Publications

Journal Papers

  1. S. Kousik∗ , S. Vaskov∗ , F. Bu, M. Johnson-Roberson, and R. Vasudevan. “Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots.” The International Journal of Robotics Research, August 2020. [link]

  2. S. Kousik∗ , B. Zhang∗ , P. Zhao∗ , and R. Vasudevan. “Safe, optimal, real-time trajectory planning with a parallel constrained Bernstein algorithm.” IEEE Transactions on Robotics, November 2020. [link]

  3. Y.S. Shao, C. Chao, S. Kousik, and R. Vasudevan. “Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control.” IEEE Robotics and Automation Letters, March 2021. [link]


Refereed Conference and Workshop Papers

  1. S. Kousik, S. Vaskov, M. Johnson-Roberson, and R. Vasudevan. “Safe trajectory synthesis for autonomous driving in unforeseen environments.” Proceedings of the 2017 ASME Dynamic Systems and Control Conference, Tysons Corner, VA, October 2017. [link]

  2. S. Kousik, P. Holmes, and R. Vasudevan. “Safe, aggressive quadrotor flight via reachability-based trajectory design.” Proceedings of the 2019 ASME Dynamic Systems and Control Conference, Park City, UT, October 2019. Best Student Paper Award. [link]

  3. P. Holmes, S. Kousik, B. Zhang, D. Raz, C. Barbalata, M. Johnson-Roberson, and R. Vasudevan. “Reachable sets for safe, real-time manipulator trajectory design.” Proceedings of the 2020 Robotics: Science and Systems conference, virtual conference, July 2020. [link]

  4. S. Vaskov∗ , S. Kousik∗ , H. Larson, F. Bu, J. Ward, S. Worrall, M. Johnson-Roberson, and R. Vasudevan. “Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments.” Proceedings of the 2019 Robotics: Science and Systems conference, Freiburg im Brasgau, Germany, February 2019. [link]

  5. P. Holmes, S. Kousik, S. Mohan, and R. Vasudevan. “Convex estimation of the α-confidence reachable set for systems with parametric uncertainty.” Proceedings of the 55th IEEE Conference on Decision and Control, Las Vegas, NV, December 2016. [link]

  6. S. Bhamidipati, S. Kousik, and G.X. Gao. “Set-Valued Shadow Matching using Zonotopes.” Institute of Navigation (ION) GNSS+ Conference 2021.

  7. S. Vaskov, H. Larson, S. Kousik, M. Johnson-Roberson, and R. Vasudevan. “Not-at-Fault Driving in Traffic: A Reachability-Based Approach.” Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, Auckland, New Zealand, October 2019. [link]

  8. S. Vaskov, U. Sharma, S. Kousik, M. Johnson-Roberson, and R. Vasudevan. “Guaranteed safe reachability-based trajectory design for a high-fidelity model of an autonomous passenger vehicle.” Proceedings of the 2019 IEEE American Control Conference, Philadelphia, PA, July 2019. [link]

  9. T.Y. Mina, A. Kanhere, S. Kousik, and G.X. Gao. “Continuous GPS Authentication with Chimera using Stochastic Reachability Analysis.” Institute of Navigation (ION) GNSS+ Conference 2021.

  10. L.K. Chung∗ , A. Dai∗ , D. Knowles, S. Kousik, and G.X. Gao. “Constrained Feedforward Neural Network Training via Reachability Analysis.” Robotics for People workshop at R:SS’21, virtual, July 2021. [link, poster, arXiv]


Patents

  1. H.G. Rimatzki∗ , S. Kousik∗ , and J.A. Kurzer∗ . “Adjustable grip size for curved or straight grip.” US Patent 10005177 B2, June 2018.


Dissertation

S. Kousik. “Reachability-based Trajectory Design.” University of Michigan. August 2020.


∗ denotes equal contribution. Also see Google Scholar.