11 citations · 40 across the 36 of their papers we have counts for
41 papers
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
Sixu Li, Nitesh Kumar, Reyshwanth Ganeshan +3
As autonomous vehicles (AVs) operate in increasingly dynamic traffic conditions, lateral control must be performed while longitudinal speed and acceleration vary. Yet many existing…
Lateral String Stability for Vehicle Platoons
Sixu Li, Swaroop Darbha, Yang Zhou
Connected and automated vehicle (CAV) platooning promises gains in energy efficiency and traffic throughput and, most critically, in safety. These safety benefits hinge on string s…
Privacy-Preserving Decentralized Cooperative Localization with Range-Only Measurements: A Convex Optimization Based Approach
Nitesh Kumar, Reyshwanth Ganeshan, Sixu Li +2
Cooperative localization using range-based measurements is critical for multi-robot systems operating in GPS-denied and unstructured environments. However, traditional cooperative…
An Exact Algorithm for Load-Dependent Traveling Salesman Problem for Unmanned Aerial Vehicle Package Delivery
Deepak Prakash Kumar, Saurabh Belgaonkar, Sivakumar Rathinam +2
In this article, we present a novel formulation for the load-dependent traveling salesman problem (LD-TSP), in which travel cost (or energy expended) depends on the vehicle's curre…
Lateral String Stability for Vehicle Platoons: Formulation, Definition, and Analysis
Sixu Li, Swaroop Darbha, Yang Zhou
Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits…
The Inverse Micromechanics Problem given Dielectric Constants for Isotropic Composites with Spherical Inclusions
Athindra Pavan, Swaroop Darbha, Bjorn Birgisson
In this article, convex optimization is introduced as a promising tool to study Eshelby based inverse micromechanics problems. The focus is on inverse micromechanics using the Eshe…
Parasitic actuation delay limits the minimum employable time headway in connected and autonomous vehicles
Guoqi Ma, Prabhakar R. Pagilla, Swaroop Darbha
Adaptive andcooperative adaptive cruise control (ACC and CACC) and next generation CACC (CACC+) systems usually employ a constant time headway policy (CTHP) for platooning of conne…
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shor…
A Path Planning Algorithm for a Hybrid UAV Traveling in Noise Restricted Zones
Saurabh Belgaonkar, Deepak Prakash Kumar, Sivakumar Rathinam +2
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion…
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in , , , and $CCC…
A New Approach to Motion Planning in 3D for a Dubins Vehicle: Special Case on a Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a new model for 3D motion planning, applicable to aerial vehicles, is proposed to connect an initial and final configuration subject to pitch rate and yaw rate con…
Time-optimal Convexified Reeds-Shepp Paths on a Sphere
Sixu Li, Deepak Prakash Kumar, Swaroop Darbha +1
This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bo…
Lateral String Stability in Autonomous & Connected Vehicle Platoons
Neelkamal Somisetty, Swaroop Darbha
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically t…
Heterogeneous Min-Max Multi-Vehicle Multi-Depot Traveling Salesman Problem: Heuristics and Computational Results
Deepak Prakash Kumar, Sivakumar Rathinam, Swaroop Darbha +1
In this paper, a heuristic for a heterogeneous min-max multi-vehicle multi-depot traveling salesman problem is proposed, wherein heterogeneous vehicles start from given depot locat…
Spectral Graph Theoretic Methods for Enhancing Network Robustness in Robot Localization
Neelkamal Somisetty, Harsha Nagarajan, Swaroop Darbha
This paper addresses the optimization of edge-weighted networks by maximizing algebraic connectivity to enhance network robustness. Motivated by the need for precise robot position…
Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +2
In this paper, motion planning for a vehicle moving on a unit sphere with unit speed is considered, wherein the desired terminal location is fixed, but the terminal orientation is…
Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded…
The Persistent Robot Charging Problem for Long-Duration Autonomy
Nitesh Kumar, Jaekyung Jackie Lee, Sivakumar Rathinam +3
This paper introduces a novel formulation aimed at determining the optimal schedule for recharging a fleet of heterogeneous robots, with the primary objective of minimizing res…
Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana G. Manyam +2
In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are consider…
Assessing the safety benefits of CACC+ based coordination of connected and autonomous vehicle platoons in emergency braking scenarios
Guoqi Ma, Prabhakar R. Pagilla, Swaroop Darbha
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one informa…
Selection of Time Headway in Connected and Autonomous Vehicle Platoons under Noisy V2V Communication
Guoqi Ma, Prabhakar R. Pagilla, Swaroop Darbha
In this paper, we investigate the selection of time headway to ensure robust string stability in connected and autonomous vehicle platoons in the presence of signal noise in Vehicl…
Benefits of V2V communication in connected and autonomous vehicles in the presence of delays in communicated signals
Guoqi Ma, Prabhakar R. Pagilla, Swaroop Darbha
In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selec…
Heuristic for Min-Max Heterogeneous Multi-Vehicle Multi-Depot Traveling Salesman Problem
Deepak Prakash Kumar, Sivakumar Rathinam, Swaroop Darbha +1
In this article, a heuristic is proposed for a min-max heterogeneous multi-vehicle multi-depot traveling salesman problem (TSP), wherein heterogeneous vehicles start from given dep…
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha +2
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where t…