Swaroop Darbha
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View article: A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints Open
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…
View article: Parasitic actuation delay limits the minimum employable time headway in connected and autonomous vehicles
Parasitic actuation delay limits the minimum employable time headway in connected and autonomous vehicles Open
Adaptive andcooperative adaptive cruise control (ACC and CACC) and next generation CACC (CACC+) systems usually employ a constant time headway policy (CTHP) for platooning of connected and autonomous vehicles (CAVs). In ACC, the ego vehicl…
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: Sustainable Post-Harvest and Value Addition Practices in Agriculture: A Review
Sustainable Post-Harvest and Value Addition Practices in Agriculture: A Review Open
Post-harvest losses remain a principal problem in agriculture, resulting in serious economic and food security issues. Sustainable post-harvest handling and value addition measures can provide efficient means of reducing losses, improving …
View article: A Comprehensive Review on Plant-Soil Interactions: Microbial Dynamics, Nutrient Cycling and Sustainable Crop Production
A Comprehensive Review on Plant-Soil Interactions: Microbial Dynamics, Nutrient Cycling and Sustainable Crop Production Open
Plant-soil interactions are crucial to the establishment of crop productivity, soil well-being, and environmental stewardship. These interactions involve intricate biological, chemical, and physical processes that determine nutrient cyclin…
View article: Closed-form Generation of Paths for Motion Planning of a Convexified Reeds–Shepp Vehicle on a Sphere
Closed-form Generation of Paths for Motion Planning of a Convexified Reeds–Shepp Vehicle on a Sphere Open
This paper presents an analytical derivation of the path generation process for time-optimal convexified Reeds–Shepp paths on a sphere. Specifically, a sufficient list of 23 optimal path types for this problem was derived in \cite{li2025ti…
View article: Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere Open
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal d…
View article: Robust Lateral Control of an Autonomous Vehicle
Robust Lateral Control of an Autonomous Vehicle Open
View article: Extension strategies to promote post-harvest management and value addition: A review
Extension strategies to promote post-harvest management and value addition: A review Open
View article: Optimized Feature Engineering for Dentition based Cattle Age Estimation
Optimized Feature Engineering for Dentition based Cattle Age Estimation Open
View article: Closed-form Generation of Paths for Motion Planning of a Convexified Reeds-Shepp Vehicle on a Sphere
Closed-form Generation of Paths for Motion Planning of a Convexified Reeds-Shepp Vehicle on a Sphere Open
View article: Lateral String Stability in Autonomous & Connected Vehicle Platoons
Lateral String Stability in Autonomous & Connected Vehicle Platoons Open
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
View article: Heterogeneous Min-Max Multi-Vehicle Multi-Depot Traveling Salesman Problem: Heuristics and Computational Results
Heterogeneous Min-Max Multi-Vehicle Multi-Depot Traveling Salesman Problem: Heuristics and Computational Results Open
In this paper, a heuristic for a heterogeneous min-max multi-vehicle multi-depot traveling salesman problem is proposed, wherein heterogeneous vehicles start from given depot locations and need to cover a given set of targets. In the consi…
View article: Spectral Graph Theoretic Methods for Enhancing Network Robustness in Robot Localization
Spectral Graph Theoretic Methods for Enhancing Network Robustness in Robot Localization Open
This paper addresses the optimization of edge-weighted networks by maximizing algebraic connectivity to enhance network robustness. Motivated by the need for precise robot position estimation in cooperative localization and pose-graph spar…
View article: Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation Open
In this paper, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded by $r$. In a previous study, this problem was addressed, wh…
View article: The Persistent Robot Charging Problem for Long-Duration Autonomy
The Persistent Robot Charging Problem for Long-Duration Autonomy Open
This paper introduces a novel formulation aimed at determining the optimal schedule for recharging a fleet of $n$ heterogeneous robots, with the primary objective of minimizing resource utilization. This study provides a foundational frame…
View article: Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames
Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames Open
In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary contributi…
View article: Assessing the safety benefits of CACC+ based coordination of connected and autonomous vehicle platoons in emergency braking scenarios
Assessing the safety benefits of CACC+ based coordination of connected and autonomous vehicle platoons in emergency braking scenarios Open
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards evalua…
View article: Benefits of V2V communication in connected and autonomous vehicles in the presence of delays in communicated signals
Benefits of V2V communication in connected and autonomous vehicles in the presence of delays in communicated signals Open
In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selection of the time headway in predecessor-follower type vehic…
View article: Selection of Time Headway in Connected and Autonomous Vehicle Platoons under Noisy V2V Communication
Selection of Time Headway in Connected and Autonomous Vehicle Platoons under Noisy V2V Communication Open
In this paper, we investigate the selection of time headway to ensure robust string stability in connected and autonomous vehicle platoons in the presence of signal noise in Vehicle-to-Vehicle (V2V) communication. In particular, we conside…
View article: Workpiece Localization Via Correspondence Prediction and Next Best Views
Workpiece Localization Via Correspondence Prediction and Next Best Views Open
View article: Heuristic for Min-Max Heterogeneous Multi-Vehicle Multi-Depot Traveling Salesman Problem
Heuristic for Min-Max Heterogeneous Multi-Vehicle Multi-Depot Traveling Salesman Problem Open
In this article, a heuristic is proposed for a min-max heterogeneous multi-vehicle multi-depot traveling salesman problem (TSP), wherein heterogeneous vehicles start from given depot positions and need to cover a given set of targets. The …
View article: Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network Open
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) i…
View article: Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation Open
In this paper, motion planning for a vehicle moving on a unit sphere with\nunit speed is considered, wherein the desired terminal location is fixed, but\nthe terminal orientation is free. The motion of the vehicle is modeled to be\nconstra…
View article: UAV Routing for Enhancing the Performance of a Classifier-in-the-loop
UAV Routing for Enhancing the Performance of a Classifier-in-the-loop Open
Some human-machine systems are designed so that machines (robots) gather and deliver data to remotely located operators (humans) through an interface in order to aid them in classification. The performance of a human as a (binary) classifi…
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: Optimal Robust Network Design: Formulations and Algorithms for Maximizing Algebraic Connectivity
Optimal Robust Network Design: Formulations and Algorithms for Maximizing Algebraic Connectivity Open
This paper focuses on designing edge-weighted networks, whose robustness is characterized by maximizing algebraic connectivity, or the second smallest eigenvalue of the Laplacian matrix. This problem is motivated by cooperative vehicle loc…
View article: The Weighted Markov-Dubins Problem
The Weighted Markov-Dubins Problem Open
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and final configurations, different bounds for the sinistral and …
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…