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Sisir Karumanchi


4800 Oak Grove Dr.
M/S 82-105
Pasadena, CA 91109





Sisir Karumanchi



Postdoc, Robotic Mobility Group, Massachusetts Institute of Technology, 2011-2014.
PhD, Field Robotics, The Australian Centre for Field Robotics, University of Sydney, Australia, 2010.
Bachelor of Engineering, Mechatronics, University of Sydney, Australia, 2005.

Professional Experience

Collaborating Researcher, MIT Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 2012-2014.
Postdoctoral Associate, Robotic Mobility Group, Massachusetts Institute of Technology, 2011-2014.

Research Interests

- robust mobile manipulation in challenging environments.
- inverse and forward planning problems in dexterous robotic systems.
- robust constraint estimation and enforcement in single agent and multi-agent robotic systems.
- guaranteed motion safety for soft hazards (beyond obstacles, e.g. deformable soil, slopes).
- Bayesian inference.


  1. W. Reid, G. Meirion-Griffith, S. Karumanchi, B. Emanuel, B. Chamberlain-Simon, J. Bowkett, M. Garrett, "Actively Articulated Wheel-on-Limb Mobility for Traversing Europa Analogue Terrain," Field and Service Robotics: Results of the 12th International Conference, pp. 337-351, 13 January 2021.
  1. W. Reid, M. Paton, S. Karumanchi, B. Chamberlain-Simon, B. Emanuel, G. Meirion-Griffith, "Autonomous Navigation over Europa Analogue Terrain for an Actively Articulated Wheel-on-Limb Rover," 2020 IEEE/RSJ International Conference on Intel ligent Robots and Systems (IROS), Las Vegas, Nevada, pp. 1939-1946, 25 October 2020.
  2. W. Reid, B. Emanuel, B. Chamberlain-Simon, S. Karumanchi, G. Meirion-Griffith, "Mobility Mode Evaluation of a Wheel-on-Limb Rover on Glacial Ice Analogous to Europa Terrain," IEEE Aerospace Conference, Big Sky, MT, 07 March 2020.
  3. P. Tavallali, S. Karumanchi, J. Bowkett, W. Reid, B. Kennedy, "A Reinforcement Learning Framework for Space Missions in Unknown Environments," IEEE Aerospace Conference, Big Sky, MT, 07 March 2020.
  1. S. Karumanchi, K. Edelberg, J. Nash, C. Bergh, R. Smith, B. Emanuel, J. Carlton, J.Koehler, J.Kim, R. Mukherjee, B. Kennedy, P. Backes, "Payload-Centric Autonomy for In-Space Robotic Assembly of Modular Space Structures," Journal of Field Robotics, vol 35, issue 6, pp. 1005-1021, 14 June 2018.
  1. S. Karumanchi, K. Edelberg, I. Baldwin, J. Nash, J. Reid, C. Bergh, J. Leichty, K. Carpenter, M. Shekels, M. Gildner, D. Newill-Smith, J. Carlton, J. Koehler, T. Dobreva, M. Frost, P. Hebert, J, Borders, J. Ma, B. Douillard, P. Backes, B. Kennedy, B. Satzinger, C. Lau, K. Byl, K. Shankar, J. Burdick, "Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals," Journal of Field Robotics: Special Issue on the 2015 DARPA Robotics Challenge Finals, vol 34, issue 2, pp. 305-332, 18 October 2016.
  2. M. Childers, C. Lennon, B. Bodt, J. Pusey, S. Hill, R. Camden, J. Oh, R. Dean, T. Keegan, C. Diberardino, S. Karumanchi, B. Douillard, N. Gupta, C. Ordonez, J. Shill, E. Collins, J. Clark, D. Barber, J. Duperret, G. Wenger, M. Zhu, S. Park, D. Koditschek, A. Johnson, A. Suppe, and L. Navarro-Serment, "US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment," US Army Research Laboratory, ARL-TR-7729, 01 August 2016.
  3. S. Brooks, P. Goddard, P. Backes, S. B. Chamberlain, R. Smith, and S. Karumanchi, "An Untethered Mobile Limb for Modular In-Space Assembly," IEEE Aerospace Conference, 01 January 2016.
  1. M. Fallon, S. Kuindersma, S. Karumanchi, M. Antone, T. Schneider, H. Dai, C. Perez-D’Arpino, R. Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion, M. Posa, A. Valenzuela, P. Kuan-Ting Yu, J. A. Shah, K. Iagnemma, R. Tedrake, S. Teller,, "An Architecture for Online Affordance-based Perception and Whole-body Planning," Journal of Field Robotics (JFR) (Special Issue on DARPA Robotics Challenge Trials), 01 January 2015.
  2. J. Park, S. Karumanchi, and K. Iagnemma, "Homotopy-based Divide-and-Conquer Strategy for Optimal Trajectory Planning," IEEE Transactions on Robotics (T-RO), 01 January 2015.
  1. P. Hebert, J. Ma, J. Borders, A. Aydemir, M. Bajracharya, N. Hudson, K. Shankar, S. Karumanchi, B. Douillard, and J. Burdick, "Supervised remote robot with guided autonomy and teleoperation (surrogate): A framework for whole-body mobile manipulation," International Conference on Robotics and Automation (ICRA), 01 January 2014.
  2. R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, S. Teller, "A Summary of Team MIT’s Approach to the Virtual Robotics Challenge," IEEE International Conference on Robotics and Automation, 01 January 2014.
  1. S.J. Anderson, S. Karumanchi, K. Iagnemma, J.M. Walker,, "The Intelligent CoPilot: A Constraint-Based Approach to Shared-Adaptive Control of Ground Vehicles," IEEE Intelligent Transportation Systems Magazine, 01 January 2013.
  2. S. Karumanchi, K. Iagnemma, and S. Scheding, "Mobility Erosion: High Speed Motion Safety for Mobile Robots Operating in Off-Road Terrain," IEEE International Conference on Robotics and Automation, 01 January 2013.
  1. S.J. Anderson, S. Karumanchi, B.J. Johnson, M.R. Rohde, K. Iagnemma,, "Constraint-based semi-autonomy for unmanned ground vehicles using local sensing," SPIE Unmanned Systems Technology XIV,, 01 January 2012.
  2. S.J. Anderson, S. Karumanchi , K. Iagnemma, "Constraint-Based Planning and Control for Safe, Semi-Autonomous Control of Vehicles," IEEE Intelligent Vehicles Symposium, 01 January 2012.
  3. S. Karumanchi, K. Iagnemma, "Reactive control in environments with hard and soft hazards," IEEE Intelligent Robots and Systems, 01 January 2012.
  1. S. Karumanchi, T. Allen, T. Bailey, S. Scheding,, "Non-parametric Learning to Aid Path Planning Over Slopes," The International Journal of Robotics Research (IJRR), Vol 29(8),, 997-1018, 01 January 2010.
  2. S. Karumanchi, "Off-road mobility analysis from proprioceptive feedback," The University of Sydney, 01 January 2010.