Publications

2026

1. Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition

   Aditya Penumarti, Khanh Dong, Zi-Hao Zhang, and 6 more authors

   Accepted to OCEANS 2026 Monterey, 2026
2. uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception

   Trung Tien Dong, Zhenqi Wu, Aditya Penumarti, and 4 more authors

   Accepted to OCEANS 2026 Monterey, 2026
3. ACCESS

   

   Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation

   Aditya Penumarti, Humberto Ramos, Kristy Waters, and 2 more authors

   IEEE Access, Jan 2026

   BIB WEBSITE PDF

   

   @article{penumarti2026real,
     title = {Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation},
     author = {Penumarti, Aditya and Ramos, Humberto and Waters, Kristy and Brink, Kevin and Shin, Jane},
     journal = {IEEE Access},
     year = {2026},
     month = jan,
     publisher = {IEEE},
     pdf = https://ieeexplore.ieee.org/abstract/document/11393618,
   }

2025

1. CoRL

   Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing

   Gokul Puthumanaillam, Aditya Penumarti, Manav Vora, and 5 more authors

   In Conference on Robot Learning, Sep 2025

   BIB WEBSITE PDF

   

   @inproceedings{puthumanaillam2025belief,
     title = {Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing},
     author = {Puthumanaillam, Gokul and Penumarti, Aditya and Vora, Manav and Padrao, Paulo and Fuentes, Jose and Bobadilla, Leonardo and Shin, Jane and Ornik, Melkior},
     booktitle = {Conference on Robot Learning},
     pages = {68--92},
     year = {2025},
     month = sep,
     organization = {PMLR},
   }

2. IROS

   Action Recognition for Underwater Gesture Communication in Human Diver and Robot Teaming

   Zi-Hao Zhang, E Baker Herrin, Jia Guo, and 4 more authors

   In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2025

   BIB

   @inproceedings{zhang2025action,
     title = {Action Recognition for Underwater Gesture Communication in Human Diver and Robot Teaming},
     author = {Zhang, Zi-Hao and Herrin, E Baker and Guo, Jia and Penumarti, Aditya and He, Zilong and Pulido, Andres and Shin, Jane},
     booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {16939--16946},
     year = {2025},
     month = sep,
     organization = {IEEE},
   }

3. SPIE

   Lessons from RAITE: Real-World Evaluation of Robust Multi-Modal Target Detection and Tracking Under Adversarial Attacks

   E Baker Herrin, Aditya Penumarti, Andres Pulido, and 5 more authors

   In Society of Photo-Optical Instrumentation Engineers (SPIE) Conference Series, Apr 2025

   BIB

   @inproceedings{herrina2025lessons,
     title = {Lessons from RAITE: Real-World Evaluation of Robust Multi-Modal Target Detection and Tracking Under Adversarial Attacks},
     author = {Herrin, E Baker and Penumarti, Aditya and Pulido, Andres and Iyer, Nikhil and Wu, You-Long and Lewellen, Kaleb and Fitzsimmons, Tyler and Shin, Jane},
     booktitle = {Society of Photo-Optical Instrumentation Engineers (SPIE) Conference Series},
     volume = {13480},
     pages = {134800I},
     year = {2025},
     month = apr,
   }

4. SCITECH

   Neural Network-Based Magnetometer Sensor Model for Virtual Magnetic-Based Navigation Testbed

   Aditya Penumarti, Nikhil Iyer, Loi Park, and 3 more authors

   In AIAA SCITECH 2025 Forum, Jan 2025

   BIB

   @inproceedings{penumarti2025neural,
     title = {Neural Network-Based Magnetometer Sensor Model for Virtual Magnetic-Based Navigation Testbed},
     author = {Penumarti, Aditya and Iyer, Nikhil and Park, Loi and Waters, Kristy and Ramos, Jose H and Shin, Jane},
     booktitle = {AIAA SCITECH 2025 Forum},
     pages = {0562},
     year = {2025},
     month = jan,
   }

2024

1. Preprint

   Global Uncertainty-Aware Planning for Magnetic Anomaly-Based Navigation

   Aditya Penumarti and Jane Shin

   arXiv preprint arXiv:2409.10366, Sep 2024

   BIB

   

   @article{penumarti2024global,
     title = {Global Uncertainty-Aware Planning for Magnetic Anomaly-Based Navigation},
     author = {Penumarti, Aditya and Shin, Jane},
     journal = {arXiv preprint arXiv:2409.10366},
     year = {2024},
     month = sep,
   }

2. ACCESS

   Fast marching based rendezvous path planning for a team of heterogeneous vehicles

   Jaekwang Kim, Hyung-Jun Park, Aditya Penumarti, and 1 more author

   IEEE Access, 2024

   BIB

   

   @article{kim2024fast,
     title = {Fast marching based rendezvous path planning for a team of heterogeneous vehicles},
     author = {Kim, Jaekwang and Park, Hyung-Jun and Penumarti, Aditya and Shin, Jaejeong},
     journal = {IEEE Access},
     volume = {12},
     pages = {122609--122623},
     year = {2024},
     publisher = {IEEE},
   }

2023

1. THESIS

   Mechanical Networks: An Investigation Into Connected Kinematic Systems

   Aditya Penumarti

   University of Florida, 2023

   BIB

   @phdthesis{penumarti2023mechanical,
     title = {Mechanical Networks: An Investigation Into Connected Kinematic Systems},
     author = {Penumarti, Aditya},
     year = {2023},
     school = {University of Florida},
   }