Dr. Brendan Englot

ASSISTANT PROFESSOR
Room: ABS 217
Phone: 201-216-3631
Email: benglot@stevens.edu
Website
Education
  • Ph.D., Mechanical Engineering, Massachusetts Institute of Technology, 2012
  • S.M., Mechanical Engineering, Massachusetts Institute of Technology, 2009
  • S.B., Mechanical Engineering, Massachusetts Institute of Technology, 2007
Research

 I am interested in planning, optimization, and control that enables mobile robots to achieve robust autonomy in complex physical environments. Specific goals include improving the reliability of autonomous navigation for unmanned underwater, ground and aerial vehicles subjected to noise-corrupted and drifting sensors, incomplete knowledge of the environment, and tasks that require interaction with surrounding objects and structures. My recent work has considered sensing tasks motivated by underwater surveillance and inspection applications, and path planning with multiple objectives, unreliable sensors, and imprecise maps.

Experience
  • Assistant Professor, Department of Mechanical Engineering, Stevens Institute of Technology, 2014-Present
  • Research Scientist, United Technologies Research Center, 2012-2014
  • Lecturer, Department of Mechanical Engineering, Yale University, 2013-2014
  • Research Assistant, Department of Mechanical Engineering, Massachusetts Institute of Technology, 2007-2012
Professional Service
  • Associate Editor, IEEE Journal of Oceanic Engineering
  • Associate Editor, IEEE International Conference on Robotics and Automation (ICRA)
  • Reviewer for numerous Conferences and Journals of the IEEE Robotics and Automation Society, the International Foundation of Robotics Research, and the IEEE Control Systems Society
Honors & Awards
  • Geoffrey S. Inman Endowed Junior Professor of Mechanical Engineering, 2018
  • NSF CAREER Award, 2017
  • Bluefin Robotics Award for Best Navigation/Localization Paper and Poster, awarded at the Marine Robot Localization and Navigation Workshop at the International Conference on Robotics and Automation, 2016
  • Patent Award (Multiple), United Technologies Research Center, 2014.
  • Doctoral Thesis Research featured in The Economist, Technology Quarterly, September 2012: "Sweeping Below Deck"
  • Thomas Sheridan Prize for Creativity in Man-Machine Integration, MIT Department of Mechanical Engineering, 2011
  • Wunsch Foundation Silent Hoist and Crane Award for Outstanding Teaching Assistant, MIT Department of Mechanical Engineering, 2009
Professional Societies
  • ASME
  • IEEE (Robotics and Automation Society, Oceanic Engineering Society)
  • Tau Beta Pi
  • Pi Tau Sigma
Grants, Contracts & Funds

Approximately $1.3M in funds awarded as Principal Investigator:

  • 2015, National Science Foundation, IIS 1551391, EAGER: Toward Descriptive Mapping for Underwater Exploration
  • 2017, National Science Foundation, IIS 1652064, CAREER: Belief Space Planning and Learning for Uncertainty-Immersed Underwater Robots
  • 2017, National Science Foundation, IIS 1723996, S&AS: FND: Learning-Enabled Autonomous 3D Exploration for Underwater Robots
  • 2017, Schlumberger Technology Corporation, MIT Subaward No. 82590, Robust Autonomous Mapping, Navigation and Inspection of Complex Marine Environments
Selected Publications
Journals
  1. S.D. Bopardikar, B. Englot, A. Speranzon, and J. van den Berg. (Oct 2016). "Robust Belief Space Planning under Intermittent Sensing Via A Maximum Eigenvalue-based Bound", The International Journal of Robotics Research, 35 (13), 1609-1626.
  2. S.D. Bopardikar, B. Englot, and A. Speranzon. (Jun 2015). "Multi-Objective Path Planning: Localization Constraints and Collision Probability", IEEE Transactions on Robotics, 31 (3), 562-577.
  3. B. Englot and F.S. Hover. (Sep 2013). "Three-Dimensional Coverage Planning for an Underwater Inspection Robot", The International Journal of Robotics Research, 32 (9-10), 1048-1073.
  4. G.A. Hollinger, B. Englot, F.S. Hover, U. Mitra, and G.S. Sukhatme. (Jan 2013). "Active Planning for Underwater Inspection and the Benefit of Adaptivity", The International Journal of Robotics Research, 32 (1), 3-18.
  5. F.S. Hover, R.M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J.J. Leonard. (Oct 2012). "Advanced Perception, Navigation, and Planning for Autonomous In-Water Ship Hull Inspection", The International Journal of Robotics Research, 31 (12), 1445-1464.
Conference Proceedings
  1. J. Martin, J. Wang, and B. Englot. (Oct 2018). "Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation", 2nd Annual Conference on Robot Learning. Proceedings of Machine Learning Research. 87 179-189.
  2. T. Shan, K. Doherty, J. Wang, and B. Englot. (Oct 2018). "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping", 2nd Annual Conference on Robot Learning. Proceedings of Machine Learning Research. 87 829-838.
  3. T. Shan and B. Englot. (Oct 2018). "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain", Proceedings of the International Conference on Intelligent Robots and Systems. 4758-4765.
  4. J. Wang and B. Englot. (Oct 2018). "Robust Exploration with Multiple Hypothesis Data Association", Proceedings of the International Conference on Intelligent Robots and Systems. 3537-3544.
  5. J. Wang and B. Englot. (Dec 2017). "Autonomous Exploration with Expectation-Maximization", Proceedings of the 18th International Symposium on Robotics Research.
  6. J. Martin and B. Englot. (Nov 2017). "Extending Model-Based Policy Gradients for Robots in Heteroscedastic Environments", 1st Annual Conference on Robot Learning. Proceedings of Machine Learning Research. 78 438-447.
  7. T. Shan and B. Englot. (Sep 2017). "Belief Roadmap Search: Advances in Optimal and Efficient Planning Under Uncertainty", Proceedings of the International Conference on Intelligent Robots and Systems. 5318-5325.
  8. S. Bai, F. Chen, and B. Englot. (Sep 2017). "Toward Autonomous Mapping and Exploration for Mobile Robots through Deep Supervised Learning", Proceedings of the International Conference on Intelligent Robots and Systems. 2379-2384.
  9. J. Wang, S. Bai, and B. Englot. (May 2017). "Underwater Localization and 3D Mapping of Submerged Structures with a Single-Beam Scanning Sonar", Proceedings of the International Conference on Robotics and Automation. 4898-4905.
  10. K. Doherty, J. Wang, and B. Englot. (May 2017). "Bayesian Generalized Kernel Inference for Occupancy Map Prediction", Proceedings of the International Conference on Robotics and Automation. 3118-3124.
  11. B. Englot, T. Shan, S.D. Bopardikar, and A. Speranzon. (Dec 2016). "Sampling-Based Min-Max Uncertainty Path Planning", Proceedings of the International Conference on Decision and Control. 6863-6870.
  12. S. Bai, J. Wang, F. Chen, and B. Englot. (Oct 2016). "Information-Theoretic Exploration with Bayesian Optimization", Proceedings of the International Conference on Intelligent Robots and Systems. 1816-1822.
  13. J. Wang and B. Englot. (May 2016). "Fast, Accurate Gaussian Process Occupancy Maps via Test-Data Octrees and Nested Bayesian Fusion", Proceedings of the International Conference on Robotics and Automation. 1003-1010.
  14. K. Doherty, J. Wang, and B. Englot. (May 2016). "Probabilistic Map Fusion for Fast, Incremental Occupancy Mapping with 3D Hilbert Maps", Proceedings of the International Conference on Robotics and Automation. 1011-1018.
  15. T. Shan and B. Englot. (Dec 2015). "Sampling-Based Minimum Risk Path Planning in Multiobjective Configuration Spaces", Proceedings of the International Conference on Decision and Control. 814-821.
  16. S. Bai, J. Wang, K. Doherty, and B. Englot. (Sep 2015). "Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces", Proceedings of the 17th International Symposium on Robotics Research.
  17. X.C. Ding, B. Englot, A. Pinto, A. Speranzon, and A. Surana. (Jun 2014). "Hierarchical Multi-Objective Planning: From Mission Specifications to Contingency Management", Proceedings of the International Conference on Robotics and Automation. 3735-3742.