Arpita Sinha
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View article: $ε$-Optimal Multi-Agent Patrol using Recurrent Strategy
$ε$-Optimal Multi-Agent Patrol using Recurrent Strategy Open
The multi-agent patrol problem refers to repeatedly visiting different locations in an environment using multiple autonomous agents. For over two decades, researchers have studied this problem in various settings. While providing valuable …
View article: Sliding Mode Controller for Quadcopter UAVs: A Comprehensive Survey
Sliding Mode Controller for Quadcopter UAVs: A Comprehensive Survey Open
This paper provides a comprehensive investigation of nonlinear robust control methodologies, with a specific emphasis on the development of sliding mode controllers (SMCs) for quadcopter unmanned aerial vehicles (UAVs). Quadcopters are hig…
View article: Pre-conceptual design study of remote handling compatible attachment mechanisms for in-vessel components in DEMO tokamak
Pre-conceptual design study of remote handling compatible attachment mechanisms for in-vessel components in DEMO tokamak Open
View article: Motion Planning of Nonholonomic Cooperative Mobile Manipulators
Motion Planning of Nonholonomic Cooperative Mobile Manipulators Open
We propose a real-time implementable motion planning technique for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in an environment with static and dynamic obstacles. The proposed motion planning techniq…
View article: Advancing Low-Altitude Agricultural UAV Operations: Plug-and-Play Device for Sensing and Obstacle Avoidance
Advancing Low-Altitude Agricultural UAV Operations: Plug-and-Play Device for Sensing and Obstacle Avoidance Open
View article: Trochoids
Trochoids Open
As a child, everyone probably had the experience of playing with a toy called a Spirograph ( https://en.wikipedia.org/wiki/Spirograph ). This geometric drawing toy can create intricate patterns by combining two circular motions. These patt…
View article: Polyhedral study of a temporal rural postman problem: application in inspection of railway track without disturbing train schedules
Polyhedral study of a temporal rural postman problem: application in inspection of railway track without disturbing train schedules Open
The Rural Postman Problem with Temporal Unavailability (RPP-TU) is a variant of the Rural Postman Problem (RPP) specified for multi-agent planning over directed graphs with temporal constraints. These temporal constraints represent the una…
View article: Benzyl Isothiocyanate Loaded Gelatin Nanoparticles Display Unique in Vitro Antioxidant Prospects
Benzyl Isothiocyanate Loaded Gelatin Nanoparticles Display Unique in Vitro Antioxidant Prospects Open
This present investigation focuses on the fact that nanoformulation of phytochemicals could enhance the therapeutic capacity in different physiological systems by enhancing hydrophilicity and bioavailability. In this study gelatin nano-for…
View article: Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators
Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators Open
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel …
View article: Online Capability Based Task Allocation of Cooperative Manipulators
Online Capability Based Task Allocation of Cooperative Manipulators Open
The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-mani…
View article: Adaptive Generalized Super-Twisting Sliding Mode Controller for Wheeled Mobile Robot
Adaptive Generalized Super-Twisting Sliding Mode Controller for Wheeled Mobile Robot Open
This paper presents the design of an adaptive generalized super-twisting sliding mode control (SMC) for reference tracking by the two-wheeled mobile robot in the presence of uncertainty. An additional linear correction term is included in …
View article: Balancing Priorities in Patrolling with Rabbit Walks
Balancing Priorities in Patrolling with Rabbit Walks Open
In an environment with certain locations of higher priority, it is required to patrol these locations as frequently as possible due to their importance. However, the Non-Priority locations are often neglected during the task. It is necessa…
View article: A low-cost Framework for Decentralized Autonomous Intersection Management
A low-cost Framework for Decentralized Autonomous Intersection Management Open
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing infras…
View article: An Enhanced RRT based Algorithm for Dynamic Path Planning and Energy Management of a Mobile Robot
An Enhanced RRT based Algorithm for Dynamic Path Planning and Energy Management of a Mobile Robot Open
Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current p…
View article: Trochoidal patterns generation using generalized consensus strategy for double-integrator dynamic agents
Trochoidal patterns generation using generalized consensus strategy for double-integrator dynamic agents Open
This article studies a distributed consensus law to achieve a coordinated trochoidal formation among a team of mobile agents. The mobile agents are modeled as double integrators. We generalize an existing consensus algorithm for double-int…
View article: Online Obstacle evasion with Space-Filling Curves
Online Obstacle evasion with Space-Filling Curves Open
The paper presents a strategy for robotic exploration problems using Space-Filling curves (SFC). The region of interest is first tessellated, and the tiles/cells are connected using some SFC. A robot follows the SFC to explore the entire a…
View article: MENSTRUAL EXPERIENCES AT WORKPLACES AMONG FEMALE EMPLOYEES
MENSTRUAL EXPERIENCES AT WORKPLACES AMONG FEMALE EMPLOYEES Open
The goal of this qualitative research study was to examine the many aspects of menstruation at work in India, including management of menstrual hygiene, attitudes towards periods, absenteeism, period policies, and job performance. Seven fe…
View article: Space Filling Curves for Coverage Path Planning with Online Obstacle Avoidance
Space Filling Curves for Coverage Path Planning with Online Obstacle Avoidance Open
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…
View article: Software-In-The-Loop validation of super twisting based sliding mode control for quadcopters
Software-In-The-Loop validation of super twisting based sliding mode control for quadcopters Open
This research paper proposes a super twisting-based sliding mode controller for quadcopter's attitude and position tracking in the presence of uncertainties. In the design of a super twisting-based sliding mode controller, the PID sliding …
View article: Route planning for capacity restricted agents over railway network, without disrupting train schedules
Route planning for capacity restricted agents over railway network, without disrupting train schedules Open
Deploying mobile instrumentation for railway track inspection is a routing and scheduling problem, that can be benefited from plans which don't disrupt regular train schedules. In this work, we avoid disrupting train schedules by modeling …
View article: Boundary Surveillance Using a Novel Target Switching Technique
Boundary Surveillance Using a Novel Target Switching Technique Open
The paper focuses on the analysis of different kinds of patterns that have been generated using an autonomous unicycle agent. This unicycle agent considers only range information for controlling its trajectory. Using this range information…
View article: Moving Horizon Capacitated Arc Routing Problem
Moving Horizon Capacitated Arc Routing Problem Open
View article: Online Evasive Strategy for Aerial Survey using Sierpinski curve
Online Evasive Strategy for Aerial Survey using Sierpinski curve Open
This paper deals with the aerial survey of a closed region using the Space-Filling curve, particularly Sierpinski curve. The specified region is triangulated, and the Sierpinski curve is used to explore each triangular region. The entire r…
View article: Temporal Recurring Unavailabilities in Multi-agent Rural Postman Problem: Navigating railway tracks during availability time intervals
Temporal Recurring Unavailabilities in Multi-agent Rural Postman Problem: Navigating railway tracks during availability time intervals Open
Time-dependent (or temporal) properties may arise in many network-based planning problems, particularly in the routing and scheduling of railway track inspection problems. The availability of tracks depends on the train schedules, maintena…
View article: Optimal routing and scheduling in a time-dependent and directed multi-graph: a multi-agent temporal rural postman problem.
Optimal routing and scheduling in a time-dependent and directed multi-graph: a multi-agent temporal rural postman problem. Open
Time-dependent (or temporal) properties may arise in many practical static network search problems, for example routing and scheduling of railway track inspection where availability of track for inspection depends on the rail-schedule. In …
View article: Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications
Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications Open
View article: Can referrals to a pediatric Osteopathic Manipulative Medicine (OMM) clinic be increased through provider education
Can referrals to a pediatric Osteopathic Manipulative Medicine (OMM) clinic be increased through provider education Open
Purpose: \nMany pediatricians in the U.S. have trained in osteopathic medicine and have a Doctor of Osteopathy degree. However, other members of the health care team are often unaware of what osteopathic manipulative medicine (OMM) is or i…
View article: Modification of Hilbert’s Space-Filling Curve to Avoid Obstacles: A Robotic Path-Planning Strategy
Modification of Hilbert’s Space-Filling Curve to Avoid Obstacles: A Robotic Path-Planning Strategy Open
This paper addresses the problem of exploring a region using the Hilbert's\nspace-filling curve in the presence of obstacles. No prior knowledge of the\nregion being explored is assumed. An online algorithm is proposed which can\nimplement…
View article: Reconfigurable formations of quadrotors on Lissajous curves for\n surveillance applications
Reconfigurable formations of quadrotors on Lissajous curves for\n surveillance applications Open
This paper proposes trajectory planning strategies for online reconfiguration\nof a multi-agent formation on a Lissajous curve. In our earlier work, a\nmulti-agent formation with constant parametric speed was proposed in order to\naddress …
View article: Geometric Pattern Formation with Coordinated Double-Integrator Agents
Geometric Pattern Formation with Coordinated Double-Integrator Agents Open
This paper deals with the problem of geometric pattern formation by a group of mobile autonomous agents. The patterns are formed by the trajectories of the agents modeled with double integrator dynamics. The patterns can either be closed o…