11 citations · 40 across the 36 of their papers we have counts for
10 papers · 1 filter
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…