11 citations · 40 across the 36 of their papers we have counts for
14 papers · 1 filter
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…
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…
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…
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…
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…
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…
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…
UAV Routing for Enhancing the Performance of a Classifier-in-the-loop
Deepak Prakash Kumar, Pranav Rajbhandari, Loy McGuire +2
Some human-machine systems are designed so that machines (robots) gather and deliver data to remotely located operators (humans) through an interface in order to aid them in classi…
The Weighted Markov-Dubins Problem
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and fi…
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility
Satyanarayana G. Manyam, David W. Casbeer, Swaroop Darbha +2
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…