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Mechanical Engineering and Mechanics
Subhrajit Bhattacharya

Publications


Selected Preprints and Articles Under Review:

  1. Subhrajit Bhattacharya and Robert Ghrist, "Path Homotopy Invariants and their Application to Optimal Trajectory Planning", electronic pre-print, 2017. [under review.]. (BibTeX)
  2. Subhrajit Bhattacharya, "Approximate Structure Construction Using Large Statistical Swarms", Electronic Pre-print, June, 2017. arXiv:1706.03842 [cs.RO]. (BibTeX)
  3. Subhrajit Bhattacharya, "A Search Algorithm for Simplicial Complexes", Electronic Pre-print, August, 2016. arXiv:1607.07009 [cs.DM]. (BibTeX)
  4. Subhrajit Bhattacharya, "A General Continuous Inverse Kinematics Algorithm for a Planar Robot Arm", [Excerpts from full publication entitled "A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem" ]. Electronic Pre-print, September, 2013-14. (BibTeX)
  5. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Relationship Between Gradient of Distance Functions and Tangents to Geodesics", [Excerpts from full publication entitled "Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary" ]., University of Pennsylvania, 2012. (BibTeX)

Journal Publications:

  1. Sikang Liu, Michael Watterson, Kartik Mohta, Ke Sun, Subhrajit Bhattacharya, Camillo Jose Taylor and Vijay Kumar, "Planning Dynamically Feasible Trajectories using Safe Flight Corridors in 3-D Complex Environments", IEEE Robotics and Automation Letters (RA-L), January, 2017. (BibTeX)
  2. Rattanachai Ramaithitima, Mickey Whitzer, Subhrajit Bhattacharya and Vijay Kumar, "Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots", IEEE Robotics and Automation Letters (RA-L), 1(2):746-753, January, 2016. DOI: 10.1109/LRA.2016.2523600. (BibTeX)
  3. Subhrajit Bhattacharya and Mihail Pivtoraiko, "A Classification of Configuration Spaces of Planar Robot Arms for a Continuous Inverse Kinematics Problem", Acta Applicandae Mathematicae, 139(1):133-166, Springer, October, 2015. DOI: s10440-014-9973-1. (BibTeX)
  4. Subhrajit Bhattacharya, Soonkyum Kim, Hordur Heidarsson, Gaurav Sukhatme and Vijay Kumar, "A Topological Approach to using cables to separate and manipulate sets of objects", International Journal of Robotics Research, 34(6):799-815, April, 2015. DOI: 10.1177/0278364914562236. (BibTeX)
  5. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Persistent Homology for Path Planning in Uncertain Environments", IEEE Transactions on Robotics (T-RO), 31(3):578-590, March, 2015. DOI: 10.1109/TRO.2015.2412051. (BibTeX)
  6. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary", International Journal of Robotics Research, 33(1):113-137, January, 2014. DOI: 10.1177/0278364913507324. (BibTeX)
  7. Subhrajit Bhattacharya, David Lipsky, Robert Ghrist and Vijay Kumar, "Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics", Annals of Mathematics and Artificial Intelligence (AMAI), 67(3):251-281, Springer, March, 2013. DOI: 10.1007/s10472-013-9357-7. (BibTeX)
  8. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Topological Constraints in Search-based Robot Path Planning", Autonomous Robots, 33(3):273-290, Springer Netherlands, October, 2012. DOI: 10.1007/s10514-012-9304-1. (BibTeX)
    [   PDF on Springer web-site  |  Supplementary videos on Springer web-site  ||   Application to topological object separation  |  Related paper on Homotopy path planning  |  AMAI'13 paper with generalization to arbitrary dimension  ||   Old Code for the 2D results appearing in the AAAI paper  ::   MATLAB code for uniformly discretized environment  |  MATLAB code for visibility graph  |  C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)  ||   Newer implementations using the YAGSBPL library  ::   Bare-bones C++ implementation of homology/homotopy path planning in 2D (YAGSBPL 2.1 included)  |  Implementation of differential (N-1)-form for D-dimensional Euclidean spaces with obstacles (based on AMAI paper) and topological path planning in 3-dimensional space (YAGSBPL 2.0 included)  ]
  9. Subhrajit Bhattacharya and Siddharth Talapatra, "Robot Motion Planning Using Neural Networks: A Modified Theory", International Journal of Lateral Computing, 2(1):9-13, December, 2005. ISSN 0973-208X. (BibTeX)
    [  PDF  |  Project page  |  Paper source  ]

Refereed Conference Publications:

  1. Monroe Kennedy III, Dinesh Thakur, M. Ani Hsieh, Subhrajit Bhattacharya and Vijay Kumar, "Optimal Paths for Polygonal Robots in SE(2)", In Proceedings of the ASME 2017 International Design Engineering Technical Conferences (IDETC). Cleveland, OH, USA, Aug, 2017. [to appear.]. (BibTeX)
  2. Xin Li, Mooi Chuah and Subhrajit Bhattacharya, "UAV Assited Smart Parking Solution", In 2017 International Conference on Unmanned Aircraft Systems (ICUAS). Miami, FL, USA, June, 2017. (BibTeX)
  3. Luis Guerrero-Bonilla, Kartik Mohta, Subhrajit Bhattacharya and Vijay Kumar, "Flight Trajectory Tracking and Recovery in Presence of Large Disturbances", In 2017 International Conference on Unmanned Aircraft Systems (ICUAS). Miami, FL, USA, June, 2017. (BibTeX)
  4. Sarah Costrell, Subhrajit Bhattacharya and Robert Ghrist, "Reconstruction of Euclidean Embeddings in Dense Networks", In Proceedings of the IEEE Global Conference on Signal and Information Processing (GlobalSIP). Washington, D.C., USA, IEEE Signal Processing Society, 7-9 Dec, 2016. (BibTeX)
  5. Rattanachai Ramaithitima, Siddharth Srivastava, Subhrajit Bhattacharya, Alberto Speranzon and Vijay Kumar, "Hierarchical Strategy Synthesis for Pursuit-Evasion Problems", In Proceedings of the European Conference on Artificial Intelligence (ECAI). 29 August - 2 Sept, 2016. (BibTeX)
  6. M. Whitzer, J. Keller, S. Bhattacharya, V. Kumar, T. Sands, L. Ritholtz, A. Pope and D. Dickmann, "In-flight formation control for a team of fixed-wing aerial vehicles", In 2016 International Conference on Unmanned Aircraft Systems (ICUAS). June, pages 372-380, 2016. (BibTeX)
  7. Dhanushka Kularatne, Subhrajit Bhattacharya and M. Ani Hsieh, "Time and Energy Optimal Path Planning in General Flows", In Proceedings of the Robotics: Science and System (RSS). June, 2016. (BibTeX)
  8. Rattanachai Ramaithitima, Mickey Whitzer, Subhrajit Bhattacharya and Vijay Kumar, "Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). May 16-21, 2016. (BibTeX)
  9. Subhrajit Bhattacharya and Robert Ghrist, "Path Homotopy Invariants and their Application to Optimal Trajectory Planning", In Proceedings of IMA Conference on Mathematics of Robotics (IMAMR). St Anne's College, University of Oxford, September 9-11, 2015. (BibTeX)
    [  PDF  |  conference website  ]
  10. Rattanachai Ramaithitima, Mickey Whitzer, Subhrajit Bhattacharya and Vijay Kumar, "Sensor Coverage of Unknown Environments by Robot Swarms Using Limited Local Sensing", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). May 26-30, 2015. (BibTeX)
  11. Vijay Govindarajan, Subhrajit Bhattacharya and Vijay Kumar, "Human-Robot Collaborative Topological Exploration for Search and Rescue Applications", [Nominated for Best Paper Award]. In International Symposium on Distributed Autonomous Robotic Systems (DARS)., 2014. (BibTeX)
    [  PDF  ]
  12. Chanyoung Jun, Subhrajit Bhattacharya and Robert Ghrist, "Pursuit-Evasion Game for Normal Distributions", In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2014. (BibTeX)
    [  Conference website  |  PDF  |  video  ]
  13. Soonkyum Kim, Subhrajit Bhattacharya and Vijay Kumar, "Path Planning for a Tethered Mobile Robot", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Hong Kong, China, May 31 - June 7, 2014. (BibTeX)
    [   PDF  ]
  14. Soonkyum Kim, Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Topological Exploration of Unknown and Partially Known Environments", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Tokyo, Japan, November 3-7, 2013. [DOI: 10.1109/IROS.2013.6696907]. (BibTeX)
    [   PDF  |  video  |  conference site  ]
  15. Soonkyum Kim, Subhrajit Bhattacharya and Vijay Kumar, "Dynamic Simulation of Autonomous Boats for Cooperative Skimming and Cleanup", In Proceedings of the ASME 2013 International Design Engineering Technical Conferences (IDETC). Portland, USA, August 4-7, 2013. (BibTeX)
  16. Soonkyum Kim, Subhrajit Bhattacharya, Hordur Heidarsson, Gaurav Sukhatme and Vijay Kumar, "A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects", In Proceedings of the Robotics: Science and System (RSS). Syndey, Australia, June 24-28, 2013. (BibTeX)
    [   PDF  |  video on Youtube  ]
  17. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar, "Optimal Trajectory Generation Under Homology Class Constraints", In 51st IEEE Conference on Decision and Control. 10-13 Dec, 2012. (BibTeX)
  18. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Search-based Path Planning with Homotopy Class Constraints in 3D", [Extended abstract with non-technical summary of our RSS12 paper.]. In Invited paper for sub-area spotlights track on 'Best-paper talks', Proceedings of Twenty-Sixth Conference on Artificial Intelligence (AAAI-12). 22-26 July, 2012. (BibTeX)
  19. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar, "Trajectory Planning for Systems with Homotopy Class Constraints", In 13th International Symposium on Advances in Robot Kinematics (ARK). Innsbruck, Austria, Springer, Netherlands, jun, pages 83-90, 2012. (BibTeX)
  20. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Multi-Robot Coverage and Exploration in Non-Euclidean Metric Spaces", In Proceedings of The Tenth International Workshop on theAlgorithmic Foundations of Robotics. 13-15 June, 2012. (BibTeX)
    [   PDF  |  PPT presentation  |  Related report  ]
  21. Subhrajit Bhattacharya, "Topological and Geometric Techniques in Graph-Search Based Robot Planning", PhD thesis, University of Pennsylvania, 2012. (BibTeX)
    [   PDF of thesis  |  Presentation and movies  |  Addendum  ]
  22. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D", [Original title: Identifying Homotopy Classes of Trajectories for Robot Exploration and Path Planning] [Winner of Best Paper Award]. In Proceedings of Robotics: Science and Systems. 27-30 June, 2011. (BibTeX)
  23. Subhrajit Bhattacharya, Hordur Heidarsson, Gaurav S. Sukhatme and Vijay Kumar, "Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 9-13 May, 2011. (BibTeX)
  24. Subhrajit Bhattacharya, Nathan Michael and Vijay Kumar, "Distributed Coverage and Exploration in Unknown Non-Convex Environments", In Proceedings of 10th International Symposium on Distributed Autonomous Robotics Systems., Springer, 1-3 Nov, 2010. (BibTeX)
    [  PDF  |  presentation  |  poster  |  single-slide digest  |  C++ code  ]
  25. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Third Annual Symposium on Combinatorial Search. Atlanta, Georgia, 8-10 July, 2010. (BibTeX)
    [   Addendum  |  PDF extended abstract  |  Poster  |  Project Page  |  See AAAI paper with same title for more details  |  See more recent work with significant developments  |  See the related AURO'12 paper  ]
  26. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, 11-15 July, 2010. (BibTeX)
    [   Addendum  |  PDF  |  PPT Presentation  |  Project Page  |  MATLAB code for uniformly discretized environment  |  MATLAB code for visibility graph  |  C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)  ]
  27. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning", In Proceedings of Robotics: Science and Systems. Zaragoza, Spain, MIT Press, 27-30 June, 2010. (BibTeX)
  28. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May, 2010. (BibTeX)
  29. Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev and Daniel D. Lee, "Search-based planning for a legged robot over rough terrain", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 12-17 May, pages 2380-2387, 2009. (BibTeX)
    [   PDF  |  URL  ]
  30. Subhrajit Bhattacharya, Sachin Chitta, Vijay Kumar and Daniel Lee, "Optimization of a Planer Quadruped Dynamic Leap", [Winner of MSC Simulation Software Award]. In Proceedings of 2008 ASME International Design Engineering Technical Conferences (IDETC). New York City, NY, 3-6 August, 2008. (BibTeX)
  31. Subhrajit Bhattacharya, "A Study on Effect of Stiffener Geometry on the Modal Frequencies of a Rotating Disk with Radial Stiffeners using FEM and Analytical Methods", In Proceedings of Ninth International Conference on Recent Advances in Structural Dynamics. University of Southampton, July, 2006. (BibTeX)
    [  PDF  |  Project Page  ]
  32. Subhrajit Bhattacharya, "An Accurate Structural Approach to Pattern Recognition", [Not published because of inability to attend the conference due to unavoidable circumstances]. In Accepted for presentation in 8th International Conference on Enterprise Information Systems. Paphos-Cyprus, 23-27 May, 2006. (BibTeX)
    [  PDF  |  Project page  |  Paper source  ]
  33. Subhrajit Bhattacharya and Siddharth Talapatra, "Robot Motion Planning Using Neural Networks: A Modified Theory", [Winner of Best Paper Award]. In Proceedings of Second World Congress on Lateral Computing. Bangalore, December, 2005. (BibTeX)
  34. Subhrajit Bhattacharya, "A study on a generalized wave equation for disturbances propagating through a one-dimensional medium placed in a two-dimensional space", In Proceedings of International Conference on Theoretical, Applied, Computational and Experimental Mechanics. Kharagpur, India, pages 235-237, 2004. (BibTeX)
    [  PDF  |  Paper source  ]



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