Mohan Rajesh Elara
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View article: Efficient Robot-Aided Outdoor Cleaning with a Glasius Bio-Inspired Neural Network and Vision-Based Adaptation
Efficient Robot-Aided Outdoor Cleaning with a Glasius Bio-Inspired Neural Network and Vision-Based Adaptation Open
Robot-aided outdoor cleaning is a challenging task with plenty of room for improvement. The cleaning profile of a robot should be adjusted based on the availability of litter to ensure proper and efficient cleaning. This article proposes a…
View article: Optimal morphologies generation for an expandable robot using divide and conquer approach
Optimal morphologies generation for an expandable robot using divide and conquer approach Open
View article: Toward Optimal Multi-Agent Robot and Lift Schedules via Boolean Satisfiability
Toward Optimal Multi-Agent Robot and Lift Schedules via Boolean Satisfiability Open
As a multirobot system grows in its number of agents, contention over shared resources poses a more significant risk of deadlock and operational deficiencies. When integrating with buildings, one of the most common pieces of equipment that…
View article: Human activity-aware coverage path planning for robot-based mosquito control
Human activity-aware coverage path planning for robot-based mosquito control Open
View article: Foundation Models for Robotic Tasks: Survey, Challenges and Future Directions
Foundation Models for Robotic Tasks: Survey, Challenges and Future Directions Open
View article: AI-Enabled Condition Monitoring Framework for Autonomous Pavement-Sweeping Robots
AI-Enabled Condition Monitoring Framework for Autonomous Pavement-Sweeping Robots Open
The demand for large-scale, heavy-duty autonomous pavement-sweeping robots is rising due to urban growth, hygiene needs, and labor shortages. Ensuring their health and safe operation in dynamic outdoor environments is vital, as terrain une…
View article: Data-Driven Selection of Decontamination Robot Locomotion Based on Terrain Compatibility Scoring Models
Data-Driven Selection of Decontamination Robot Locomotion Based on Terrain Compatibility Scoring Models Open
Decontamination robots are becoming more common in environments where reducing human exposure to hazardous substances is essential, including healthcare settings, laboratories, and industrial cleanrooms. Designing terrain-capable decontami…
View article: A Framework for Coverage Path Planning of Outdoor Sweeping Robots Deployed in Large Environments
A Framework for Coverage Path Planning of Outdoor Sweeping Robots Deployed in Large Environments Open
Outdoor sweeping is a tedious and labor-intensive task essential for maintaining the cleanliness of public spaces such as gardens and parks. Robots have been developed to address the limitations of traditional methods. Coverage Path Planni…
View article: Adaptive Outdoor Cleaning Robot with Real-Time Terrain Perception and Fuzzy Control
Adaptive Outdoor Cleaning Robot with Real-Time Terrain Perception and Fuzzy Control Open
Outdoor cleaning robots must operate reliably across diverse and unstructured surfaces, yet many existing systems lack the adaptability to handle terrain variability. This paper proposes a terrain-aware cleaning framework that dynamically …
View article: An Optical Flow- and Machine Learning-Based Fall Recognition Model for Stair Accessing Service Robots
An Optical Flow- and Machine Learning-Based Fall Recognition Model for Stair Accessing Service Robots Open
One of the reasons for the lack of commercial staircase service robots is the risk and severe impact of them falling down the stairs. Thus, the development of robust fall damage mitigation mechanisms is important for the commercial adoptio…
View article: Recovery Motion Analysis for False Ceiling Inspection Robot
Recovery Motion Analysis for False Ceiling Inspection Robot Open
The false ceiling plenum is a common and essential part of building infrastructure. However, false ceiling infrastructure requires constant maintenance, which is cumbersome and dangerous for humans since they have to work at high heights a…
View article: Payload- and Energy-Aware Tactical Allocation Loop-Based Path-Planning Algorithm for Urban Fumigation Robots
Payload- and Energy-Aware Tactical Allocation Loop-Based Path-Planning Algorithm for Urban Fumigation Robots Open
Fumigation effectively manages pests, yet manual spraying poses long-term health risks to operators, making autonomous fumigation robots safer and more efficient. Path planning is a crucial aspect of deploying autonomous robots; it primari…
View article: RL-Based Vibration-Aware Path Planning for Mobile Robots’ Health and Safety
RL-Based Vibration-Aware Path Planning for Mobile Robots’ Health and Safety Open
Mobile robots are widely used, with research focusing on autonomy and functionality. However, long-term deployment requires their health and safety to be ensured. Terrain-induced vibrations accelerate wear. Hence, self-awareness and optima…
View article: Developing an Urban Landscape Fumigation Service Robot: A Machine-Learned, Gen-AI-Based Design Trade Study
Developing an Urban Landscape Fumigation Service Robot: A Machine-Learned, Gen-AI-Based Design Trade Study Open
Generative AI (Gen-AI) revolutionizes design by leveraging machine learning to generate innovative solutions. It analyzes data to identify patterns, creates tailored designs, enhances creativity, and allows designers to explore complex pos…
View article: Determining optimum assembly zone for modular reconfigurable robots using multi-objective genetic algorithm
Determining optimum assembly zone for modular reconfigurable robots using multi-objective genetic algorithm Open
Reconfigurable modular robots can be used in application domains such as exploration, logistics, and outer space. The robots should be able to assemble and work as a single entity to perform a task that requires high throughput. Selecting …
View article: Reinforcement Learning for Reconfigurable Robotic Soccer
Reinforcement Learning for Reconfigurable Robotic Soccer Open
Robots are showing great impact and, in recent trends, appearing in areas such as education and entertainment. Robotic soccer is becoming more prevalent in competitions, furthering research in robotics and artificial intelligence. Reconfig…
View article: Complete Coverage Path Planning Strategy for Reconfigurable Robot With Variable Footprint
Complete Coverage Path Planning Strategy for Reconfigurable Robot With Variable Footprint Open
Autonomous mobile robots (AMRs) face challenges in navigating complex environments efficiently. To manoeuvre through both narrow and wide spaces, AMRs require two essential design features: a compact form for tight areas as well as a large…
View article: Boa Fumigator: An Intelligent Robotic Approach for Mosquito Control
Boa Fumigator: An Intelligent Robotic Approach for Mosquito Control Open
The mosquitoe population is reaching critical levels globally, posing significant threats to public health and ecosystems due to their role as vectors for diseases. This paper presents the development of a mobile robotic platform named Boa…
View article: Tiling Robotics: A New Paradigm of Shape‐Morphing Reconfigurable Robots
Tiling Robotics: A New Paradigm of Shape‐Morphing Reconfigurable Robots Open
The ability of reconfigurable robots to adapt to varying tasks and environments furnishes versatility and efficiency in their operations. In this article, tiling robots are introduced as a novel paradigm of shape‐morphing reconfigurable ro…
View article: KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor Fusion
KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor Fusion Open
Landscape maintenance is essential for ensuring agricultural productivity, promoting sustainable land use, and preserving soil and ecosystem health. Pruning is a labor-intensive task among landscaping applications that often involves repet…
View article: Evaluating the Robot Inclusivity of Buildings Based on Surface Unevenness
Evaluating the Robot Inclusivity of Buildings Based on Surface Unevenness Open
Mobile service robots experience excessive vibrations when travelling over uneven surfaces in their workspace, increasing the degradation rate of the mechanical components or disrupting the robot’s sensing abilities for proper localization…
View article: Revolutionizing Urban Pest Management with Sensor Fusion and Precision Fumigation Robotics
Revolutionizing Urban Pest Management with Sensor Fusion and Precision Fumigation Robotics Open
Effective pest management in urban areas is critically challenged by the rapid proliferation of mosquito breeding sites. Traditional fumigation methods expose human operators to harmful chemicals, posing significant health risks ranging fr…
View article: Reconfigurable Robotic Exercising Companion
Reconfigurable Robotic Exercising Companion Open
Regular exercise plays a crucial role in promoting overall well-being in today’s lifestyle. However, individuals often find it challenging to properly execute exercises, including maintaining correct postures and appropriate movement speed…
View article: Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents
Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents Open
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based op…
View article: Complete area-coverage path planner for surface cleaning in hospital settings using mobile dual-arm robot and GBNN with heuristics
Complete area-coverage path planner for surface cleaning in hospital settings using mobile dual-arm robot and GBNN with heuristics Open
Complete area-coverage path planners are essential for robots performing tasks like cleaning, inspection, and surveying. However, they often involve complex calculations, mapping, and determining movement directions, leading to high comput…
View article: Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces
Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces Open
Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contain…
View article: Deep Learning Based Fall Recognition and Forecasting for Reconfigurable Stair-Accessing Service Robots
Deep Learning Based Fall Recognition and Forecasting for Reconfigurable Stair-Accessing Service Robots Open
This paper presents a comprehensive study on fall recognition and forecasting for reconfigurable stair-accessing robots by leveraging deep learning techniques. The proposed framework integrates machine learning algorithms and recurrent neu…
View article: Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance
Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance Open
Developing guidelines for designing robot-inclusive spaces has been challenging and resource-intensive, primarily relying on physical experiments and observations of robot interactions within the built environment. These conventional metho…
View article: A Framework for Auditing Robot-Inclusivity of Indoor Environments Based on Lighting Condition
A Framework for Auditing Robot-Inclusivity of Indoor Environments Based on Lighting Condition Open
Mobile service robots employ vision systems to discern objects in their workspaces for navigation or object detection. The lighting conditions of the surroundings affect a robot’s ability to discern and navigate in its work environment. Ro…
View article: Inter-Reconfigurable Robot Path Planner for Double-Pass Complete Coverage Problem
Inter-Reconfigurable Robot Path Planner for Double-Pass Complete Coverage Problem Open
Recent advancements in autonomous mobile robots have led to significant progress in area coverage tasks. However, challenges persist in optimizing the efficiency and computational complexity of complete coverage path planner (CCPP) algorit…