Thejus Pathmakumar
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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: A Deep Reinforcement Learning Approach to Optimal Morphologies Generation in Reconfigurable Tiling Robots
A Deep Reinforcement Learning Approach to Optimal Morphologies Generation in Reconfigurable Tiling Robots Open
Reconfigurable robots have the potential to perform complex tasks by adapting their morphology to different environments. However, designing optimal morphologies for these robots is challenging due to the large design space and the complex…
View article: A metaheuristic approach to optimal morphology in reconfigurable tiling robots
A metaheuristic approach to optimal morphology in reconfigurable tiling robots Open
Reconfigurable robots are suitable for cleaning applications due to their high flexibility and ability to change shape according to environmental needs. However, continuous change in morphology is not an energy-efficient approach, with the…
View article: Optimal Morphologies of n-Omino-Based Reconfigurable Robot for Area Coverage Task Using Metaheuristic Optimization
Optimal Morphologies of n-Omino-Based Reconfigurable Robot for Area Coverage Task Using Metaheuristic Optimization Open
Reconfigurable robots design based on polyominos or n-Omino is increasingly being explored in cleaning and maintenance (CnM) tasks due to their ability to change shape using intra- and inter-reconfiguration, resulting in various footprints…
View article: A Novel Path Planning Strategy for a Cleaning Audit Robot Using Geometrical Features and Swarm Algorithms
A Novel Path Planning Strategy for a Cleaning Audit Robot Using Geometrical Features and Swarm Algorithms Open
Robot-aided cleaning auditing is pioneering research that uses autonomous robots to assess a region’s cleanliness level by analyzing the dirt samples collected from various locations. Since the dirt sample gathering process is more challen…
View article: Toward a Comprehensive Domestic Dirt Dataset Curation for Cleaning Auditing Applications
Toward a Comprehensive Domestic Dirt Dataset Curation for Cleaning Auditing Applications Open
Cleaning is an important task that is practiced in every domain and has prime importance. The significance of cleaning has led to several newfangled technologies in the domestic and professional cleaning domain. However, strategies for aud…
View article: AI-Enabled Mosquito Surveillance and Population Mapping Using Dragonfly Robot
AI-Enabled Mosquito Surveillance and Population Mapping Using Dragonfly Robot Open
Mosquito-borne diseases can pose serious risks to human health. Therefore, mosquito surveillance and control programs are essential for the wellbeing of the community. Further, human-assisted mosquito surveillance and population mapping me…
View article: A Reinforcement Learning Based Dirt-Exploration for Cleaning-Auditing Robot
A Reinforcement Learning Based Dirt-Exploration for Cleaning-Auditing Robot Open
Cleaning is one of the fundamental tasks with prime importance given in our day-to-day life. Moreover, the importance of cleaning drives the research efforts towards bringing leading edge technologies, including robotics, into the cleaning…
View article: sTetro-Deep Learning Powered Staircase Cleaning and Maintenance Reconfigurable Robot
sTetro-Deep Learning Powered Staircase Cleaning and Maintenance Reconfigurable Robot Open
Staircase cleaning is a crucial and time-consuming task for maintenance of multistory apartments and commercial buildings. There are many commercially available autonomous cleaning robots in the market for building maintenance, but few of …
View article: Towards an Optimal Footprint Based Area Coverage Strategy for a False-Ceiling Inspection Robot
Towards an Optimal Footprint Based Area Coverage Strategy for a False-Ceiling Inspection Robot Open
False-ceiling inspection is a critical factor in pest-control management within a built infrastructure. Conventionally, the false-ceiling inspection is done manually, which is time-consuming and unsafe. A lightweight robot is considered a …
View article: An Autonomous Robot-Aided Auditing Scheme for Floor Cleaning
An Autonomous Robot-Aided Auditing Scheme for Floor Cleaning Open
Cleaning is an important factor in most aspects of our day-to-day life. This research work brings a solution to the fundamental question of “How clean is clean” by introducing a novel framework for auditing the cleanliness of built infrast…
View article: Deep Learning Based Pavement Inspection Using Self-Reconfigurable Robot
Deep Learning Based Pavement Inspection Using Self-Reconfigurable Robot Open
The pavement inspection task, which mainly includes crack and garbage detection, is essential and carried out frequently. The human-based or dedicated system approach for inspection can be easily carried out by integrating with the pavemen…
View article: An Optimal Footprint Based Coverage Planning for Hydro Blasting Robots
An Optimal Footprint Based Coverage Planning for Hydro Blasting Robots Open
The hydro blasting of metallic surfaces is an essential maintenance task in various industrial sites. Its requirement of a considerable labour force and time, calls for automating the hydro blasting jobs through mobile robots. A hydro blas…
View article: Head Pose Detection for a Wearable Parrot-Inspired Robot Based on Deep Learning
Head Pose Detection for a Wearable Parrot-Inspired Robot Based on Deep Learning Open
Extensive research has been conducted in human head pose detection systems and several applications have been identified to deploy such systems. Deep learning based head pose detection is one such method which has been studied for several …
View article: Tackling Area Coverage Problems in a Reconfigurable Floor Cleaning Robot Based on Polyomino Tiling Theory
Tackling Area Coverage Problems in a Reconfigurable Floor Cleaning Robot Based on Polyomino Tiling Theory Open
Whilst Polyomino tiling theory has been extensively studied as a branch of research in mathematics, its application has been largely confined to multimedia, graphics and gaming domains. In this paper, we present a novel application of Trom…
View article: A Tiling-Theoretic Approach to Efficient Area Coverage in a Tetris-Inspired Floor Cleaning Robot
A Tiling-Theoretic Approach to Efficient Area Coverage in a Tetris-Inspired Floor Cleaning Robot Open
Although numerous studies have focused on the development and application of polyomino tiling theories, research of this nature is typically limited to the graphics and gaming fields. In this paper, we are presenting an innovative applicat…
View article: A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot
A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot Open
The façade cleaning of high rise buildings is one of the hazardous tasks that is performed by human operators. Even after a significant advancement in construction technologies, several newfangled skyscrapers are still using the manual met…
View article: Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing Robot
Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing Robot Open
Designing an urban reconnaissance robot is highly challenging work given the nature of the terrain in which these robots are required to operate. In this work, we attempt to extend the locomotion capabilities of these robots beyond what is…
View article: Vision-Based Perception and Classification of Mosquitoes Using Support Vector Machine
Vision-Based Perception and Classification of Mosquitoes Using Support Vector Machine Open
The need for a novel automated mosquito perception and classification method is becoming increasingly essential in recent years, with steeply increasing number of mosquito-borne diseases and associated casualties. There exist remote sensin…
View article: Terrain Perception in a Shape Shifting Rolling-Crawling Robot
Terrain Perception in a Shape Shifting Rolling-Crawling Robot Open
Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait pa…