Publications
Please also visit my google scholar page Shridhar Velhal
G. Vignesh, S. Velhal, S. A. Samahith, and S. Sundaram, “Generalizable context-aware deep assignment network for the perimeter defense problem,” Unmanned Systems 2026, accepted (https://doi.org/10.1142/S2301385028500112).
M.-N. Stamatopoulos, S. Velhal, A. Banerjee, and G. Nikolakopoulos, “Optimal safety-awarescheduling for multi-agent aerial 3-d printing with utility maximization under dependency constraints,” IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 3723–3737, 2026 (https://doi.org/10.1109/TASE.2026.3660212)
M. Thousif, S. Velhal, S. Sundaram, S. Dora, and N. Sundararajan, “A generalizable decentralised sequential assignment learning spiking neural network for a perimeter defense problem,” IEEE Transactions on Aerospace and Electronic Systems, pp. 1–10, 2026 (early access) (https://doi.org/10.1109/TAES.2026.3661505)
A. S. Seisa, S. Velhal, S. Kotpalliwar, S. Satpute, and G. Nikolakopoulos, “Optimization of edge offloading for centralized controllers through dynamic computational resource allocation,” IEEE Internet of Things Journal, vol. 13, no. 6, pp. 11068–11087, 2026 (https://doi.org/10.1109/JIOT.2026.3650978)
M.-N. Stamatopoulos, S. Velhal, A. Banerjee, and G. Nikolakopoulos, “Hierarchical reactive task allocation with dynamic conflict resolution framework for collaborative aerial 3d printing,” Journal of Intelligent & Robotic Systems, vol. 111, no. 4, p. 127, 2025 (https://doi.org/10.1007/s10846-025-02332-2)
M. Thousif, S. Velhal, S. Sundaram, and N. Sundararajan, “Development of a centralized conflict free greedy assignment learning spiking neural network for solving a perimeter defense problem,” Unmanned Systems, vol. 14, no. 02, pp. 357–367, 2026 (https://doi.org/10.1142/S2301385026500044)
J. John, S. Velhal, and S. Sundaram, “A resource-efficient decentralized sequential planner for spatiotemporal wildfire mitigation,” IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 11469–11482, 2025 (https://doi.org/10.1109/TASE.2025.3536356)
S. Velhal, S. Sundaram, and N. Sundararajan, “Priority-based dream approach for highly manoeuvring intruders in a perimeter defense problem,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 55, no. 2, pp. 1388–1399, 2025 (https://doi.org/10.1109/TSMC.2024.3501480)
S. Velhal, S. Sundaram, and N. Sundararajan, “A decentralized multirobot spatiotemporal multitask assignment approach for perimeter defense,” IEEE Transactions on Robotics, vol. 38, no. 5, pp. 3085–3096, 2022 (https://doi.org/10.1109/TRO.2022.3158198)
S. Velhal, S. Sundaram, and N. Sundararajan, “Dynamic resource allocation with decentralized multi-task assignment approach for perimeter defense problem,” IEEE Transactions on Aerospace and Electronic Systems, vol. 58, no. 4, pp. 3313–3325, 2022 (https://doi.org/10.1109/TAES.2022.3147742)
M.-N. Stamatopoulos, S. Velhal, A. Banerjee, and G. Nikolakopoulos, “Safety-aware optimal scheduling for autonomous masonry construction using collaborative heterogeneous aerial robots,” in 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4889–4896, 2025 (https://doi.org/10.1109/IROS60139.2025.11246805)
S. Velhal, “Prescribed spatio-temporal tracking in decentralized swarm-based perimeter defense,” in 2025 International Conference on Emerging Technology in Autonomous Aerial Vehicles (ETAAV), pp. 1–6, 2025 (https://doi.org/10.1109/ETAAV66793.2025.11212953)
M. Thousif, S. Velhal, S. Sundaram, and N. Sundararajan, “A decentralized greedy assignment-learning spiking neural network-based solution for a perimeter defense problem,” in 2025 SSCI, pp. 0–6, IEEE, 2025 (https://doi.org/10.1109/CISDB64969.2025.11010482)
S. Velhal, K. K. VS, and S. Sundaram, “A non-iterative spatio-temporal multi-task assignments based collision-free trajectories for music playing robots,” in 2023 Ninth Indian Control Conference (ICC), pp. 275–280, IEEE, 2023 (https://doi.org/10.1109/ICC61519.2023.10442571)
R. G. Tiwalkar, S. S. Vanamane, S. S. Karvekar, and S. Velhal, “Model predictive controller for position control of twin rotor mimo system,” in 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI), pp. 952–957, IEEE, 2017 (https://doi.org/10.1109/ICPCSI.2017.8391852)
S. Velhal and S. Thomas, “Improved ltvmpc design for steering control of autonomous vehicle,” in Journal of Physics: Conference Series, vol. 783, p. 12028, IOP Publishing, 2017 (https://doi.org/10.1088/1742-6596/783/1/012028)
S. Velhal, B. R. Srikrishna, M. Bharatheesha, and S. Sundaram, “A dynamic team-based non-iterative approach for online pick-up and just-in-time delivery problems,”, 2023, (https://arxiv.org/abs/2304.07124)
N. Dahlquist, S. Velhal, and G. Nikolakopoulos, “Varying bundle size reactive multi-task assignment using selective cost estimation for multi-agent systems,” 2025.
Y. Bai, S. Velhal, C. Kanellakis, and G. Nikolakopoulos, “Hybrid pbs: Extending priority-based search with local cbs for completeness,” Available at SSRN 6024517, 2025. (http://dx.doi.org/10.2139/ssrn.6024517)
M. Rakshith, S. Velhal, N. Sundararajan, and S. Sundaram, “Intelligent trajectory guided risk-aware entry using sequential swarms of uavs for mitigation of high-rise fire clusters,” 2026.
N. Dahlquist, S. Velhal, A. Saradagi, and G. Nikolakopoulos, “Modular behavior tree synthesis for reactive anomaly-handling and graceful mission reconfiguration,” 2026.
M.-N. Stamatopoulos, E. Small, S. Velhal, A. Banerjee, and G. Nikolakopoulos, “Autonomous reactive masonry construction using collaborative heterogeneous aerial robots with experimental demonstration,” 2025. (https://arxiv.org/abs/2510.15114)
S. Velhal, A. Saradagi, R. Salwekar, and G. Nikolakopoulos, “Load-constrained multi-vehicle construction and demolition waste collection problem,” 2026.
S. Velhal, A. Banerjee, and G. Nikolakopoulos, “Route–phasing–split-encoded genetic algorithm for multi-satellite on-orbit servicing mission planning,” 2026. (https://arxiv.org/abs/2603.22210)