RESEARCH
Mulit-robot/UAV systems: Optimal deployment, cooperative distributed control, search
Multiple cooperating Aerial robots/UAVs search for targets of interest in a region of interest.
Key publications:
Jeane M D’Souza, Venkat Varun Velpula, and K.R Guruprasad, “On effectiveness of camera as an UAV mounted search sensor,” International Journal of Control, Automation, and Systems, 19(7), pp 2557–2568 (2021).
Jeane M D’Souza, K.R. Guruprasad, and Akshar Padman, “A realistic simulation platform for multi-quadcopter search using downward facing cameras”, Computers and Electrical Engineering, vol 74, pp. 184-195, March, 2019.
K.R. Guruprasad and D. Ghose, Performance of a Class of Multi-Robot Deploy and Search Strategies based on Centroidal Voronoi Configurations, International Journal of Systems Science, vol 44, issue 4, 2013, pp. 680-699.
K.R. Guruprasad and D. Ghose, Heterogeneous Locational Optimization using Generalized Voronoi Partition, International Journal of Control, vol 86, issue 6, 2013, pp. 977-993.
K.R. Guruprasad and D. Ghose, Automated multi-agent search using centroidal Voronoi configuration, IEEE Transactions on Automation Science and Engineering, vol. 8, issue 2, April 2011, pp. 420-423.
Single/Multi-robot motion planning: Coverage, exploration, point-to-point motion
Single robot coverage path planning algortithm
Mulit- robotic coverage path planning using generalized Voronoi partition
Multi-robot simultaneous exploration and coverage
Bug-based path planning algorithm
Key publications:
K.R. Guruprasad and T.D Ranjitha, “CPC algorithm: Exact area coverage by a mobile robot using approximate cellular decomposition”, Robotica, vol 39, pp. 1141–1162, 2021
Vishnu G Nair and K.R Guruprasad, “2D-VPC: An efficient coverage algorithm for multiple autonomous vehicles”, International Journal of Control, Automation, and Systems, 19(8), pp. 2891-2901, August 2021
Vishnu G Nair and K.R Guruprasad, “MR-SimExCoverage: Multi-robot simultaneous exploration and coverage,” Computers and Electrical Engineering, vol 95, 2020.
Vishnu G Nair and K.R Guruprasad, “Geodesic-VPC: spatial partitioning for multi-robot coverage problem”, International Journal of Robotics and Automation, vol 35, issue 3, 2020, pp. 189-198.
Vishnu G Nair and K.R Guruprasad, “GM-VPC: An algorithm for multi-robot coverage of known spaces using generalized Voronoi partition”, Robotica, vol 38, issue 5, May 2020, pp. 845-860.
Intelligent manipulator control
Model reference Adaptive control using ANFIS (Adaptive Network-based Fuzzy Inference System)
An ANFIS-based corrector learns the difference between the assumed and actual plant model and adds a correction to the nonlinear model-based controller.
Distributed cooperative manipulator control inspired by multi-agent systems
Each joint-link pair of the manipulator is considered an agent and is controlled by a joint-level controller. The joint-level controllers interact/communicate with each other to accommodate for coupling between links through the joints.
Key publications:
Soumya S. and K.R Guruprasad, “Distributed nonlinear control of planar serial-link manipulators”, International Journal of Control, Automation, and Systems, 19(2) (2021) pp. 850-863
Assistive exoskeleton control
Distributed computation of Voronoi cell
A Voronoi cell is generated using only information about the location of neighbooring nodes.
Such a distributed algorithm is very useful in distributed multi-agent systems that use Voronoi partitioning
Key publications:
K.R. Guruprasad and P. Dasgupta, A Distributed Algorithm for Computation of Exact Voronoi Cell in a Multi-Robotic System, Proc of Third International Conference on Emerging Applications of Information Technology, November 30 – December 01, 2012, Kolkata, India, pp. 13-18.
K.R. Guruprasad and P. Dasgupta, Distributed Voronoi partitioning for multi-robot systems with limited range sensors, Proc of IEEE/RSJ International Conference on Robotics and Intelligent Systems, October 7-12, 2012, Vilamoura, Algarve, Portugal, pp. 3546 – 3552.