Publications



    2024


  • AmeliaTF: A Large Model and Dataset for Airport Surface Movement Forecasting
    Patrikar, Jay*; Navarro, Ingrid*; Ortega, Pablo*; Wang, Haichuan; Ye, Zelin; Park, Jong Hoon; Oh, Jean; Scherer, Sebastian
    AIAA AVIATION FORUM AND ASCEND 2024 [Best Paper Award]
    PDF
  • RuleFuser: An Evidential Bayes Approach for Rule Injection in Imitation Learned Planners for Robustness under Distribution Shifts
    Patrikar. Jay
    ; Veer, Sushant; Sharma, Apoorva; Pavone, Marco; Scherer, Sebastian
    Preprint (ArXiv) 2024
    PDF
  • Pegasus simulator: An isaac sim framework for multiple aerial vehicles simulation
    Jacinto, Marcelo; Pinto, João; Patrikar, Jay; Keller, John; Cunha, Rita; Scherer, Sebastian; Pascoal, António
    International Conference on Unmanned Aircraft Systems (ICUAS) 2024
  • TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations
    Patrikar, Jay; Dantas, Joao; Moon, Brady; Hamidi, Milad; Ghosh, Sourish; Keetha, Nikhil; Higgins, Ian; Chandak, Atharva; Yoneyama, Takashi; Scherer, Sebastian
    Preprint (ArXiv) 2024
    PDF
  • SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation
    Patrikar, Jay*; Navarro, Ingrid*; Dantas, Joao PA; Baijal, Rohan; Higgins, Ian; Scherer, Sebastian; Oh, Jean
    IEEE Robotics and Automation Letters 2024
    PDF

  • 2023


  • Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
    Hu, Yafei; Xie, Quanting; Jain, Vidhi; Francis, Jonathan; Patrikar, Jay; Keetha, Nikhil; Kim, Seungchan; Xie, Yaqi; Zhang, Tianyi; Zhao, Shibo; Chong, Yu Quan; Wang, Chen; Sycara, Katia; Johnson-Roberson, Matthew; Batra, Dhruv; Wang, Xiaolong; Scherer, Sebastian; Kira, Zsolt; Xia, Fei; Bisk, Yonatan
    Preprint (ArXiv) 2023
    PDF
  • FoundLoc: Vision-based Onboard Aerial Localization in the Wild
    He, Yao; Cisneros, Ivan; Keetha, Nikhil; Patrikar, Jay; Ye, Zelin; Higgins, Ian; Hu, Yaoyu; Kapoor, Parv; Scherer, Sebastian
    Preprint (ArXiv) 2023
    PDF
  • Follow the rules: Online signal temporal logic tree search for guided imitation learning in stochastic domains
    Patrikar, Jay*; Aloor, Jasmine Jerry*; Kapoor, Parv; Oh, Jean; Scherer, Sebastian
    IEEE International Conference on Robotics and Automation (ICRA) 2023
    PDF
  • AirTrack: Onboard deep learning framework for long-range aircraft detection and tracking
    Ghosh, Sourish; Patrikar, Jay; Moon, Brady; Hamidi, Milad Moghassem; Scherer, Sebastian
    2023 IEEE International Conference on Robotics and Automation (ICRA) 2023
    PDF

  • 2022


  • Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
    Patrikar, Jay; Dantas, Joao P. A.; Ghosh, Sourish; Kapoor, Parv; Higgins, Ian; Aloor, Jasmine J.; Navarro, Ingrid; Sun, Jimin; Stoler, Ben; Hamidi, Milad; Baijal, Rohan; Moon, Brady; Oh, Jean; Scherer, Sebastian
    International Conference on Robotics and Automation (ICRA) [Workshop] 2022
    PDF
  • Quantifying the Effect of Weather on Advanced Air Mobility Operations
    Sharma, Ashima; Patrikar, Jay; Moon, Brady; Scherer, Sebastian; Samaras, Constantine
    Findings 2022
    PDF
  • Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery
    Rodrigues, Thiago A.; Patrikar, Jay; Oliveira, Natalia L.; Matthews, H. Scott; Scherer, Sebastian; Samaras, Constantine
    Patterns 2022
    PDF
  • Predicting like a pilot: Dataset and method to predict socially-aware aircraft trajectories in non-towered terminal airspace
    Patrikar, Jay; Moon, Brady; Oh, Jean; Scherer, Sebastian
    International Conference on Robotics and Automation (ICRA) 2022
    PDF

  • 2021


  • Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance
    Ho, Cherie; Patrikar, Jay; Bonatti, Rogerio; Scherer, Sebastian
    2021
    PDF
  • In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery
    Rodrigues, Thiago A.; Patrikar, Jay; Choudhry, Arnav; Feldgoise, Jacob; Arcot, Vaibhav; Gahlaut, Aradhana; Lau, Sophia; Moon, Brady; Wagner, Bastian; Matthews, H. Scott
    Scientific Data 2021
    PDF
  • Cvar-based flight energy risk assessment for multirotor uavs using a deep energy model
    Choudhry, Arnav; Moon, Brady; Patrikar, Jay; Samaras, Constantine; Scherer, Sebastian
    IEEE International Conference on Robotics and Automation (ICRA) 2021
    PDF

  • 2020


  • Wind and the city: Utilizing uav-based in-situ measurements for estimating urban wind fields
    Patrikar, Jay; Moon, Brady G.; Scherer, Sebastian
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    PDF
  • Real-time motion planning of curvature continuous trajectories for urban UAV operations in wind
    Patrikar, Jay; Dugar, Vishal; Arcot, Vaibhav; Scherer, Sebastian
    2020 International Conference on Unmanned Aircraft Systems (ICUAS) 2020
    PDF

  • 2019


    Sequential Auto-Landing of Multiple UAVs using Control Constrained Path Following
    Patrikar, Jay; Makkapati, Venkata Ramana; Kothari, Mangal
    AIAA Scitech Forum 2019
    PDF
  • Nested saturation based guidance law for unmanned aerial vehicles
    Patrikar, Jay; Makkapati, Venkata Ramana; Pattanaik, Anay; Parwana, Hardik; Kothari, Mangal
    Journal of Dynamic Systems, Measurement, and Control 2019
    PDF

  • 2018


  • MARAAL: A low altitude long endurance solar powered UAV for surveillance and mapping applications
    Dwivedi, Vijay Shankar; Patrikar, Jay; Addamane, Amulya; Ghosh, A. K.
    2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) 2018
    PDF
  • Convolutional neural network based sensors for mobile robot relocalization
    Sinha, Harsh; Patrikar, Jay; Dhekane, Eeshan Gunesh; Pandey, Gaurav; Kothari, Mangal
    2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) 2018
    PDF
  • A Novel Fully Quaternion based Nonlinear Attitude and Position Controller
    Parwana, Hardik; Patrikar, Jay S.; Kothari, Mangal
    2018 AIAA Guidance, Navigation, and Control Conference 2018
    PDF
  • A low-cost tilt-augmented quadrotor helicopter: Modeling and control
    Bhargavapuri, Mahathi; Patrikar, Jay; Sahoo, Soumya Ranjan; Kothari, Mangal
    2018 international conference on unmanned aircraft systems (ICUAS) 2018
    PDF

Theses


  • Wind-Field Estimation and Curvature Continuous Path Planning for Low Altitude Urban Aerial Mobility
    J. Patrikar
    , Master of Science Robotics Thesis. Supervised by Sebastian Scherer
    [PDF] Carnegie Mellon University, 2020
  • A 3D Guidance Law for Path Following
    J. Patrikar
    , Master of Technology Thesis. Supervised by Dr Mangal Kothari
    Indian Institute of Technology Kanpur, 2018