Sai Krishna Kanth Hari
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View article: Robust Underwater Vehicle Pose Estimation via Convex Optimization Using Range-Only Remote Sensing Data
Robust Underwater Vehicle Pose Estimation via Convex Optimization Using Range-Only Remote Sensing Data Open
Accurate localization plays a critical role in enabling underwater vehicle autonomy. In this work, we develop a robust infrastructure-based localization framework that estimates the position and orientation of underwater vehicles using onl…
View article: HAGE AI – Sentiment Analysis Using GenAI
HAGE AI – Sentiment Analysis Using GenAI Open
View article: Optimization of District Heating Network Parameters in Steady-State Operation
Optimization of District Heating Network Parameters in Steady-State Operation Open
We examine the modeling, simulation, and optimization of district heating systems, which are widely used for thermal transport using steam or hot water as a carrier. We propose a generalizable framework to specify network models and scenar…
View article: Capabilities and Advantages of the GasModels Package
Capabilities and Advantages of the GasModels Package Open
View article: Optimization of District Heating Network Parameters in Steady-State Operation
Optimization of District Heating Network Parameters in Steady-State Operation Open
We examine the modeling, simulation, and optimization of district heating systems, which are widely used for thermal transport using steam or hot water as a carrier. We propose a generalizable framework to specify network models and scenar…
View article: Joint Expansion Planning of Power and Water Distribution Networks
Joint Expansion Planning of Power and Water Distribution Networks Open
This research explores the joint expansion planning of power and water distribution networks, which exhibit interdependence at various levels. We specifically focus on the dependency arising from the power consumption of pumps and develop …
View article: Relaxations of the Steady Optimal Gas Flow Problem for a Non-Ideal Gas
Relaxations of the Steady Optimal Gas Flow Problem for a Non-Ideal Gas Open
Natural gas ranks second in consumption among primary energy sources in the United States. The majority of production sites are in remote locations, hence natural gas needs to be transported through a pipeline network equipped with a varie…
View article: Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity
Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity Open
We consider a route planning problem in which two unmanned vehicles are required to complete a set of tasks present at distinct locations, referred to as targets, with minimum energy consumption. The mission environment is hazardous, and t…
View article: Bounds on Optimal Revisit Times in Persistent Monitoring Missions With a Distinct and Remote Service Station
Bounds on Optimal Revisit Times in Persistent Monitoring Missions With a Distinct and Remote Service Station Open
We report persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. Unmannned aerial vehicles (UAVs) can be gainfully employed to continually visit a set of targets representing tas…
View article: Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments Open
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…
View article: Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station.
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station. Open
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment …
View article: Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station Open
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment …
View article: An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem Involving a Human-Robot Team
An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem Involving a Human-Robot Team Open
This article presents an approximation algorithm for a task allocation, sequencing and scheduling problem involving a team of human operators and robots. Specifically, we present an algorithm with an approximation ratio as a function of th…
View article: Optimal Routing of Unmanned Vehicles in Persistent Monitoring Missions
Optimal Routing of Unmanned Vehicles in Persistent Monitoring Missions Open
Missions such as forest fire monitoring, military surveillance and infrastructure monitoring are referred to as persistent monitoring missions. These missions rely heavily on continual data collection from various locations, referred to as…
View article: An Approximation Algorithm for a Task Allocation, Sequencing and\n Scheduling Problem involving a Human-Robot Team
An Approximation Algorithm for a Task Allocation, Sequencing and\n Scheduling Problem involving a Human-Robot Team Open
This article presents an approximation algorithm for a task allocation,\nsequencing and scheduling problem involving a team of human operators and\nrobots. Specifically, we present an algorithm with an approximation ratio as a\nfunction of…
View article: Estimation of Location and Orientation for Underwater Vehicles from Range Measurements
Estimation of Location and Orientation for Underwater Vehicles from Range Measurements Open
Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In thi…
View article: Persistent Monitoring of Dynamically Changing Environments Using an\n Unmanned Vehicle
Persistent Monitoring of Dynamically Changing Environments Using an\n Unmanned Vehicle Open
We consider the problem of planning a closed walk $\\mathcal W$ for a UAV to\npersistently monitor a finite number of stationary targets with equal\npriorities and dynamically changing properties. A UAV must physically visit the\ntargets i…
View article: Hierarchical Predictive Control Algorithms for Optimal Design and Operation of Microgrids
Hierarchical Predictive Control Algorithms for Optimal Design and Operation of Microgrids Open
In recent years, microgrids, i.e., disconnected distribution systems, have received increasing interest from power system utilities to support the economic and resiliency posture of their systems. The economics of long distance transmissio…
View article: Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle Open
We consider the problem of planning a closed walk $\mathcal W$ for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changing properties. A UAV must physically visit the targets in or…
View article: Adaptive Position Estimation for Vehicles using Range Measurements
Adaptive Position Estimation for Vehicles using Range Measurements Open
Position estimation is one of the important tasks to achieve vehicle autonomy. This article addresses the problem of estimating the position of the center of mass of a vehicle from range measurements that are available to the vehicle via c…
View article: Localization of Vehicles Using Range Measurements
Localization of Vehicles Using Range Measurements Open
Localization is an important required task for enabling vehicle autonomy. It entails the determination of the position of center of mass and orientation of a vehicle from the available measurements. In this paper, we focus on localization …
View article: Scheduling Tasks for Human Operators in Monitoring and Surveillance Applications
Scheduling Tasks for Human Operators in Monitoring and Surveillance Applications Open
We consider a scheduling problem that arises in the context of surveillance or reconnaissance missions by multiple unmanned aerial vehicles (UAVs) where human operators would be present to perform tasks that require a high level of experti…