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George A. Kantor

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2020 – today

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2024
[j14]
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Baskar Ganapathysubramanian, Jessica M. P. Bell, George Kantor, Nirav C. Merchant, Soumik Sarkar, Patrick S. Schnable, Michelle Segovia, Arti Singh, Asheesh K. Singh:
AIIRA: AI Institute for Resilient Agriculture. AI Mag. 45(1): 94-98 (2024)
[j13]
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Moonyoung Lee, Aaron Berger, Dominic Guri, Kevin Zhang, Lisa Coffey, George Kantor, Oliver Kroemer:
Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments. IEEE Robotics Autom. Lett. 9(6): 5150-5157 (2024)
[c69]
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Chung Hee Kim, Moonyoung Lee, Oliver Kroemer, George Kantor:
Towards Robotic Tree Manipulation: Leveraging Graph Representations. ICRA 2024: 11884-11890
[c68]
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Harry Freeman, George Kantor:
Autonomous Apple Fruitlet Sizing with Next Best View Planning. ICRA 2024: 15847-15853
[i17]
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  - journals/corr/abs-2402-18710
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Dominic Guri, Moonyoung Lee, Oliver Kroemer, George Kantor:
Hefty: A Modular Reconfigurable Robot for Advancing Robot Manipulation in Agriculture. CoRR abs/2402.18710 (2024)
[i16]
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  - journals/corr/abs-2403-17774
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Ruiji Liu, Francisco Yandún, George Kantor:
LiDAR-Based Crop Row Detection Algorithm for Over-Canopy Autonomous Navigation in Agriculture Fields. CoRR abs/2403.17774 (2024)
[i15]
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  - journals/corr/abs-2409-10161
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Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandún, David Held, George Kantor, Abhisesh Silwal:
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting. CoRR abs/2409.10161 (2024)
2023
[c67]
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Chung Hee Kim, George Kantor:
Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies. ICRA 2023: 9580-9586
[c66]
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Harry Freeman, Eric Schneider, Chung Hee Kim, Moonyoung Lee, George Kantor:
3D Reconstruction-Based Seed Counting of Sorghum Panicles for Agricultural Inspection. ICRA 2023: 9594-9600
[c65]
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Eric Schneider, Sushanth Jayanth, Abhisesh Silwal, George Kantor:
3D Skeletonization of Complex Grapevines for Robotic Pruning. IROS 2023: 3278-3283
[i14]
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  - journals/corr/abs-2301-08387
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Chung Hee Kim, George Kantor:
Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies. CoRR abs/2301.08387 (2023)
[i13]
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  - journals/corr/abs-2307-11706
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Eric Schneider, Sushanth Jayanth, Abhisesh Silwal, George Kantor:
3D Skeletonization of Complex Grapevines for Robotic Pruning. CoRR abs/2307.11706 (2023)
[i12]
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  - journals/corr/abs-2309-13669
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Harry Freeman, George Kantor:
Autonomous Apple Fruitlet Sizing with Next Best View Planning. CoRR abs/2309.13669 (2023)
[i11]
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  - journals/corr/abs-2311-03697
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Moonyoung Lee, Aaron Berger, Dominic Guri, Kevin Zhang, Lisa Coffee, George Kantor, Oliver Kroemer:
Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments. CoRR abs/2311.03697 (2023)
[i10]
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  - journals/corr/abs-2311-07479
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Chung Hee Kim, Moonyoung Lee, Oliver Kroemer, George Kantor:
Towards Robotic Tree Manipulation: Leveraging Graph Representations. CoRR abs/2311.07479 (2023)
[i9]
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  - journals/corr/abs-2312-17110
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Mohamad Qadri, Harry Freeman, Eric Schneider, George Kantor:
Toward Semantic Scene Understanding for Fine-Grained 3D Modeling of Plants. CoRR abs/2312.17110 (2023)
2022
[j12]
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  - journals/fr/SilwalYNBK22
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Abhisesh Silwal, Francisco Yandún, Anjana K. Nellithimaru, Terry Bates, George Kantor:
Bumblebee: A Path Towards Fully Autonomous Robotic Vine Pruning. Field Robotics 2(1): 1661-1696 (2022)
[i8]
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  - journals/corr/abs-2211-07748
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Harry Freeman, Eric Schneider, Chung Hee Kim, Moonyoung Lee, George Kantor:
3D Reconstruction-Based Seed Counting of Sorghum Panicles for Agricultural Inspection. CoRR abs/2211.07748 (2022)
[i7]
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  - journals/corr/abs-2212-01506
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Harry Freeman, Mohamad Qadri, Abhisesh Silwal, Paul O'Connor, Zachary B. Rubinstein, Daniel Cooley, George Kantor:
Autonomous Apple Fruitlet Sizing and Growth Rate Tracking using Computer Vision. CoRR abs/2212.01506 (2022)
2021
[c64]
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  - conf/icra/YandunPSCYLYK21
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Francisco Yandún, Tanvir Parhar, Abhisesh Silwal, David Clifford, Zhiqiang Yuan, Gabriella Levine, Sergey Yaroshenko, George Kantor:
Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy. ICRA 2021: 2400-2406
[c63]
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  - conf/iros/SilwalPYBK21
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Abhisesh Silwal, Tanvir Parhar, Francisco Yandún, Harjatin Singh Baweja, George Kantor:
A Robust Illumination-Invariant Camera System for Agricultural Applications. IROS 2021: 3292-3298
[i6]
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  - journals/corr/abs-2101-02190
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Abhisesh Silwal, Tanvir Parhar, Francisco Yandún, George Kantor:
A Robust Illumination-Invariant Camera System for Agricultural Applications. CoRR abs/2101.02190 (2021)
[i5]
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  - journals/corr/abs-2107-04178
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Mohamad Qadri, George Kantor:
Semantic Feature Matching for Robust Mapping in Agriculture. CoRR abs/2107.04178 (2021)
[i4]
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  - journals/corr/abs-2112-00291
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Abhisesh Silwal, Francisco Yandún, Anjana K. Nellithimaru, Terry Bates, George Kantor:
Bumblebee: A Path Towards Fully Autonomous Robotic Vine Pruning. CoRR abs/2112.00291 (2021)
2020
[c62]
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  - conf/cvpr/YandunSK20
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Francisco Yandún, Abhisesh Silwal, George Kantor:
Visual 3D Reconstruction and Dynamic Simulation of Fruit Trees for Robotic Manipulation. CVPR Workshops 2020: 238-247

2010 – 2019

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2019
[c61]
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  - conf/atal/LuoNKS19
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Wenhao Luo, Changjoo Nam, George Kantor, Katia P. Sycara:
Distributed Environmental Modeling and Adaptive Sampling for Multi-Robot Sensor Coverage. AAMAS 2019: 1488-1496
[c60]
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Sumit Kumar, Wenhao Luo, George Kantor, Katia P. Sycara:
Active Learning with Gaussian Processes for High Throughput Phenotyping. AAMAS 2019: 2078-2080
[c59]
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Anjana K. Nellithimaru, George A. Kantor:
ROLS : Robust Object-Level SLAM for Grape Counting. CVPR Workshops 2019: 2648-2656
[c58]
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  - conf/iros/ShaoVLK19
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Weizhao Shao, Srinivasan Vijayarangan, Cong Li, George Kantor:
Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping. IROS 2019: 370-377
[c57]
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  - conf/nips/LinBKH19
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Xingyu Lin, Harjatin Singh Baweja, George Kantor, David Held:
Adaptive Auxiliary Task Weighting for Reinforcement Learning. NeurIPS 2019: 4773-4784
[i3]
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  - journals/corr/abs-1901-06803
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Sumit Kumar, Wenhao Luo, George Kantor, Katia P. Sycara:
Active Learning with Gaussian Processes for High Throughput Phenotyping. CoRR abs/1901.06803 (2019)
[i2]
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  - journals/corr/abs-1902-10741
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Weizhao Shao, Srinivasan Vijayarangan, Cong Li, George Kantor:
Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping. CoRR abs/1902.10741 (2019)
2018
[c56]
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  - conf/icra/ParharBJK18
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Tanvir Parhar, Harjatin Singh Baweja, Merritt Jenkins, George Kantor:
A Deep Learning-Based Stalk Grasping Pipeline. ICRA 2018: 1-5
[c55]
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Humphrey Hu, George Kantor:
Compensating for Context by Learning Local Models of Perception Performance. IROS 2018: 4629-4634
2017
[c54]
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Humphrey Hu, George Kantor:
Efficient Automatic Perception System Parameter Tuning On Site without Expert Supervision. CoRL 2017: 57-66
[c53]
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  - conf/corl/LiuSPVK17
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Guan-Horng Liu, Avinash Siravuru, Sai P. Selvaraj, Manuela M. Veloso, George Kantor:
Learning End-to-end Multimodal Sensor Policies for Autonomous Navigation. CoRL 2017: 249-261
[c52]
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  - conf/icra/Mueller-SimJAK17
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Tim Mueller-Sim, Merritt Jenkins, Justin Abel, George Kantor:
The Robotanist: A ground-based agricultural robot for high-throughput crop phenotyping. ICRA 2017: 3634-3639
[c51]
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  - conf/iros/JenkinsK17
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Merritt Jenkins, George Kantor:
Online detection of occluded plant stalks for manipulation. IROS 2017: 5162-5167
[c50]
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  - conf/rss/HuK17
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Humphrey Hu, George Kantor:
Introspective Evaluation of Perception Performance for Parameter Tuning without Ground Truth. Robotics: Science and Systems 2017
[i1]
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Guan-Horng Liu, Avinash Siravuru, Sai P. Selvaraj, Manuela M. Veloso, George Kantor:
Learning End-to-end Multimodal Sensor Policies for Autonomous Navigation. CoRR abs/1705.10422 (2017)
2016
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Humphrey Hu, George Kantor:
Instance selection for efficient and reliable camera calibration. ICRA 2016: 4335-4340
2015
[j11]
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  - journals/ram/BergermanMZFHSK15
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Marcel Bergerman, Silvio M. Maeta, Ji Zhang, Gustavo Medeiros Freitas, Bradley Hamner, Sanjiv Singh, George Kantor:
Robot Farmers: Autonomous Orchard Vehicles Help Tree Fruit Production. IEEE Robotics Autom. Mag. 22(1): 54-63 (2015)
[c48]
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  - conf/icra/BourneCHKNRSS15
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David A. Bourne, Howie Choset, Humphrey Hu, George Kantor, Chris Niessl, Zachary B. Rubinstein, Reid G. Simmons, Stephen F. Smith:
Mobile manufacturing of large structures. ICRA 2015: 1565-1572
[c47]
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  - conf/icra/VaidyaSHK15
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Bhaskar Vaidya, Michael Shomin, Ralph L. Hollis, George Kantor:
Operation of the ballbot on slopes and with center-of-mass offsets. ICRA 2015: 2383-2388
[c46]
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Humphrey Hu, George Kantor:
Parametric covariance prediction for heteroscedastic noise. IROS 2015: 3052-3057
2014
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  - journals/ijrr/NagarajanKH14
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
The ballbot: An omnidirectional balancing mobile robot. Int. J. Robotics Res. 33(6): 917-930 (2014)
2013
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Integrated motion planning and control for graceful balancing mobile robots. Int. J. Robotics Res. 32(9-10): 1005-1029 (2013)
[c45]
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  - conf/icra/TullyKC13
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Stephen Tully, George Kantor, Howie Choset:
Monocular feature-based periodic motion estimation for surgical guidance. ICRA 2013: 4403-4408
2012
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Stephen Tully, George Kantor, Howie Choset:
A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps. Int. J. Robotics Res. 31(3): 271-288 (2012)
[c44]
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Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, John Dolan, Adrian Scerri, Kumar Shaurya Shankar, Luis Bill, George Kantor:
Real-world testing of a multi-robot team. AAMAS 2012: 1213-1214
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Ji Zhang, Sanjiv Singh, George Kantor:
Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain. FSR 2012: 311-326
[c42]
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James Lee, David Wettergreen, George Kantor:
Lightweight Laser Scan Registration in Underground Mines with Band-based Downsampling Method. FSR 2012: 555-567
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  - conf/fsr/ValadaVKTKS12
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Abhinav Valada, Prasanna Velagapudi, Balajee Kannan, Christopher Tomaszewski, George Kantor, Paul Scerri:
Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform. FSR 2012: 643-658
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  - conf/icira/FreitasZHBK12
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Gustavo Medeiros Freitas, Ji Zhang, Bradley Hamner, Marcel Bergerman, George Kantor:
A Low-Cost, Practical Localization System for Agricultural Vehicles. ICIRA (3) 2012: 365-375
[c39]
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Abhinav Valada, Christopher Tomaszewski, Balajee Kannan, Prasanna Velagapudi, George Kantor, Paul Scerri:
An Intelligent Approach to Hysteresis Compensation while Sampling Using a Fleet of Autonomous Watercraft. ICIRA (2) 2012: 472-485
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Integrated planning and control for graceful navigation of shape-accelerated underactuated balancing mobile robots. ICRA 2012: 136-141
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Chaohui Gong, Stephen Tully, George Kantor, Howie Choset:
Multi-agent deterministic graph mapping via robot rendezvous. ICRA 2012: 1278-1283
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Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan:
Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. ICRA 2012: 3388-3394
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Ji Zhang, George Kantor, Marcel Bergerman, Sanjiv Singh:
Monocular visual navigation of an autonomous vehicle in natural scene corridor-like environments. IROS 2012: 3659-3666
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Wei Liu, George Kantor, Fernando De la Torre, Nanning Zheng:
Image-based tree pruning. ROBIO 2012: 2072-2077
2011
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Paul Scerri, Balajee Kannan, Prasanna Velagapudi, Kate Macarthur, Peter Stone, Matthew E. Taylor, John Dolan, Alessandro Farinelli, Archie C. Chapman, Bernadine Dias, George Kantor:
Flood Disaster Mitigation: A Real-World Challenge Problem for Multi-agent Unmanned Surface Vehicles. AAMAS Workshops 2011: 252-269
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Abhinav Valada, David Kohanbash, George Kantor:
DSRP: Distributed SensorWeb Routing Protocol. CONIELECOMP 2011: 310-315
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Jacqueline Libby, George Kantor:
Deployment of a point and line feature localization system for an outdoor agriculture vehicle. ICRA 2011: 1565-1570
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Tong Tao, Stephen Tully, George Kantor, Howie Choset:
Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM. ICRA 2011: 3072-3077
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Yu Fu, Stephen Tully, George Kantor, Howie Choset:
Monte Carlo Localization using 3D texture maps. IROS 2011: 482-487
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Stephen Tully, George Kantor, Marco A. Zenati, Howie Choset:
Shape estimation for image-guided surgery with a highly articulated snake robot. IROS 2011: 1353-1358
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Stephen Tully, George Kantor, Howie Choset:
Inequality constrained Kalman filtering for the localization and registration of a surgical robot. IROS 2011: 5147-5152
2010
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Nathaniel Fairfield, George Kantor, Dominic Jonak, David Wettergreen:
Autonomous Exploration and Mapping of Flooded Sinkholes. Int. J. Robotics Res. 29(6): 748-774 (2010)
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Sanjiv Singh, Marcel Bergerman, Jillian Cannons, Benjamin Grocholsky, Bradley Hamner, Germán Holguín, Larry Hull, Vincent Jones, George Kantor, Harvey Koselka, Guiqin Li, James Owen, Johnny Park, Wenfan Shi, James P. Teza:
Comprehensive Automation for Specialty Crops: Year 1 results and lessons learned. Intell. Serv. Robotics 3(4): 245-262 (2010)
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Nathaniel Fairfield, David Wettergreen, George Kantor:
Segmented SLAM in three-dimensional environments. J. Field Robotics 27(1): 85-103 (2010)
[c26]
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Stephen Tully, George Kantor, Howie Choset:
A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM. AAAI 2010: 1252-1257
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Hybrid control for navigation of shape-accelerated underactuated balancing systems. CDC 2010: 3566-3571
[c24]
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Mishari Alarfaj, George Kantor:
Centrifugal force compensation of a two-wheeled balancing robot. ICARCV 2010: 2333-2338

2000 – 2009

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2009
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Stephen Tully, George Kantor, Howie Choset:
Leap-Frog Path Design for Multi-Robot Cooperative Localization. FSR 2009: 307-317
[c22]
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Human-robot physical interaction with dynamically stable mobile robots. HRI 2009: 205-206
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Human-robot physical interaction with dynamically stable mobile robots. HRI 2009: 281-282
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Umashankar Nagarajan, Anish Mampetta, George Kantor, Ralph L. Hollis:
State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot. ICRA 2009: 998-1003
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Umashankar Nagarajan, George Kantor, Ralph L. Hollis:
Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot. ICRA 2009: 3743-3748
[c18]
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Felix Werner, Frédéric Maire, Joaquin Sitte, Howie Choset, Stephen Tully, George Kantor:
Topological SLAM using neighbourhood information of places. IROS 2009: 4937-4942
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Stephen Tully, George Kantor, Howie Choset, Felix Werner:
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs. IROS 2009: 4943-4948
2008
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Stephen Tully, Hyungpil Moon, George Kantor, Howie Choset:
Iterated filters for bearing-only SLAM. ICRA 2008: 1442-1448
2007
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Nathaniel Fairfield, George Kantor, David Wettergreen:
Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels. J. Field Robotics 24(1-2): 03-21 (2007)
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George Kantor, Nathaniel Fairfield, Dominic Jonak, David Wettergreen:
Experiments in Navigation and Mapping with a Hovering AUV. FSR 2007: 115-124
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Stephen Tully, Hyungpil Moon, Deryck Morales, George Kantor, Howie Choset:
Hybrid localization using the hierarchical atlas. IROS 2007: 2857-2864
2006
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  - conf/icra/DjugashSKZ06
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Joseph Djugash, Sanjiv Singh, George Kantor, Wei Zhang:
Range-only SLAM for Robots Operating Cooperatively with Sensor Networks. ICRA 2006: 2078-2084
[c12]
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Tom Lauwers, George Kantor, Ralph L. Hollis:
A Dynamically Stable Single-wheeled Mobile Robot with Inverse Mouse-ball Drive. ICRA 2006: 2884-2889
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Nathaniel Fairfield, George Kantor, David Wettergreen:
Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment. ICRA 2006: 3575-3580
2005
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Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis M. Rekleitis, Howie Choset:
The hierarchical atlas. IEEE Trans. Robotics 21(3): 473-481 (2005)
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Tom Lauwers, George Kantor, Ralph L. Hollis:
One Is Enough!. ISRR 2005: 327-336
2004
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Albert Costa, George Kantor, Howie Choset:
Bearing-only Landmark Initialization with Unknown Data Association. ICRA 2004: 1764-1770
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Wei Zhang, George Kantor, Sanjiv Singh:
Integrated wireless sensor/actuator networks in an agricultural application. SenSys 2004: 317
2003
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George Kantor, Sanjiv Singh, Ronald A. Peterson, Daniela Rus, Aveek K. Das, Vijay Kumar, Guilherme A. S. Pereira, John R. Spletzer:
Distributed Search and Rescue with Robot and Sensor Teams. FSR 2003: 529-538
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Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis M. Rekleitis, Howie Choset:
Hierarchical simultaneous localization and mapping. IROS 2003: 448-453
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Derek Kurth, George Kantor, Sanjiv Singh:
Experimental results in range-only localization with radio. IROS 2003: 974-979
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Sarjoun Skaff, George Kantor, David Maiwand, Alfred A. Rizzi:
Inertial navigation and visual line following for a dynamical hexapod robot. IROS 2003: 1808-1813
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George Kantor, Alfred A. Rizzi:
Feedback Control of Underactuated Systems via Sequential Composition: Visually Guided Control of a Unicycle. ISRR 2003: 281-290
2002
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George Kantor, Sanjiv Singh:
Preliminary Results in Range-Only Localization and Mapping. ICRA 2002: 1818-1823
[c1]
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Sanjiv Singh, George Kantor, Dennis Strelow:
Recent Results in Extensions to Simultaneous Localization and Mapping. ISER 2002: 210-221
2001
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George A. Kantor, P. S. Krishnaprasad:
An application of Lie groups in distributed control networks. Syst. Control. Lett. 43(1): 43-52 (2001)

1990 – 1999

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1999
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George Kantor:
Approximate Matrix Diagonalization for Use in Distributed Control Networks. University of Maryland, College Park, MD, USA, 1999
1996
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George Kantor, Vikram Manikonda, Andrew Newman, Dimitris P. Tsakiris:
Robotics for High School Students in a University Enviroment. Comput. Sci. Educ. 7(2): 257-278 (1996)

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