Publications

The following is a complete list of my publications:

Journal Articles

36. S. Bajaj, B. Jha, S. D. Bopardikar, A. Von Moll and D. Casbeer, Shortest Trajectory of a Dubins Vehicle with a Controllable Laser. Submitted to journal publication. Note: Submitted Mar. 2024.

35. P. B. Solanki, S. D. Bopardikar and X. Tan, Computationally Efficient Cooperative Control of Optical Beam Tracking with Finite-time Convergence. Submitted to journal publication. Note: under revision. Submitted Oct. 2023.

34. S. Banik and S. D. Bopardikar, FlipDyn with Control: Resource Takeover Games with Dynamics. Submitted to journal publication. Note: Submitted Oct. 2023.

33.  S. Bajaj, E. Torng and S. D. Bopardikar, Competitive Perimeter Defense in Linear Environments. submitted to journal publication. Note: under revision, Submitted Apr. 2022.

32.  S. Banik and S. D. Bopardikar. Threshold-based Stochastic Games with Stopping States, Submitted to journal publication. Note: submitted  Feb 2024.

31.  E. Lau, V. Srivastava and S. D. Bopardikar. On Multi-fidelity Impedance Tuning  for Human-Robot Cooperative Manipulation, In ASME Letters in Dynamic Systems and Control (LDSC). Note: Accept with minor revision. Submitted Mar. 2024.

30. B. Jha, S. D. Bopardikar, A. Von Moll and D. Casbeer, Energy-optimal Joint Motion Planning of a Pursuer-Turret Assembly. In AIAA Journal on Guidance, Control and Dynamics. Note: to appear, 2024. Submitted Nov. 2023.

29. M. Abdallah, S. Bagchi, S. D. Bopardikar, K. Chan, X. Gao, M. Kantarcioglu, C. Li, P. Liu and Q. Zhu, Game Theory in Distributed Systems Security: Foundations, Challenges, and Future Directions. In IEEE Security and Privacy Magazine, 2024. Note: to appear. Submitted Sep. 2023.

28.  S. Bajaj, E. Torng and S. D. Bopardikar, Randomized Competitive Perimeter Defense on a Line. In IEEE Control Systems Letters, vol. 8, pp. 1000-1005, May 2024. 

27. D. Coleman, S. D. Bopardikar and X. Tan, Using Control Barrier Functions to incorporate Observability: Application to Range-based Target Tracking. In ASME Journal on Dynamic Systems, Measurements and Control, pp. 1-12, Feb 2024 (article number: DS-23-1193). 

26. S. Bajaj, S. D. Bopardikar, E. Torng, A. Von Moll, and D. W. Casbeer. Multivehicle Perimeter Defense in Conical Environments. In IEEE Transactions on Robotics. vol. 40, pp. 1439-1456, 2024.

25.  C. I. Calle and S. D. Bopardikar, A Concentration-based Framework for Optimizing the Estimation Performance in Stochastic Sensor Selection. In IEEE Transactions on Control of Networked Systems (TCNS), pp. 1-12, July 2023.

24. S. Banik, R. Thiagarajan, A. Bhattacharya and S. D. Bopardikar. Automated Adversary-in-the-loop Cyber-Physical Defense Planning, ACM Transactions on Cyber-Physical Systems, volume 7, number 3, article 18, pp. 1 - 25, July 2023. 

23.  E. Lau, V. Srivastava and S. D. Bopardikar. A Multi-fidelity Bayesian Approach to Safe Controller Design, In IEEE Control Systems Letters, vol. 7, pp. 2904-2909, June 2023. 

22. S. Bajaj, S. D. Bopardikar, E. Torng, A. Von Moll, and D. W. Casbeer. Competitive Perimeter Defense with a Turret and a Mobile Vehicle. Frontiers in Control Engineering, volume 4, article 1128597, Topic: Cooperative Control and Team Behaviors in Adversarial Environments, Feb. 2023. Guest Editors: D. Shishika, D. Macharet, P. Tsiotras and J. Marden.

21. P. Gupta, S. D. Bopardikar and V. Srivastava. Incentivizing Collaboration in Heterogeneous Teams via Common-pool Resource Games, IEEE Transactions on Automatic Control. volume 68, issue 3, pp. 1902-1909,  Apr. 2022.

20. S. Banik and S. D. Bopardikar. Attack-resilient Path Planning using Dynamic Games with Stopping States, IEEE Transactions on Robotics, volume 38, issue 1,  pp. 25-41, Feb. 2022.

19. L. Stanek, S. D. Bopardikar and M. S. Murillo. Multi-fidelity Regression of Sparse Plasma Transport Data available in Disparate Physical Regimes, Physical Review E, vol. 104, issue 6, Dec. 2021.

18. S. D. Bopardikar. A Randomized Approach to Sensor Placement with Observability Assurance, In Automatica, volume 123, pp. 109340, January 2021.

17. S. D. Bopardikar and V. Srivastava. Dynamic Vehicle Routing in Presence of Random Recalls, in IEEE Control Systems Letters, Jan 2020. Note: joint submission to CSS-L and the 2019 International Conference on Decision and Control (CDC).

16. A. Bhattacharya, S. D. Bopardikar, S. Chatterjee and D. Vrabie. Cyber Threat Screening via a Queuing  based Game-theoretic Approach, in Journal of Information Warfare, Special Issue on Cybersecurity, vol. 18, issue 4, December 2019.

15. S. Sarkar, S. Mondal, M. Joly, M. Lynch, S. D. Bopardikar, R. Acharya and P. Perdikaris. Multi-Fidelity and Multi-scale Bayesian Framework for High Dimensional Engineering Design and Calibration, in ASME Journal of Mechanical Design, Special Issue on Machine Learning for Engineering Design, December 2019.

14. S. D. Bopardikar, O. Ennasr and X. Tan. Randomized Sensor Selection for Nonlinear Systems with Application to Target Localization, in IEEE Robotics and Automation Letters. Note: joint submission to RA-Letters and the 2019 International Conference on Intelligent Robots and Systems (IROS).

13. S. Shishkin, A. Shalaginov and S. D. Bopardikar. Fast Deterministic Truncated SVD,  Numerical Linear Algebra with Applications, vol. 26, issue 4, August 2019.

12. S. D. Bopardikar, A. Speranzon, and C. Langbort. A Game-theoretic Framework for Trusted Computation on an Adversarial Cloud, Automatica, vol. 78, April 2017.

11. S. D. Bopardikar, B. Englot, A. Speranzon, and J. van den Berg. Robust Belief Space Planning with Intermittent Via A Maximum Eigenvalue-Based Metric, International Journal of Robotics Research, October 2016.

10. S. D. Bopardikar, and C. Langbort. On Incremental Approximate Saddle-point Computation in Zero-sum Matrix Games, In Automatica, vol. 69, July 2016.

9. P. Agharkar, S. D. Bopardikar, and F. Bullo. Vehicle Routing Algorithms to Intercept Radially Escaping Targets, SIAM Journal on Control and Optimization, volume 55, number 5, 2015.

8. S. D. Bopardikar, B. Englot, and A. Speranzon. Multi-objective Path Planning: Localization Constraints and Collision Probability, IEEE Transactions on Robotics, volume 31, issue 3, pages 562--577, 2015. 

7. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Dynamic Vehicle Routing with Time Constraints, IEEE Transactions on Robotics, volume 30, issue 6, pages 1524--1532, 2014. 

6. S. D. Bopardikar, and S. Suri. k-Capture in Multiagent Pursuit-evasion or, the Lion and the Hyenas, Theoretical Computer Science, Vol. 522, 2014.

5. S. D. Bopardikar, A. Borri, J. P. Hespanha, M. Prandini, and M. D. Di Benedetto. Randomized Sampling for Large Zero-Sum Games, Automatica. 2013.

4. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Vehicle Placement to Intercept Moving Targets, Automatica, 2011.

3. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing for translating demands: Stability analysis and receding-horizon policies, IEEE Transactions on Automatic Control, 55(11), 2010. 

2. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A cooperative Homicidal Chauffeur game. Automatica, 45(7): 1771-1777, 2009.

1. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. On Discrete-Time Pursuit-evasion Games with Sensing Limitations. IEEE Transactions on Robotics, 24(6): 1429-1439, 2008.

Conference Articles

54. C. I. Calle and S. D. Bopardikar, Matrix Concentration Inequalities for Sensor Selection. In American Control Conference, Toronto, Canada, July 2024. Note: To appear. 

53. D. Coleman, S. D. Bopardikar, V. Srivastava and X. Tan, Exploration of Unknown Scalar Fields with Multifidelity Gaussian Processes under Localization Uncertainty. In American Control Conference, San Diego, CA, USA, May-June 2023. 

52. S. Bajaj, S. D. Bopardikar, A. Von Moll, E. Torng and D. W. Casbeer. Perimeter Defense using a Turret with a Finite Range and Service Times. In American Control Conference, San Diego, CA, USA, May-June 2023. 

51. S. Banik and S. D. Bopardikar. FlipDyn: A Game of Resource Takeovers in Dynamical Systems. In IEEE International Conference on Decision and Control, Cancun, Mexico, December 2022. 

50. S. Bajaj, E. Torng, S. D. Bopardikar, A. Von Moll, I. Weintraub, E. Garcia and D. W. Casbeer. Competitive Perimeter Defense of Conical Environments. In IEEE International Conference on Decision and Control, Cancun, Mexico, December 2022. 

49. S. Bajaj, and S. D. Bopardikar. Optimal Pursuit of Surveilling Agents near a High-value Target. In International Conference on Game Theory and Security (GAMESEC), Pittsburgh, PA, USA October 2022. 

48. S. Banik and S. D. Bopardikar. Stochastic Games with Stopping States and their application to Multi-Robot Motion Planning, In IEEE International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan,  Oct 2022. 

47.  S. D. Bopardikar and V. Srivastava, A Scenario Approach to Robust Simulation-based Path Planning. In American Control Conference, Atlanta, GA, USA, June 2022. 

46. D. Coleman, S. D. Bopardikar and X. Tan, Incorporating observability via control barrier functions with application to range-based target tracking. In ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 2021. 

45. S. Bajaj, E. Garcia and S. D. Bopardikar, Cooperative evasion by translating targets with variable speeds. In IEEE International Conference on Control Technology and Applications (CCTA), San Diego, CA, USA, Aug 2021. 

44. D. Coleman, S. D. Bopardikar and X. Tan, Observability-aware Target Tracking using Range Only Measurement. In American Control Conference, New Orleans, LA, USA, May 2021.

43. C. I. Calle and S. D. Bopardikar, Probabilistic Performance Bounds for Randomized Sensor Selection in Kalman Filtering. In American Control Conference, New Orleans, LA, USA, May 2021. 

42. E. Garcia and S. D. Bopardikar, Cooperative Containment of a High-speed Evader. In American Control Conference, New Orleans, LA, USA, May 2021. 

41. S. Bajaj, E. Torng and S. D. Bopardikar, Competitive Perimeter Defense on a Line. In American Control Conference, New Orleans, LA, USA, May 2021. 

40. A. Bhattacharya, T. Ramachandran, S. Banik, C. Dowling and S. D. Bopardikar. Automated Adversary Emulation for Cyber-Physical Systems via Reinforcement Learning. in 2020 IEEE International Conference on Intelligence and Security Informatics, Washington DC, USA, November 2020. 

39. S. Banik and S. D. Bopardikar. Secure Route Planning using Dynamic Games with Stopping States. In 2020 International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA. 

38. P. B. Solanki, S. D. Bopardikar and X. Tan. Active Alignment Control-based LED Communication for Underwater Robots. In 2020 International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA. 

37. P. B. Solanki, S. D. Bopardikar and X. Tan. A Bi-directional Alignment Control Approach for Planar LED-based Free-space Optical Communication Systems. In 2020 ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA USA, July 2020. 

36. P. Gupta, S. D. Bopardikar and V. Srivastava. Incentivizing Collaboration in Decentralized Heterogeneous Teams via Common-pool Resource Games. In IEEE International Conference on Decision and Control, Nice, France., December 2019.

35. S. Bajaj and S. D. Bopardikar. Dynamic Boundary Guarding Against Radially Incoming Targets. In IEEE International Conference on Decision and Control, Nice, France, December 2019.

34. S. D. Bopardikar, Sensor Selection in presence of Random Failures. In American Control Conference, Philadelphia, PA USA, July 2019.

33. J. P. Hespanha and S. D. Bopardikar, Output feedback Linear Quadratic Robust Control under Actuation and Deception Attacks. In American Control Conference, Philadelphia, PA USA, July 2019.

32. S. D. Bopardikar, D. Mehta and J. Hauenstein. Optimal Configurations in Coverage Control with Polynomial Costs. In IFAC workshop on Networked and Autonomous Air and Space Systems (NAASS), Santa Fe, NM, USA, June 2018.

31. S. D. Bopardikar, and G. E. Ekladious. Towards Scalable Kernel Machines For Streaming Data Analytics, in IEEE International Conference on Big Data, Boston MA, USA, December 2017.

30. F. Lin and S. D. Bopardikar. Sparse Linear-Quadratic-Gaussian Control in Networked Systems. in IFAC World Congress, Toulouse, France, July 2017.

29. S. D. Bopardikar. Randomized Matrix Factorization for Kalman Filtering. in 2017 American Control Conference, Seattle, WA, USA.

28. S. D. Bopardikar and G. E. Ekladious. Sequential Randomized Matrix Factorization for Gaussian Processes. in  2016 IEEE International Conference on Big Data, Washington DC, USA, December 2016.

27. S. D. Bopardikar, A. Speranzon and J. P. Hespanha. An H-infinity Approach to Stealth-resilient Control Design. In IEEE Symposium on Resilient Control Systems, Chicago, IL, USA, Aug 2016.

26. B. Englot, T. Shan, S. D. Bopardikar, and A. Speranzon. Sampling-based Min-max Uncertainty Path Planning. In 2016 International Conference on Decision and Control, Las Vegas, NV, USA, December 2016.

25. A. Speranzon and S. D. Bopardikar. An Algebraic Topological Perspective to Privacy. In 2016 American Control Conference, Boston, MA USA. 

24. G. Kahn, P. Sujan, S. Patil, S. D. Bopardikar, J. Ryde, K. Goldberg and P. Abbeel. Active Exploration using Trajectory Optimization for Robotic Grasping in the presence of Occlusions. In 2015 International Conference on Robotics and Automation, Seattle, WA, USA. 

23. S. D. Bopardikar, A. Speranzon and C. Langbort. A Game-theoretic Approach to Trusted Computation on an Adversarial Cloud. In 2015 American Control Conference, Chicago, IL, USA. Note: Invited session on security, privacy and trust in CPSes.

22. S. D. Bopardikar, and C. Langbort. Incremental Approximate Saddle-point Computation in Zero-sum Matrix Games. In IEEE Conference on Decision and Control, Los Angeles, CA, USA, Dec 2014.

21. N. Trcka, M. Moulin, S. D. Bopardikar, and A. Speranzon. A Formal Verification Approach to Revealing Stealth Attacks on Networked Control Systems. In Third ACM International Conference on High Confidence Networked Systems (HiCONS), Berlin, Germany, 2014. 

20. S. D. Bopardikar, B. Englot, and A. Speranzon. Multi-objective Path Planning in GPS-denied Environments under Localization Constraints. In American Control Conference, Portland, OR, USA, 2014. 

19. S. D. Bopardikar, B. Englot, and A. Speranzon. Robust Belief Roadmap: Path Planning under Uncertain and Intermittent Sensing. In IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

18. S. D. Bopardikar, and A. Speranzon. On Analysis and Design of Stealth-resilient Control Systems. In IEEE Symposium on Resilient Control Systems, San Francisco, CA, USA, Aug 2013.

17. S. D. Bopardikar, S. Zhang, and A. Speranzon. A Robust and Adaptive Framework for Localization under varying Sensor Modalities. In AIAA Conference on Guidance Navigation and Control, Boston, MA, USA, Aug 2013.

16. S. D. Bopardikar, A. Speranzon, S. Zhang, and B. Sinopoli. Performance Analysis of Linear Estimators with Unknown Changes in Sensors Characteristics.American Control Conference, Washington DC, USA, Jun 2013

15. S. D. Bopardikar, S. S. Nair, and R. Rai. Sequential Randomized Matrix Factorization. American Control Conference, Washington DC, USA, Jun. 2013.

14. J. T. Isaacs, S. D. Bopardikar, and J. P. Hespanha. Dynamic Vehicle Routing over a Sparse Sensor Network. Presented at the INFORMS' 2011, Charlotte, USA.

13. H. Jaleel, S. D. Bopardikar, and M. Egerstedt. Towards Power-aware Rendezvous. In 2011 IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, USA, Dec. 2011. 

12. A. Borri, S. D. Bopardikar, J. P. Hespanha, and M. D. Di Benedetto. Hide-and-seek with Directional Sensing. In 2011 International Federation of Automatic Control World Congress, Milan, Italy, Aug. 2011.

11. S. D. Bopardikar, and J. P. Hespanha. Randomized Solutions to Partial-Information Dynamic Zero-Sum Games. In American Control Conference, San Francisco, CA, USA, Jun. 2011. 

10. S. D. Bopardikar, A. Borri, J. P. Hespanha, M. Prandini, and M. D. Di Benedetto. Randomized Sampling for Large Zero-Sum Games. In proceedings of the 2010 IEEE Conference on Decision and Control, Atlanta, GA, USA. 

9. S. D. Bopardikar, S. L. Smith, and F. Bullo. Vehicle Placement to Intercept Moving Targets. In proceedings of the 2010 American Control Conference, Baltimore, MD, USA. 

8. S. L. Smith, S. D. Bopardikar, and F. Bullo. A Dynamic Boundary Guarding problem with Translating Targets. In proceedings of the 2009 IEEE Conference on Decision and Control, Shanghai, China. 

7. S. L. Smith, S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Dynamic Vehicle Routing with Moving Demands - Part II: High speed Demands or Low Arrival Rates. In proceedings of the 2009 American Control Conference, St. Louis, MO, USA. 

6. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic Vehicle Routing with Moving Demands - Part I: Low speed Demands and High Arrival Rates. In proceedings of the 2009 American Control Conference, St. Louis, MO, USA. 

5. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A pursuit game with range-only measurements. In proceedings of the 2008 IEEE Conference on Decision and Control, Cancun, Mexico. 

4. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A cooperative Homicidal Chauffeur game. In proceedings of the 2007 IEEE Conference on Decision and Control, New Orleans, LA, USA. 

3. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Cooperative pursuit with sensing limitations. In proceedings of the 2007 American Control Conference, New York City, NY, USA. 

2. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Sensing limitations in the Lion and Man problem. In proceedings of the 2007 American Control Conference, New York City, NY, USA.

1. S. D. Bopardikar and B. Seth. Design of an artificial leg mechanism for above-knee amputees. In proceedings of the 12th National Conference on Machines and Mechanisms, 16-17 December, 2005, Guwahati, India, Pages 350-356. 

Dissertations

1. S. D. Bopardikar. Pursuit Strategies for Autonomous Vehicles. Ph.D. Dissertation, Department of Mechanical Engineering, University of California at Santa Barbara, CA, USA, 2010.

2. S. D. Bopardikar. Design of an Above-Knee Prosthetic Device. Dual Degree Dissertation, Department of Mechanical Engineering, Indian Institute of Technology Bombay, Powai, Mumbai, India, 2004.