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See my Google Scholar profile for the most updated publication list.
PNAS October 8, 2024 cover
Advanced Intelligent Systems September 2023 frontispiece
Proc. Royal Soc. A February 2023 cover
Journals
Journals
Tixian Wang, Udit Halder, Ekaterina Gribkova, Rhanor Gillette, Mattia Gazzola, Prashant G. Mehta
Neural Models and Algorithms for Sensorimotor Control of an Octopus Arm [DOI]
Biological Cybernetics, 119 (4-6):25, 2025.
Arman Tekinalp, Noel Naughton, Seung-Hyun Kim, Udit Halder, Rhanor Gillette, Prashant G. Mehta, William Kier, Mattia Gazzola
Topology, dynamics, and control of a muscle-architected soft arm [DOI]
Proceedings of the National Academy of Sciences, 121 (41), e2318769121, 2024.
(featured on the journal cover)
Udit Halder, Ekaterina Gribkova, Rhanor Gillette, and Prashant G. Mehta
Passive elasticity properties of Octopus rubescens arm [DOI]
Journal of Experimental Biology, 227 (13): jeb247175, 2024.
(featured on the ECR Spotlight)
Chia-Hsien Shih, Noel Naughton, Udit Halder, Heng-Sheng Chang, Seung Hyun Kim, Rhanor Gillette, Prashant G. Mehta, Mattia Gazzola
Hierarchical control and learning of a foraging CyberOctopus [DOI]
Advanced Intelligent Systems, pp. 2300088, 2023.
(journal frontispiece, also appears in AIS Editors’ Choice collection)Udit Halder, Vidya Raju, Matteo Mischiati, Biswadip Dey, and Perinkulam S. Krishnaprasad
Flocks, Games, and Cognition: A Geometric Approach [DOI]
Systems & Control Letters, vol. 174, pp. 105488, 2023.
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Noel Naughton, Mattia Gazzola, and Prashant G. Mehta
Energy-shaping Control of a Muscular Octopus Arm Moving in Three Dimensions [DOI]
Proceedings of the Royal Society A, vol. 479, pp. 20220593, 2023.
(featured on the journal cover)
Udit Halder, Swagatam Das, and Dipankar Maity
A Cluster-Based Differential Evolution Algorithm with External Archive for Optimization in Dynamic Environments [DOI]
IEEE Transactions on Cybernetics, Vol. 43, No. 3, pp. 881-897, June, 2013.Swagatam Das, Udit Halder, and Dipankar Maity
Chaotic Dynamics in Social Foraging Swarms—An Analysis [DOI]
IEEE Transactions on System, Man, and Cybernetics, Part B: Cybernetics, Vol. 42, No. 4, pp. 1288-1293, August, 2012.Md Nasir, Swagatam Das, Dipankar Maity, Soumyadip Sengupta, Udit Halder, PN Suganthan
A dynamic neighborhood learning based particle swarm optimizer for global numerical optimization [DOI]
Information Sciences, Elsevier, Vol. 209, pp. 16-36, November, 2012.
Conferences
Conferences
Udit Halder
Statics of continuum planar grasping [arXiv]
Proceedings of 64th IEEE Conference on Decision and Control (CDC), 2025 (accepted)Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim, Jiamiao Guo, Ugur Akcal, Benjamin Walt, Darren Biskup, Udit Halder, Girish Krishnan, Girish Chowdhary, Mattia Gazzola, Prashant G. Mehta
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm [DOI]
Proceedings of International Conference on Robotics and Automation (ICRA), pp. 14015-14022, Atlanta, GA, 2025.Tixian Wang, Udit Halder, Ekaterina Gribkova, Rhanor Gillette, Mattia Gazzola, and Prashant G. Mehta
A Sensory Feedback Control Law for Octopus Arm Movements [DOI]
Proceedings of 61st IEEE Conference on Decision and Control (CDC), pp. 1059-1066, Cancún, Mexico, 2022.
Tixian Wang, Udit Halder, Ekaterina Gribkova, Mattia Gazzola, and Prashant G. Mehta
Control-oriented modeling of bend propagation in an octopus arm [DOI]
Proceedings of American Control Conference (ACC), pp. 1359-1366, Atlanta, GA, 2022.Seung Hyun Kim, Heng-Sheng Chang, Chia-Hsien Shih, Naveen Kumar Uppalapati, Udit Halder, Girish Krishnan, Prashant G. Mehta, Mattia Gazzola
A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies [DOI]
International Conference on Robotics and Automation (ICRA), pp. 4810-4817, Philadelphia, PA, 2022.Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova, Arman Tekinalp, Noel Naughton, Mattia Gazzola, Prashant G. Mehta
Controlling a cyberoctopus soft arm with muscle-like actuation [DOI]
Proceedings of 60th IEEE Conference on Decision and Control (CDC), pp. 1383-1390, Austin, TX, 2021.Tixian Wang, Udit Halder, Heng-Sheng Chang, Mattia Gazzola, Prashant G. Mehta
Optimal control of a soft cyberoctopus arm [DOI]
Proceedings of American Control Conference (ACC), pp. 4757-4764, New Orleans, LA, 2021.Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Arman Tekinalp, Tejaswin Parthasarathy, Ekaterina Gribkova, Girish Chowdhary, Rhanor Gillette, Mattia Gazzola, Prashant G. Mehta
Energy Shaping Control of a CyberOctopus Soft Arm [DOI]
Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 3913-3920, Jeju Island, Korea, 2020.Udit Halder, Uroš Kalabić
Time-Optimal Solution for a Unicycle Path on SE(2) with a Penalty on Curvature [DOI]
Proceedings of 20th IFAC World Congress, pp. 6494-6499, Toulouse, France, 2017.Udit Halder, Brent Schlotfeldt, PS Krishnaprasad
Steering for beacon pursuit under limited sensing [DOI]
Proceedings of 55th IEEE Conference on Decision and Control (CDC), pp. 3848-3855, Las Vegas, NV, 2016.Udit Halder, Biswadip Dey
Biomimetic algorithms for coordinated motion: Theory and implementation [DOI]
Proceedings of International Conference on Robotics and Automation (ICRA), pp. 5426-5432, Seattle, WA, 2015.
Thesis
Thesis
Udit Halder
Optimality, Synthesis and a Continuum Model for Collective Motion [DOI]
PhD Dissertation, University of Maryland, College Park, May 2019
Advisor: Prof. P. S. Krishnaprasad
Patents
Patents
Uros Kalabic, Udit Halder
Vehicle motion control system and method
US Patent: US10409283B2, September, 2019
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