Gokul Puthumanaillam
PhD Student, Roboticist and C++ enthusiast

@article{trace2025,
  title = {TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models},
  author = {Gokul Puthumanaillam and Paulo Padrao and Jose Fuentes and Pranay Thangeda and William E. Schafer and Jae Hyuk Song and Karan Jagdale and Leonardo Bobadilla and Melkior Ornik},
  year = {2025},
  eprint = {2503.00761},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2503.00761}
}

@article{puthumanaillam2024enhancing,
      title={Enhancing Robot Navigation Policies with Task-Specific Uncertainty Management}, 
      author={Gokul Puthumanaillam and Paulo Padrao and Jose Fuentes and Leonardo Bobadilla and Melkior Ornik},
      journal={arXiv preprint arXiv:2410.15178},
      year={2024},
      note={Accepted at International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2025)}
}

@article{puthumanaillam2024tabfields,
  title={TAB-Fields: A Maximum Entropy Framework for Mission-Aware Adversarial Planning},
  author={Gokul Puthumanaillam and Jae Hyuk Song and Nurzhan Yesmagambet and Shinkyu Park and Melkior Ornik},
  journal={arXiv preprint arXiv:2412.02570},
  year={2024},
  note={Accepted for presentation at L4DC 2025}
}

@article{puthumanaillam2024comtraq,
  title={ComTraQ-MPC: Meta-Trained DQN-MPC Integration for Trajectory Tracking with Limited Active Localization Updates},
  author={Puthumanaillam, Gokul and Vora, Manav and Ornik, Melkior},
  journal={arXiv preprint arXiv:2403.01564},
  year={2024},
  note={Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)}
}

@article{puthumanaillam2023weathering,
  title={Weathering ongoing uncertainty: learning and planning in a time-varying partially observable environment},
  author={Puthumanaillam, Gokul and Liu, Xiangyu and Mehr, Negar and Ornik, Melkior},
  journal={arXiv preprint arXiv:2312.03263},
  year={2023},
  note={accepted at IEEE International Conference on Robotics and Automation (ICRA) 2024}
}

@inproceedings{puthumanaillam2024assured,
  title={Assured Collision Avoidance for Learned Controllers: A Case Study of ACAS Xu},
  author={Puthumanaillam, Gokul and Vora, Manav Ketan and Shafa, Taha and Li, Yangge and Ornik, Melkior and Mitra, Sayan},
  booktitle={AIAA SCITECH 2024 Forum},
  pages={1168},
  year={2024}
}

@inproceedings{puthumanaillam2024online,
  title={Online Learning and Planning in Time-Varying Environments: An Aircraft Case Study},
  author={Puthumanaillam, Gokul and Mamik, Yuvraj and Ornik, Melkior},
  booktitle={AIAA SCITECH 2024 Forum},
  pages={0109},
  year={2024}
}

@inproceedings{gokul2024dynamic,
  title={A Dynamic Area Approximation-Based Stochastic Multi-UAV Target Search with Noisy Measurements},
  author={Gokul, P and Harikumar, K and Senthilnath, J},
  booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)},
  pages={718--723},
  year={2024},
  organization={IEEE}
}

@article{puthumanaillam2023texture,
  title={Texture based prototypical network for few-shot semantic segmentation of forest cover: Generalizing for different geographical regions},
  author={Puthumanaillam, Gokul and Verma, Ujjwal},
  journal={Neurocomputing},
  volume={538},
  pages={126201},
  year={2023},
  publisher={Elsevier}
  note={Best Paper Award at IEEE GRSS}
}

@inproceedings{verma2023improved,
  title={Improved Semantic Segmentation for Identification of Flooded Regions in UAV Aerial Images: A Transformer-Based Approach},
  author={Verma, Ujjwal and Puthumanaillam, Gokul},
  booktitle={IGARSS 2023-2023 IEEE International Geoscience and Remote Sensing Symposium},
  pages={4800--4803},
  year={2023},
  organization={IEEE}
}

@inproceedings{ramakrishnan2021pandora,
  title={Pandora: An IOT based Intrusion Detection Honeypot with Real-time Monitoring},
  author={Ramakrishnan, Karthik and Gokul, P and Nigam, Rohan},
  booktitle={2021 International Conference on Forensics, Analytics, Big Data, Security (FABS)},
  volume={1},
  pages={1--7},
  year={2021},
  organization={IEEE}
}

@inproceedings{gokul2023bluff,
  title={Bluff: A Multi-Robot Dispersion Based on Hybrid Reciprocal Velocity Obstacles to Solve the Blind Man’s Buff Problem},
  author={Gokul, P},
  booktitle={6th EAI International Conference on Robotic Sensor Networks},
  pages={41},
  year={2023},
  organization={Springer}
}

@PhDThesis{puthumanaillam2022blockmapping,
  author = {Puthumanaillam, Gokul and Paramjit, Singh and Harshwardhan, Kulkarani},
  title = {BlockMapping: A Blockchain based multi-robot exploration},
  booktitle = {Blockchain Applications in Robotics and Automation, IROS 2021},
  year = {2021}
}