Journal Articles

J5Rakita, D., Mutlu, B., Gleicher, M.  2021.  Single-query Path Planning Using Sample-efficient Probability Informed Trees.  IEEE Robotics and Automation Letters, Presentation at ICRA 2021 (ICRA/ RA-L). [To Appear]

J4Rakita, D., Mutlu, B., Gleicher, M.  2020.  An Analysis of RelaxedIK: An Optimization-based Framework for Generating Accurate and Feasible Robot Arm Motions.  Autonomous Robots (AURO).

J3Rakita, D., Mutlu, B., Gleicher, M., and Hiatt, L.  2019.  Shared-Control-Based Bimanual Robot Manipulation.  Science Robotics.  

J2. Bodden, C., Rakita, D., Mutlu, B., and Gleicher, M. 2017. A Flexible Optimization-Based Method for Synthesizing Intent Expressive Robot Arm Motion. The International Journal of Robotics Research. SAGE.

J1. Pejsa, T., Rakita, D., Mutlu, B., & Gleicher, M. 2016. Authoring directed gaze for full-body motion capture. ACM Transactions on Graphics, 35(6), 1–11. Proceedings SIGGRAPH ASIA 2016, December 2016 (acceptance rate 89/300)

 

Refereed Full Conference Papers

C15. Rakita, D., Mutlu, B., and Gleicher, M. 2021. CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance.  IEEE International Conference on Robotics and Automation (ICRA).  [To Appear]

C14. Rakita, D., Shi, H., Mutlu, B., and Gleicher, M. 2021.  Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods.  IEEE International Conference on Robotics and Automation (ICRA).  [To Appear]

C13. Rakita, D., Mutlu, B., and Gleicher, M. 2020. Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation.  International Conference on Human-Robot Interaction (HRI). ACM/IEEE. (Acceptance rate 24%)

C12. Praveena, P., Rakita, D., Mutlu, B., and Gleicher, M. 2020.  Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation.  International Conference on Human-Robot Interaction (HRI). ACM/IEEE. (Acceptance rate 24%) [Best Paper Award Nominee]

C11. Rakita, D., Mutlu, B., and Gleicher, M. 2019. Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments.  Robotics: Science and Systems (RSS).

C10. Rakita, D., Mutlu, B., and Gleicher, M. 2019.  Stampede: A Discrete-Optimization Method for Solving Pathwise-Inverse Kinematics.  IEEE International Conference on Robotics and Automation (ICRA).

C9. Praveena, P., Rakita, D., Mutlu, B., and Gleicher, M. 2019.   User-Guided Offline Synthesis of Robot Arm Motion from 6-DoF Paths.   IEEE International Conference on Robotics and Automation (ICRA).

C8. Rakita, D., Mutlu, B., and Gleicher, M. 2018.  Relaxed-IK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion.  Robotics: Science and Systems (RSS). [Invited to Special Issue] 

C7. Rakita, D., Mutlu, B., and Gleicher, M. 2018. An Autonomous Dynamic Camera Method for Effective Remote Teleoperation.  International Conference on Human-Robot Interaction (HRI). ACM/IEEE. (Acceptance rate 23%)  [Best Paper Award Winner] 

C6. Rakita, D., Mutlu, B., Gleicher, M., and Hiatt, L. 2018. Shared Dynamic Curves: A Shared-Control Telemanipulation Methodfor Motor Task Training. International Conference on Human-Robot Interaction (HRI). ACM/IEEE. (Acceptance rate 23%) 

C5. Rakita, D., Mutlu, B., and Gleicher, M. 2017. A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms. International Conference on Human-Robot Interaction (HRI). ACM/IEEE. (Acceptance rate 50/211) 

C4. Liu, O., Rakita, D., Mutlu, B., and Gleicher, M. 2017. Understanding Human-Robot Interaction in Virtual Reality. RO-MAN 2017-The IEEE International Symposium on Robot and Human Interactive Communication. IEEE. 

C3. Subramani, G., Rakita, D., Wang H., Zinn, M., Gleicher, M. 2017. Recognizing Actions during Tactile Manipulations through Force Sensing. International Conference on Intelligent Robots and System (IROS). IEEE/RSJ. 

C2. Rakita, D., Mutlu, B., and Gleicher, M. 2016. Motion Synopsis for Robot Arm Trajectories. RO-MAN 2016-The 25th IEEE International Symposium on Robot and Human Interactive Communication. IEEE. (Acceptance rate 44%) 

C1. Bodden, C., Rakita, D., Mutlu, B., and Gleicher, M. 2016. Evaluting Intent-Expressive Robot Arm Motion. RO-MAN 2016-The 25th IEEE International Symposium on Robot and Human Interactive Communication. IEEE. [Best Paper Award Nominee] (Acceptance rate 44%) 

 

Refereed Short Conference Papers

SC2. Rakita, D. 2017. Methods for Effective Mimicry-based Teleoperation of Robot Arms. International Conference on HumanRobot Interaction (HRI) Pioneers Workshop.

SC1. Rakita, D., Pejsa, T., Mutlu, B., and Gleicher, M. 2015. Inferring Gaze Shifts from Captured Body Motion. SIGGRAPH 2015 Poster Proceedings 77, 77:1. [Student Research Competition – 1st Place]