Karthik Dantu

About Me

I am an Associate Professor in Computer Science and Engineering at University at Buffalo. My research interests are in multi-robot systems, embedded systems, and mobile systems. In particular, I am interested in sensing and coordination challenges in such systems.

Outside of research, I’m obsessed with sports (football and cricket), coffee and trying esoteric diets.

Publications

Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping
Ali J. Ben Ali , Sofiya Semenova , Marziye Kouroshli , Karthik Dantu
ACM Transactions on Embedded Computing Systems, 2022 , pp. 1–31
Project Page | PDF| Bibtex

@article{Ali2022,
  doi = {10.1145/3561972},
  url = {https://doi.org/10.1145/3561972},
  year = {2022},
  month = oct,
  publisher = {Association for Computing Machinery ({ACM})},
  volume = {22},
  number = {1},
  pages = {1--31},
  author = {Ali, Ali J. Ben and Semenova, Sofiya and Ko, Steven Y. and Dantu, Karthik},
  title = {Edge-{SLAM}: Edge-Assisted Visual Simultaneous Localization and Mapping},
  journal = {{ACM} Transactions on Embedded Computing Systems}
}

Understanding Bounding Functions in Safety-Critical UAV Software
Xiaozhou Liang , John Henry Burns , Joseph Sanchez , Karthik Dantu , Lukasz Ziarek , Yu David Liu
Proceedings of the 43rd International Conference on Software Engineering, 2021 , pp.
Paper (ICSE 2021) | PDF| Bibtex

@inproceedings{boundedvariables,
  author = {Liang, Xiaozhou and Burns, John Henry and Sanchez, Joseph and Dantu, Karthik and Ziarek, Lukasz and Liu, Yu David},
  title = {Understanding Bounding Functions in Safety-Critical UAV Software},
  year = {2021},
  publisher = {IEEE/ACM},
  url = {https://conf.researchr.org/details/icse-2021/icse-2021-papers/30/Understanding-Bounding-Functions-in-Safety-Critical-UAV-Software},
  booktitle = {Proceedings of the 43rd International Conference on Software Engineering},
  pages = {},
  numpages = {},
  keywords = {},
  location = {Virtual},
  series = {ICSE '21}
}

Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping
Ali J. Ben Ali , Zakieh Hashemifar , Karthik Dantu
Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services, 2020 , pp. 325–337
Project Page | PDF| Bibtex

@inproceedings{edgeslam,
  author = {Ben Ali, Ali J. and Hashemifar, Zakieh Sadat and Dantu, Karthik},
  title = {Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping},
  year = {2020},
  isbn = {9781450379540},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  url = {https://doi.org/10.1145/3386901.3389033},
  doi = {10.1145/3386901.3389033},
  booktitle = {Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services},
  pages = {325–337},
  numpages = {13},
  keywords = {mobile systems, mapping, visual simultaneous localization and mapping, split architecture, localization, edge computing},
  location = {Toronto, Ontario, Canada},
  series = {MobiSys '20}
}

Platform Variability in Edge-Cloud Vision Systems
Ali J. Ben Ali , Sofiya Semenova , Karthik Dantu
International Workshop on Mobile Computing Systems and Applications (HotMobile), 2019 , pp. 163
Poster (HotMobile 2019) | PDF| Bibtex

@inproceedings{aliplatformvariability,
  author = {Ben Ali, Ali J. and Semenova, Sofiya and Dantu, Karthik},
  title = {Platform Variability in Edge-Cloud Vision Systems},
  year = {2019},
  isbn = {9781450362733},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  url = {https://doi.org/10.1145/3301293.3309555},
  doi = {10.1145/3301293.3309555},
  month = feb,
  booktitle = {International Workshop on Mobile Computing Systems and Applications (HotMobile)},
  pages = {163},
  numpages = {1},
  keywords = {edge computing, tensorflow, object-detection and tracking, edge intelligence, vision systems, performance of edge systems, edge-cloud systems},
  location = {Santa Cruz, CA, USA},
  series = {HotMobile ’19}
}

WISDOM: WIreless Sensing-Assisted Distributed Online Mapping
Charuvahan Adhivarahan , Karthik Dantu
International Conference on Robotics and Automation (ICRA), 2019 , pp. 8026–8033
Video | Project Page | PDF| Bibtex

@inproceedings{wisdom,
  author = {Adhivarahan, Charuvahan and Dantu, Karthik},
  title = {{WISDOM:} WIreless Sensing-Assisted Distributed Online Mapping},
  booktitle = {International Conference on Robotics and Automation ({ICRA})},
  pages = {8026--8033},
  publisher = {{IEEE}},
  year = {2019},
  month = may,
  url = {https://doi.org/10.1109/ICRA.2019.8793932},
  doi = {10.1109/ICRA.2019.8793932},
  timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},
  biburl = {https://dblp.org/rec/conf/icra/AdhivarahanD19.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

Augmenting Visual SLAM with Wi-Fi Sensing for Indoor Applications
Zakieh Hashemifar , Charuvahan Adhivarahan , Anand Balakrishnan , Karthik Dantu
Autonomous Robots, 2019 , pp. 2245–2260
Project Page | PDF| Bibtex

@article{wifi,
  author = {Hashemifar, Zakieh S. and Adhivarahan, Charuvahan and Balakrishnan, Anand and Dantu, Karthik},
  title = {Augmenting Visual {SLAM} with Wi-Fi Sensing for Indoor Applications},
  journal = {Autonomous Robots},
  volume = {43},
  number = {8},
  pages = {2245--2260},
  year = {2019},
  url = {https://doi.org/10.1007/s10514-019-09874-z},
  doi = {10.1007/s10514-019-09874-z},
  timestamp = {Sat, 12 Oct 2019 12:50:38 +0200},
  biburl = {https://dblp.org/rec/journals/arobots/HashemifarA0D19.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

Gesto: Mapping UI Events to Gestures and Voice Commands
Chang Min Park , Taeyeon Ki , Ali J. Ben Ali , Nikhil Sunil Pawar , Karthik Dantu , Marziye Kouroshli , Lukasz Ziarek
Proceedings of the ACM on Human-Computer Interaction (PACM HCI), June 2019
Best Paper Honorable Mention Award ,
Project Page | PDF| Bibtex

@article{gesto,
  author = {Park, Chang Min and Ki, Taeyeon and Ben Ali, Ali J. and Pawar, Nikhil Sunil and Dantu, Karthik and Ko, Steven Y. and Ziarek, Lukasz},
  title = {Gesto: Mapping UI Events to Gestures and Voice Commands},
  year = {2019},
  issue_date = {June 2019},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  volume = {3},
  number = {EICS},
  url = {https://doi.org/10.1145/3300964},
  doi = {10.1145/3300964},
  journal = {Proceedings of the ACM on Human-Computer Interaction (PACM HCI)},
  month = jun,
  articleno = {5},
  numpages = {22},
  keywords = {voice commands, gestures, mapping UI events, record and replay}
}

OS-based energy accounting for asynchronous resources in IoT devices
Farshad Ghanei , Pranav Tipnis , Kyle Marcus , Karthik Dantu , Marziye Kouroshli , Lukasz Ziarek
IEEE Internet of Things Journal, 2019 , pp. 5841–5852
Project Page | PDF| Bibtex

@article{ghanei2019based,
  title = {OS-based energy accounting for asynchronous resources in IoT devices},
  author = {Ghanei, Farshad and Tipnis, Pranav and Marcus, Kyle and Dantu, Karthik and Ko, Steven Y and Ziarek, Lukasz},
  journal = {IEEE Internet of Things Journal},
  volume = {6},
  number = {3},
  pages = {5841--5852},
  year = {2019},
  publisher = {IEEE}
}

Performance of the Asynchronous Consensus Based Bundle Algorithm in Lossy Network Environments
Matthew Rantanen , Jalil Modares , Nicholas Mastronarde , Farshad Ghanei , Karthik Dantu
Sensor Array and Multichannel Signal Processing Workshop (SAM), 2018 , pp. 311-315
PDF| Bibtex

@inproceedings{Ghanei:2018:acbba,
  author = {Rantanen, Matthew and Modares, Jalil and Mastronarde, Nicholas and Ghanei, Farshad and Dantu, Karthik},
  journal = {Sensor Array and Multichannel Signal Processing Workshop (SAM)},
  title = {Performance of the Asynchronous Consensus Based Bundle Algorithm in Lossy Network Environments},
  year = {2018},
  volume = {},
  number = {},
  pages = {311-315},
  keywords = {Task analysis;Resource management;Drones;Signal processing algorithms;Planning;Robot sensing systems;Unmanned aerial vehicles (UAVs);wireless networking;decentralized task allocation},
  doi = {10.1109/SAM.2018.8448984},
  issn = {2151-870X},
  month = jul
}

UB-ANC planner: Energy efficient coverage path planning with multiple drones
J. Modares , Farshad Ghanei , N. Mastronarde , Karthik Dantu
International Conference on Robotics and Automation (ICRA), 2017 , pp. 6182-6189
Project Page | PDF| Bibtex

@inproceedings{Ghanei:2017:ub-anc-planner:7989732,
  author = {Modares, J. and Ghanei, F. and Mastronarde, N. and Dantu, K.},
  journal = {International Conference on Robotics and Automation (ICRA)},
  title = {UB-ANC planner: Energy efficient coverage path planning with multiple drones},
  year = {2017},
  volume = {},
  number = {},
  pages = {6182-6189},
  keywords = {autonomous aerial vehicles;computational complexity;minimisation;path planning;travelling salesman problems;CPP problem;EECPP;MEPP;NP-hard problem;TSP;UB-ANC planner;back tracking algorithm;battle field surveillance;coverage path planning problem;drone design;drone flight paths;drone flight time;energy-efficient coverage path planning;energy-efficient coverage path planning problem;load-balanced allocation;maximum energy consumption minimization;minimum energy path planning problem;traveling salesman problem;unmanned aerial vehicles;Drones;Energy consumption;Energy measurement;Optimization;Path planning;Planning;Power demand},
  doi = {10.1109/ICRA.2017.7989732},
  issn = {},
  month = may
}

OS-based Resource Accounting for Asynchronous Resource Use in Mobile Systems
Farshad Ghanei , Pranav Tipnis , Kyle Marcus , Karthik Dantu , Marziye Kouroshli , Lukasz Ziarek
International Symposium on Low Power Electronics and Design (ISLPED), 2016 , pp. 296–301
PDF| Bibtex

@inproceedings{Ghanei:2016:ORA:2934583.2934639,
  author = {Ghanei, Farshad and Tipnis, Pranav and Marcus, Kyle and Dantu, Karthik and Ko, Steve and Ziarek, Lukasz},
  title = {OS-based Resource Accounting for Asynchronous Resource Use in Mobile Systems},
  journal = {International Symposium on Low Power Electronics and Design (ISLPED)},
  series = {ISLPED '16},
  year = {2016},
  isbn = {978-1-4503-4185-1},
  location = {San Francisco Airport, CA, USA},
  pages = {296--301},
  numpages = {6},
  url = {http://doi.acm.org/10.1145/2934583.2934639},
  doi = {10.1145/2934583.2934639},
  acmid = {2934639},
  publisher = {ACM},
  address = {New York, NY, USA},
  keywords = {Embedded Systems, Operating Systems, Power Management, Resource Management}
}