Project Scientist, CMU

Works on robust coordination and decision-making for multi-robot teams in adversarial settings.

Journals

9. Generative Models, Attention Mechanisms and Adaptive Methods for Robot Navigation in Complex Environments – A Survey (IEEE Access)
H. Sridharan, N. Ramsai and B. Vundurthy PDF

8. A Synchronized Task Formulation for Robotic Convoy Operations (IEEE Robotics and Automation Letters, 2025)
C. Noren, B. Vundurthy, S. Scherer, H. Choset and M. Travers PDF

7. Interaction-aware control for robotic vegetation override in off-road environments (Journal of Terramechanics, 2025)
C. Noren, B. Vundurthy, S. Scherer, and M. Travers PDF

6. Intelligent Players in a Fictitious Play Framework (IEEE Transactions on Automatic Control, 2024)
B. Vundurthy, A. Kanellopoulos, V. Gupta, and K. G. Vamvoudakis Preprint

5. Quantifying neutrophil extracellular trap release in a combined infection–inflammation NET-array device (Lab on a Chip, 2024)
U. S. Datla, B. Vundurthy, J. S. Hook, N. Menon, H. R. Bagtash, T. Shihabeddin, D. W. Schmidtke, J. G. Moreland, M. Z. Radic, and C. N. Jones PDF

4. A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search (IEEE Transactions on Robotics, 2023)
Z. Ren, A. K. Srinivasan, B. Vundurthy, I. Abraham and H. Choset Preprint

3. Study of Multiple Target Defense Differential Games Using Receding Horizon-Based Switching Strategies (IEEE Transactions on Control Systems Technology, 2022)
S. K. Singh, P. V. Reddy and B. Vundurthy Preprint

2. Protecting an Autonomous Delivery Agent Against a Vision-Guided Adversary: Algorithms and Experimental Results (IEEE Transactions on Industrial Informatics, 2020)
B. Vundurthy and K. Sridharan Preprint

1. Multiagent Gathering With Collision Avoidance and a Minimax Distance Criterion—Efficient Algorithms and Hardware Realization (IEEE Transactions on Industrial Informatics, 2019)
B. Vundurthy and K. Sridharan Preprint

Conferences

18. Communication Network Construction Behaviors for Robotic Convoying (Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), 2025)
C. Noren, S. Chaudhary, B. Shirose, B. Vundurthy, and M. Travers

17. A Max-min Tree Approach to the Automated Construction of Ad hoc Wireless Networks in Unknown Environments (IEEE International Conference on Automation Science and Engineering (CASE), 2025)
C. Noren, B. Vundurthy, N. Bagree, and M. Travers

16. Novel Gaits for Snake Robot Navigation in Complex External Pipe Networks (IEEE International Conference on Automation Science and Engineering (CASE), 2025)
K. Karumanchi, S. Pellegrini, A. Orekhov, Y. Gu, R. Boirum, B. Vundurthy, and H. Choset

15. A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D (IEEE International Conference on Robotics and Automation (ICRA), 2025)
A. Bhat, G. Gutow, B. Vundurthy, Z. Ren, S. Rathinam, and H. Choset

  • Nominated for Overall Best Paper Award
  • Also Nominated for Best Paper Award in Automation

14. Measure Preserving Flows for Ergodic Search in Convoluted Environments (The Distributed Autonomous Robotic Systems (DARS), 2024)
A. Xu, B. Vundurthy, G. Gutow, I. Abraham, J. Schneider, and H. Choset

  • Nominated for Best Paper Award

13. GESCE: Graph-Based Ergodic Search in Cluttered Environments (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024)
B. Shirose, A. Johnson, B. Vundurthy, H. Choset, and M. Travers

12. An interaction-aware two-level robotic planning and control system for vegetation override (21st Conference of the International Society for Terrain-Vehicle Systems (ISTVS), 2024)
C. Noren, B. Shirose, B. Vundurthy, S. Scherer and M. Travers

11. A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles (Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024)
A. Bhat, G. Gutow, B. Vundurthy, Z. Ren, S. Rathinam, and H. Choset
PDF

10. Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem (The Twelfth International Conference on Learning Representations (ICLR), 2024)
A. Xu, J. Hsieh, B. Vundurthy, N. Kemp, E. Cohen, L. Li, and H. Choset

9. Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction (IEEE International Conference on Robotics and Automation (ICRA), 2024)
S. Singh, Z. Huang, A. K. Srinivasan, G. Gutow, B. Vundurthy and H. Choset

8. Trajectory optimization for vegetation override in off-road driving (16th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), 2023)
C. Noren, B. Vundurthy, S. Scherer and M. Travers

7. Multi-Agent Collective Construction Using 3D Decomposition (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023)
A. K. Srinivasan, S. Singh, G. Gutow, H. Choset and B. Vundurthy

6. Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023)
A. K. Srinivasan, G. Gutow, Z. Ren, I. Abraham, B. Vundurthy and H. Choset

5. Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results (IFAC-PapersOnLine, 2023)
N. Bagree, C. Noren, D. Singh, M. Travers, B. Vundurthy

4. Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots (IEEE International Conference on Robotics and Automation (ICRA), 2023)
P. Sriganesh, N. Bagree, B. Vundurthy and M. Travers

3. Rendezvous of Heterogeneous Robots in Minimum Time - Theory and Experiments (Advances in Robotics (AIR), 2019)
Onkar Kulkarni, B. Vundurthy, and K. Sridharan

2. Time Optimal Rendezvous for Multi-Agent Systems Amidst Obstacles - Theory and Experiments (IECON, 2018)
B. Vundurthy and K. Sridharan

1. Rendezvous of heterogeneous robots amidst obstacles with limited communication (Indian Control Conference (ICC), 2016)
B. Vundurthy, A. More, S. V. V. Raju and K. Sridharan

Workshops

7. Hierarchical Planner for the cuboid-Multi-Agent Collective Construction Problem (1st International Workshop on Collaborative Strategies for Multi-agent Robotic Construction: Block by Block at IEEE ICRA, 2025)
S. Singh, G. Gutow, B. Vundurthy, and H. Choset

6. Generalized Multi-Agent Multi-Objective Ergodic Search (6th International Workshop on Multi-Agent Path Finding at AAAI, 2025)
B. Vundurthy, G. Gutow, A. K. Srinivasan, A. Xu, B. Shirose, and H. Choset

5. Measure Preserving Flows for Ergodic Search in Convoluted Environments (6th International Workshop on Multi-Agent Path Finding at AAAI, 2025)
A. Xu, B. Vundurthy, G. Gutow, I. Abraham, J. Schneider, and H. Choset

4. Toward Multi-Agent Moving Target Traveling Salesman Problems (6th International Workshop on Multi-Agent Path Finding at AAAI, 2025)
A. Bhat, G. Gutow, B. Vundurthy, Z. Ren, S. Rathinam, and H. Choset

3. Modular, Resilient, and Scalable System Design Approaches–Lessons learned in the years after DARPA Subterranean Challenge (Workshop on Field Robotics at ICRA, 2024)
P. Sriganesh, J. Maier, A. Johnson, B. Shirose, R. Chandrasekar, C. Noren, J. Spisak, R. Darnley, B. Vundurthy, and M. Travers.

2. Hierarchical Propositional Logic Planning for Multi-Agent Collective Construction (4th Workshop on Future of Construction: Safe, Reliable, and Precise Robots in Construction Environments, ICRA, 2023)
S. Singh, G. Gutow, A. K. Srinivasan, B. Vundurthy, and H. Choset.

1. Multi-Agent Collective Construction Using 3D Decomposition (Multi-Agent Path Finding workshop at AAAI, 2023)
A. K. Srinivasan, S. Singh, G. Gutow, H. Choset and B. Vundurthy

Research Pipeline

4. Sex Differences in Murine Neutrophil Chemotaxis Following Burn Injury with Poloxamer 188 Treatment in a Microfluidic Platform (Revising a submission to the Journal of Leukocyte Biology)
H. R. Bagtash, N. Alatrash, U. S. Datla, B. Vundurthy, R. Koduri, K. Mutore, E. Salari, R. Wu, V. Nomellini, and C. N. Jones

3. Microphysiological System for Quantifying Neutrophil Dysfunctional Migration in Septic Patients (To be submitted to Nature Communications in August, 2025)
H. R. Bagtash, B. Vundurthy, U. S. Datla, S. Shao, M. T. Phoo, J. Hook, R. Koduri, C. Llamas, J. Moreland, V. Nomellini, P. Mishra, C. N. Jones

2. Generalized Multi-Agent Multi-Objective Ergodic Search (G-MA-MO-ES) using Branch and Bound (To be submitted to IEEE Transactions on Robotics (T-RO) in August, 2025)
B. Vundurthy, G. Gutow, A. Xu, B. Shirose, A. K. Srinivasan, and H. Choset

1. Learning a Unified Robot Shape Space (To be submitted to Robotics and Automation Letters (RA-L) in September, 2025)
A. Xu, B. Vundurthy, J. Schneider, and H. Choset