent 11,676,296, 2023, 2023.
Perception-aware planning for differentially flat robots
Published in Massachusetts Institute of Technology, 2023, 2023
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Recommended citation: Varun Murali "Perception-aware planning for differentially flat robots." Massachusetts Institute of Technology, 2023, 2023.
AgriNeRF: Neural Radiance Fields for Agriculture in Challenging Lighting Conditions
Published in arXiv preprint arXiv:2409.15487, 2024
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Recommended citation: Samarth Chopra, Fernando Cladera, Varun Murali, Vijay Kumar, "AgriNeRF: Neural Radiance Fields for Agriculture in Challenging Lighting Conditions." arXiv preprint arXiv:2409.15487, 2024.
Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
Published in arXiv preprint arXiv:2405.07169, 2024
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Recommended citation: Fernando Cladera, Ian Miller, Zachary Ravichandran, Varun Murali, Jason Hughes, M Hsieh, CJ Taylor, Vijay Kumar, "Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics." arXiv preprint arXiv:2405.07169, 2024.
Learning autonomous driving from aerial imagery
Published in arXiv preprint arXiv:2410.14177, 2024
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Recommended citation: Varun Murali, Guy Rosman, Sertac Karaman, Daniela Rus, "Learning autonomous driving from aerial imagery." arXiv preprint arXiv:2410.14177, 2024.
RT-GuIDE: Real-Time Gaussian splatting for Information-Driven Exploration
Published in arXiv preprint arXiv:2409.18122, 2024
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Recommended citation: Yuezhan Tao, Dexter Ong, Varun Murali, Igor Spasojevic, Pratik Chaudhari, Vijay Kumar, "RT-GuIDE: Real-Time Gaussian splatting for Information-Driven Exploration." arXiv preprint arXiv:2409.18122, 2024.
SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments
Published in arXiv preprint arXiv:2410.03035, 2024
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Recommended citation: Zachary Ravichandran, Varun Murali, Mariliza Tzes, George Pappas, Vijay Kumar, "SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments." arXiv preprint arXiv:2410.03035, 2024.
Agrinerf: Neural radiance fields for agriculture in challenging lighting conditions
Published in arXiv preprint arXiv:2409.15487, 2024, 2024
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Recommended citation: Samarth Chopra and Fernando Cladera and Varun Murali and Vijay Kumar "Agrinerf: Neural radiance fields for agriculture in challenging lighting conditions." arXiv preprint arXiv:2409.15487, 2024, 2024.
Challenges and opportunities for large-scale exploration with air-ground teams using semantics
Published in arXiv preprint arXiv:2405.07169, 2024, 2024
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Recommended citation: Fernando Cladera and Ian D Miller and Zachary Ravichandran and Varun Murali and Jason Hughes and M Ani Hsieh and CJ Taylor and Vijay Kumar "Challenges and opportunities for large-scale exploration with air-ground teams using semantics." arXiv preprint arXiv:2405.07169, 2024, 2024.
Learning autonomous driving from aerial imagery
Published in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2024, 2024
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Recommended citation: Varun Murali and Guy Rosman and Sertac Karaman and Daniela Rus "Learning autonomous driving from aerial imagery." 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2024, 2024.
Rt-guide: Real-time gaussian splatting for information-driven exploration
Published in arXiv preprint arXiv:2409.18122, 2024, 2024
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Recommended citation: Yuezhan Tao and Dexter Ong and Varun Murali and Igor Spasojevic and Pratik Chaudhari and Vijay Kumar "Rt-guide: Real-time gaussian splatting for information-driven exploration." arXiv preprint arXiv:2409.18122, 2024, 2024.
Spine: Online semantic planning for missions with incomplete natural language specifications in unstructured environments
Published in arXiv preprint arXiv:2410.03035, 2024, 2024
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Recommended citation: Zachary Ravichandran and Varun Murali and Mariliza Tzes and George J Pappas and Vijay Kumar "Spine: Online semantic planning for missions with incomplete natural language specifications in unstructured environments." arXiv preprint arXiv:2410.03035, 2024, 2024.
Air-ground collaboration for language-specified missions in unknown environments
Published in arXiv preprint arXiv:2505.09108, 2025, 2025
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Recommended citation: Fernando Cladera and Zachary Ravichandran and Jason Hughes and Varun Murali and Carlos Nieto-Granda and M Ani Hsieh and George J Pappas and Camillo J Taylor and Vijay Kumar "Air-ground collaboration for language-specified missions in unknown environments." arXiv preprint arXiv:2505.09108, 2025, 2025.
ATLAS Navigator: Active task-driven language-embedded gaussian splatting
Published in arXiv preprint arXiv:2502.20386, 2025, 2025
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Recommended citation: Dexter Ong and Yuezhan Tao and Varun Murali and Igor Spasojevic and Vijay Kumar and Pratik Chaudhari "ATLAS Navigator: Active task-driven language-embedded gaussian splatting." arXiv preprint arXiv:2502.20386, 2025, 2025.
Deploying foundation model-enabled air and ground robots in the field: challenges and opportunities
Published in arXiv preprint arXiv:2505.09477, 2025, 2025
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Recommended citation: Zachary Ravichandran and Fernando Cladera and Jason Hughes and Varun Murali and M Ani Hsieh and George J Pappas and Camillo J Taylor and Vijay Kumar "Deploying foundation model-enabled air and ground robots in the field: challenges and opportunities." arXiv preprint arXiv:2505.09477, 2025, 2025.
Gaussian splatting as a unified representation for autonomy in unstructured environments
Published in arXiv preprint arXiv:2505.11794, 2025, 2025
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Recommended citation: Dexter Ong and Yuezhan Tao and Varun Murali and Igor Spasojevic and Vijay Kumar and Pratik Chaudhari "Gaussian splatting as a unified representation for autonomy in unstructured environments." arXiv preprint arXiv:2505.11794, 2025, 2025.
Robotic monitoring of colorimetric leaf sensors for precision agriculture
Published in arXiv preprint arXiv:2505.13916, 2025, 2025
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Recommended citation: Malakhi Hopkins and Alice Kate Li and Shobhita Kramadhati and Jackson Arnold and Akhila Mallavarapu and Chavez Lawrence and Varun Murali and Sanjeev J Koppal and Cherie Kagan and Vijay Kumar "Robotic monitoring of colorimetric leaf sensors for precision agriculture." arXiv preprint arXiv:2505.13916, 2025, 2025.
talks
Robotics Seminar
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.