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Publications

Table of Contents

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Journals #

  1. J. Lei, A. Prabhu, X. Liu, F. Cladera, M. Mortazavi, R. Ehsani, P. Chaudhari, V. Kumar. Spatio-Temporal Metric-Semantic Mapping for Persistent Orchard Monitoring: Method and Dataset. IEEE Robotics and Automation Letters (RA-L), 2025. DOI: 10.1109/LRA.2025.3588037.
  2. F. Cladera, Z. Ravichandran, J. Hughes, V. Murali, C. Nieto-Granda, M. A. Hsieh, G. J. Pappas, C. J. Taylor, V. Kumar. Air-Ground Collaboration for Language-Specified Missions in Unknown Environments. IEEE Transactions on Field Robotics (T-FR), 2025. DOI: 10.1109/TFR.2025.3584019.
  3. I. D. Miller, F. Cladera, T. Smith, C. J. Taylor, V. Kumar. Air-Ground Collaboration With SPOMP: Semantic Panoramic Online Mapping and Planning. IEEE Transactions on Field Robotics (T-FR), 2024. DOI: 10.1109/TFR.2024.3424748.
  4. I. D. Miller, F. Cladera, T. Smith, C. J. Taylor, V. Kumar. Stronger Together: Air-Ground Robotic Collaboration Using Semantics. IEEE Robotics and Automation Letters (RA-L), 2022. DOI: 10.1109/LRA.2022.3191165.
  5. Z. Wang*, F. Cladera*, A. Bisulco, D. Lee, C. J. Taylor, K. Daniilidis, M. A. Hsieh, D. D. Lee, V. Isler. EV-Catcher: High-Speed Object Catching Using Low-Latency Event-Based Neural Networks. IEEE Robotics and Automation Letters (RA-L), 2022. DOI: 10.1109/LRA.2022.3188400.
  6. X. Liu, G. V. Nardari, F. Cladera, Y. Tao, A. Zhou, T. Donnelly, C. Qu, S. W. Chen, R. A. F. Romero, C. J. Taylor, V. Kumar. Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy. IEEE Robotics and Automation Letters (RA-L), 2022. DOI: 10.1109/LRA.2022.3154047.
  7. X. Liu, S. W. Chen, G. V. Nardari, C. Qu, F. Cladera, C. J. Taylor, V. Kumar. Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture. IEEE Micro, 2022. DOI: 10.1109/MM.2021.3134744.
  8. I. D. Miller, F. Cladera, A. Cowley, S. S. Shivakumar, E. S. Lee, L. Jarin-Lipschitz, A. Bhat, N. Rodrigues, A. Zhou, A. Cohen, A. Kulkarni, J. Laney, C. J. Taylor, V. Kumar. Mine Tunnel Exploration Using Multiple Quadrupedal Robots. IEEE Robotics and Automation Letters (RA-L), 2020. DOI: 10.1109/LRA.2020.2972872.

Conferences #

  1. Z. Ravichandran, I. Hounie, F. Cladera, A. Ribeiro, G. J. Pappas, V. Kumar. Distilling On-device Language Models for Robot Planning with Minimal Human Intervention. Conference on Robot Learning (CoRL), 2025.
  2. F. Cladera, K. Chaney, M. A. Hsieh, C. J. Taylor, V. Kumar. EvMAPPER: High-Altitude Orthomapping with Event Cameras. IEEE International Conference on Robotics and Automation (ICRA), 2025. DOI: 10.1109/ICRA55743.2025.11128544.
  3. D. Cheng, F. Cladera, A. Prabhu, X. Liu, A. Zhu, P. C. Green, R. Ehsani, P. Chaudhari, V. Kumar. TreeScope: An Agricultural Robotics Dataset for LiDAR-Based Mapping of Trees in Forests and Orchards. IEEE International Conference on Robotics and Automation (ICRA), 2024. DOI: 10.1109/ICRA57147.2024.10611103.
  4. F. Cladera, Z. Ravichandran, I. D. Miller, M. A. Hsieh, C. J. Taylor, V. Kumar. Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications. IEEE International Conference on Robotics and Automation (ICRA), 2024. DOI: 10.1109/ICRA57147.2024.10611469.
  5. A. Bhattacharya, R. Madaan, F. Cladera, S. Vemprala, R. Bonatti, K. Daniilidis, A. Kapoor, V. Kumar, N. Matni, J. K. Gupta. EvDNeRF: Reconstructing Event Data With Dynamic Neural Radiance Fields. IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024.
  6. Y. Tao, Y. Wu, B. Li, F. Cladera, A. Zhou, D. Thakur, V. Kumar. SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain. IEEE International Conference on Robotics and Automation (ICRA), 2023. DOI: 10.1109/ICRA48891.2023.10160295.
  7. X. Liu, A. Prabhu, F. Cladera, I. D. Miller, L. Zhou, C. J. Taylor, V. Kumar. Active Metric-Semantic Mapping by Multiple Aerial Robots. IEEE International Conference on Robotics and Automation (ICRA), 2023. DOI: 10.1109/ICRA48891.2023.10161564.
  8. A. K. Li, Y. Mao, S. Manjanna, S. Liu, J. Dhanoa, B. Mehta, V. M. Edwards, F. Cladera, M. A. Hsieh, M. Le Men, E. Sigg, D. J. Jerolmack, H. N. Ulloa. Towards Understanding Underwater Weather Events in Rivers Using Autonomous Surface Vehicles. OCEANS, 2022. DOI: 10.1109/OCEANS47191.2022.9977236.
  9. A. Bisulco, F. Cladera, V. Isler, D. D. Lee. Fast Motion Understanding with Spatiotemporal Neural Networks and Dynamic Vision Sensors. IEEE International Conference on Robotics and Automation (ICRA), 2021. DOI: 10.1109/ICRA48506.2021.9561290.
  10. F. Cladera, A. Bisulco, D. Kepple, V. Isler, D. D. Lee. On-Device Event Filtering with Binary Neural Networks for Pedestrian Detection Using Neuromorphic Vision Sensors. IEEE International Conference on Image Processing (ICIP), 2020. DOI: 10.1109/ICIP40778.2020.9191148.
  11. A. Bisulco*, F. Cladera*, V. Isler, D. D. Lee. Near-Chip Dynamic Vision Filtering for Low-Bandwidth Pedestrian Detection. IEEE Computer Society Annual Symposium on VLSI (ISVLSI), 2020. DOI: 10.1109/ISVLSI49217.2020.00050.
  12. F. Cladera, M. Gautier, O. Sentieys. Channel-aware energy optimization of OFDM receivers using dynamic precision scaling in FPGAs. European Signal Processing Conference (EUSIPCO), 2015. DOI: 10.1109/EUSIPCO.2015.7362648.
  13. F. Cladera, M. Gautier, O. Sentieys. Energy-Aware Computing via Adaptive Precision under Performance Constraints in OFDM Wireless Receivers. IEEE Computer Society Annual Symposium on VLSI (ISVLSI), 2015. DOI: 10.1109/ISVLSI.2015.88.

Workshops #

  1. A. Abedi, F. Cladera, M. Farajijalal, R. Ehsani. Adaptive Per-Tree Canopy Volume Estimation Using Mobile LiDAR in Structured and Unstructured Orchards. ICRA Workshop Novel Approaches for Precision Agriculture and Forestry with Autonomous Robots, 2025.
  2. Z. Ravichandran*, F. Cladera*, J. Hughes, V. Murali, M. A. Hsieh, G. J. Pappas, C. J. Taylor, V. Kumar. Deploying Foundation Model-Enabled Air and Ground Robots in the Field: Challenges and Opportunities. ICRA Workshop on Field Robotics, 2025.
  3. S. He, Z. Osman, F. Cladera, D. Ong, N. Rai, P. C. Green, V. Kumar, P. Chaudhari. Estimating the Diameter at Breast Height of Trees in a Forest With a Single 360 Camera. ICRA Workshop Novel Approaches for Precision Agriculture and Forestry with Autonomous Robots, 2025.
  4. F. Cladera*, K. Chaney*, C. Pritchard, M. A. Hsieh, V. Kumar, C. J. Taylor, K. Daniilidis. Looking into the Shadow: Recording a Total Solar Eclipse with High-resolution Event Cameras. IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshop (CVPRW) on Event-based Vision, 2025.
  5. F. Cladera, I. D. Miller, Z. Ravichandran, V. Murali, J. Hughes, M. A. Hsieh, C. J. Taylor, V. Kumar. Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics. ICRA Workshop on Field Robotics, 2024.
  6. K. Chaney, F. Cladera, Z. Wang, A. Bisulco, M. A. Hsieh, C. Korpela, V. Kumar, C. J. Taylor, K. Daniilidis. M3ED: Multi-Robot, Multi-Sensor, Multi-Environment Event Dataset. IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshop (CVPRW) on Event-based Vision, 2023.
  7. F. Cladera, Y. Wu, X. Liu, Y. Tao, I. D. Miller, C. J. Taylor, V. Kumar. Open Source Tools for Deployment of GPS-Denied Autonomous UAVs in Real-World Applications. ICRA Workshop on Bridging the Lab-to-Real Gap: Conversations with Academia, Industry, and Government, 2023.

Preprints #

  1. J. Hughes, M. Hussing, E. Zhang, S. Kannapiran, J. Caswell, K. Chaney, R. Deng, M. Feehery, A. Kratimenos, Y. F. Li, B. Major, E. Sanchez, S. Shrote, Y. Wang, J. Wang, D. Zein, L. Zhang, R. Zhang, A. Zhou, T. Zhouga, J. Cannon, Z. Qasim, J. Yelon, F. Cladera, K. Daniilidis, C. J. Taylor, E. Eaton. A Multi-Robot Platform for Robotic Triage Combining Onboard Sensing and Foundation Models. arXiv, 2025.
  2. Y. Tao*, D. Ong*, F. Cladera, J. Hughes, C. J. Taylor, P. Chaudhari, V. Kumar. HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation. arXiv, 2025.
  3. Z. Ravichandran, F. Cladera, A. Prabhu, J. Hughes, V. Murali, C. J. Taylor, G. J. Pappas, V. Kumar. Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence. arXiv, 2025.
  4. S. Chopra, F. Cladera, V. Murali, V. Kumar. AgriNeRF: Neural Radiance Fields for Agriculture in Challenging Lighting Conditions. arXiv, 2024.

Patents #

  1. Z. Wang, F. Cladera Ojeda, A. R. Bisulco, D. W. Lee, C. J. Taylor, K. Daniilidis, M. A. Hsieh, I. V. Isler. Systems and methods for real-time state estimation of fast-moving objects. US Patent, 2025.
  2. A. R. Bisulco, F. Cladera Ojeda, I. V. Isler, D. D. Lee. Dynamic vision filtering for event detection. US Patent, 2024.
  3. A. R. Bisulco, F. Cladera Ojeda, I. V. Isler, D. D. Lee. Dynamic vision sensors for fast motion understanding. US Patent, 2022.