Harikumar Kandath
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View article: Engineering End-to-End Remote Labs Using IoT-Based Retrofitting
Engineering End-to-End Remote Labs Using IoT-Based Retrofitting Open
Remote labs are a groundbreaking development in the education industry, providing students with access to laboratory education anytime, anywhere. However, most remote labs are costly and difficult to scale, especially in developing countri…
View article: CrackUDA: Incremental Unsupervised Domain Adaptation for Improved Crack Segmentation in Civil Structures
CrackUDA: Incremental Unsupervised Domain Adaptation for Improved Crack Segmentation in Civil Structures Open
Crack segmentation plays a crucial role in ensuring the structural integrity and seismic safety of civil structures. However, existing crack segmentation algorithms encounter challenges in maintaining accuracy with domain shifts across dat…
View article: Attention Meets UAVs: A Comprehensive Evaluation of DDoS Detection in Low-Cost UAVs
Attention Meets UAVs: A Comprehensive Evaluation of DDoS Detection in Low-Cost UAVs Open
This paper explores the critical issue of enhancing cybersecurity measures for low-cost, Wi-Fi-based Unmanned Aerial Vehicles (UAVs) against Distributed Denial of Service (DDoS) attacks. In the current work, we have explored three variants…
View article: RaCIL: Ray Tracing based Multi-UAV Obstacle Avoidance through Composite Imitation Learning
RaCIL: Ray Tracing based Multi-UAV Obstacle Avoidance through Composite Imitation Learning Open
In this study, we address the challenge of obstacle avoidance for Unmanned Aerial Vehicles (UAVs) through an innovative composite imitation learning approach that combines Proximal Policy Optimization (PPO) with Behavior Cloning (BC) and G…
View article: Engineering End-to-End Remote Labs using IoT-based Retrofitting
Engineering End-to-End Remote Labs using IoT-based Retrofitting Open
Remote labs are a groundbreaking development in the education industry, providing students with access to laboratory education anytime, anywhere. However, most remote labs are costly and difficult to scale, especially in developing countri…
View article: Automated Detection and Counting of Windows using UAV Imagery based Remote Sensing
Automated Detection and Counting of Windows using UAV Imagery based Remote Sensing Open
Despite the technological advancements in the construction and surveying sector, the inspection of salient features like windows in an under-construction or existing building is predominantly a manual process. Moreover, the number of windo…
View article: Acceleration-Based PSO for Multi-UAV Source-Seeking
Acceleration-Based PSO for Multi-UAV Source-Seeking Open
This paper presents a novel algorithm for a swarm of unmanned aerial vehicles (UAVs) to search for an unknown source. The proposed method is inspired by the well-known PSO algorithm and is called acceleration-based particle swarm optimizat…
View article: A Comprehensive Evaluation on the Impact of Various Spoofing Scenarios on GPS Sensors in a Low-Cost UAV
A Comprehensive Evaluation on the Impact of Various Spoofing Scenarios on GPS Sensors in a Low-Cost UAV Open
Unmanned Aerial Vehicles (UAVs), particularly low-cost UAVs, have become increasingly important due to their wide range of applications and ease of use. However, with the rapid growth of the UAV market, the rising security concerns pose a…
View article: A Comprehensive Evaluation on the Impact of Various Spoofing Scenarios on GPS Sensors in a Low-Cost UAV
A Comprehensive Evaluation on the Impact of Various Spoofing Scenarios on GPS Sensors in a Low-Cost UAV Open
Unmanned Aerial Vehicles (UAVs), particularly low-cost UAVs, have become increasingly important due to their wide range of applications and ease of use. However, with the rapid growth of the UAV market, the rising security concerns pose a…
View article: Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals
Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals Open
Reconfigurable aerial platforms such as multicopter unmanned aerial vehicles (UAVs) allow the design of fail-safe systems because of inherent redundancy in actuators and sensors to maintain stability with a reduction in flight performance.…
View article: Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals
Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals Open
Reconfigurable aerial platforms such as multicopter unmanned aerial vehicles (UAVs) allow the design of fail-safe systems because of inherent redundancy in actuators and sensors to maintain stability with a reduction in flight performance.…
View article: Vision based UAV Navigation through Narrow Passages
Vision based UAV Navigation through Narrow Passages Open
This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography …
View article: Control Barrier Function-based Predictive Control for Close Proximity operation of UAVs inside a Tunnel
Control Barrier Function-based Predictive Control for Close Proximity operation of UAVs inside a Tunnel Open
This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and force…
View article: Sim-to-Real Deep Reinforcement Learning based Obstacle Avoidance for UAVs under Measurement Uncertainty
Sim-to-Real Deep Reinforcement Learning based Obstacle Avoidance for UAVs under Measurement Uncertainty Open
Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) base…
View article: RRT and Velocity Obstacles-based motion planning for Unmanned Aircraft Systems Traffic Management (UTM)
RRT and Velocity Obstacles-based motion planning for Unmanned Aircraft Systems Traffic Management (UTM) Open
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and Ve…
View article: Predictive Barrier Lyapunov Function Based Control for Safe Trajectory Tracking of an Aerial Manipulator
Predictive Barrier Lyapunov Function Based Control for Safe Trajectory Tracking of an Aerial Manipulator Open
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF (degree…
View article: An Efficient Approach with Dynamic Multi-Swarm of UAVs for Forest Firefighting
An Efficient Approach with Dynamic Multi-Swarm of UAVs for Forest Firefighting Open
In this paper, the Multi-Swarm Cooperative Information-driven search and Divide and Conquer mitigation control (MSCIDC) approach is proposed for faster detection and mitigation of forest fire by reducing the loss of biodiversity, nutrients…
View article: UAV-based Visual Remote Sensing for Automated Building Inspection
UAV-based Visual Remote Sensing for Automated Building Inspection Open
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The vulnerabil…
View article: Real-Time Heuristic Framework for Safe Landing of UAVs in Dynamic Scenarios
Real-Time Heuristic Framework for Safe Landing of UAVs in Dynamic Scenarios Open
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external …
View article: TASAC: a twin-actor reinforcement learning framework with stochastic policy for batch process control
TASAC: a twin-actor reinforcement learning framework with stochastic policy for batch process control Open
Due to their complex nonlinear dynamics and batch-to-batch variability, batch processes pose a challenge for process control. Due to the absence of accurate models and resulting plant-model mismatch, these problems become harder to address…
View article: Robust Consensus of Higher-Order Multi-Agent Systems With Attrition and Inclusion of Agents and Switching Topologies
Robust Consensus of Higher-Order Multi-Agent Systems With Attrition and Inclusion of Agents and Switching Topologies Open
Some of the issues associated with the practical applications of consensus of multi-agent systems (MAS) include switching topologies, attrition and inclusion of agents from an existing network, and model uncertainties of agents. In this pa…
View article: Deep Reinforcement Learning and Simultaneous Stabilization-Based Flight Controller for Nano Aerial Vehicle
Deep Reinforcement Learning and Simultaneous Stabilization-Based Flight Controller for Nano Aerial Vehicle Open
The plants of nano aerial vehicles (NAVs) are inherently unstable. Hence, a NAV needs a flight controller to accomplish a mission. Furthermore, the sensing and computational capabilities of NAV's autopilot hardware are limited. Hence, the …
View article: Application of twin delayed deep deterministic policy gradient learning for the control of transesterification process.
Application of twin delayed deep deterministic policy gradient learning for the control of transesterification process. Open
The persistent depletion of fossil fuels has encouraged mankind to look for alternatives fuels that are renewable and environment-friendly. One of the promising and renewable alternatives to fossil fuels is bio-diesel produced by means of …
View article: Gap Reduced Minimum Error Robust Simultaneous Estimation For Unstable Nano Air Vehicle
Gap Reduced Minimum Error Robust Simultaneous Estimation For Unstable Nano Air Vehicle Open
This paper proposes a novel Gap Reduced Minimum Error Robust Simultaneous (GRMERS) estimator for resource-constrained Nano Aerial Vehicle (NAV) that enables a single estimator to provide simultaneous and robust estimation for a given N uns…
View article: Robust Simultaneously Stabilizing Decoupling Output Feedback Controllers for Unstable Adversely Coupled Nano Air Vehicles
Robust Simultaneously Stabilizing Decoupling Output Feedback Controllers for Unstable Adversely Coupled Nano Air Vehicles Open
The plants of nano air vehicles (NAVs) are generally unstable, adversely coupled, and uncertain. Besides, the autopilot hardware of a NAV has limited sensing and computational capabilities. Hence, these vehicles need a single controller re…
View article: Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics
Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics Open
A solution to the waypoint navigation problem for fixed wing micro air vehicles (MAV) is addressed in this paper, in the framework of integrated guidance and control (IGC). IGC yields a single step solution to the waypoint navigation probl…
View article: Real-time UAV Complex Missions Leveraging Self-Adaptive Controller with Elastic Structure
Real-time UAV Complex Missions Leveraging Self-Adaptive Controller with Elastic Structure Open
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and dr…
View article: Discrete-time sliding mode observer for the state estimation of a manoeuvring target
Discrete-time sliding mode observer for the state estimation of a manoeuvring target Open
This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input an…