Personal Wiki of Subhrajit Bhattacharya

(Arranged in reverse chronological order)

1. Mohammad Saleh Teymouri and Subhrajit Bhattacharya, "Landmark-based distributed topological mapping and navigation in GPS-denied urban environments using teams of low-cost robots", Autonomous Agents and Multi-Agent Systems (AGNT) Springer Nature, 2024. DOI:10.1007/s10458-024-09635-y. (BibTeX)
   
   [  PDF on Springer website | URL  |  Electronic pre-print version on arXiv.org  ]
2. Xiaolong Wang, Alp Sahin and Subhrajit Bhattacharya, "Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning", Journal of Intelligent and Robotic Systems (JINT) Springer Nature, 2023. DOI:10.1007/s10846-023-01878-3. (BibTeX)
   
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   PDF on Springer website  |  Electronic pre-print version on arXiv.org  ]
3. Alp Sahin and Subhrajit Bhattacharya, "Optimal Path Planning in Distinct Topo-Geometric Classes using Neighborhood-augmented Graph and its Application to Path Planning for a Tethered Robot in 3D",, 2023. arXiv:2306.01203 [cs.RO]. (BibTeX)
   
   [  Electronic pre-print on arXiv.org  ]
4. Diego S. D'Antonio, Subhrajit Bhattacharya and David Saldaņa, "Forming and Controlling Hitches in Midair Using Aerial Robots", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). May, 2023. (BibTeX)
   
   [  PDF on IEEE website (not available yet)  |  Preprint on arXiv  ]
5. Xiaolong Wang, Alp Sahin, Subhrajit Bhattacharya, "Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning",, 2022. arXiv:2205.00955 [cs.RO]. (BibTeX)
   
   [  Electronic pre-print on arXiv.org  ]
6. Subhrajit Bhattacharya, "On some bounds on the perturbation of invariant subspaces of normal matrices with application to a graph connection problem", Journal of Inequalities and Applications, 75, Springer, 2022. (BibTeX)
   
   [  PDF on Springer website  |  Brief note on geometry lemmas appearing in the paper  ]
7. Xiaolong Wang, Matt Bilsky and Subhrajit Bhattacharya, "Search-based Configuration Planning and Motion Control Algorithms for a Snake-like Robot Performing Load-intensive Operations", Autonomous Robots (AURO), 45:1047-1076, Springer, 2021. (BibTeX)
   
   [  PDF on Springer website  ]
8. Leiming Zhang, Amanda Prorok and Subhrajit Bhattacharya, "Pursuer Assignment and Control Strategies in Multi-Agent Pursuit-Evasion Under Uncertainties", Frontiers in Robotics and AI, 8:262, 2021. DOI:10.3389/frobt.2021.691637. (BibTeX)
   
   [  PDF on publisher's website  ]
9. Leiming Zhang, Amanda Prorok and Subhrajit Bhattacharya, "Pursuer Assignment and Control Strategies in Multi-agent Pursuit-Evasion Under Uncertainties",, 2021. arXiv:2103.15660 [cs.RO]. (BibTeX)
   
   [  Electronic pre-print on arXiv.org  ]
10. Leiming Zhang, Brian M. Sadler, Rick S. Blum and Subhrajit Bhattacharya, "Inter-cluster Transmission Control Using Graph Modal Barriers", IEEE Transactions on Signal and Information Processing over Networks, 7:275-293, April, 2021. (BibTeX)
    
    [  PDF on publisher's website  |  Electronic pre-print of an earlier version on arXiv.org  ]
11. Subhrjit Bhattacharya, "On Some Bounds on the Perturbation of Invariant Subspaces of Normal Matrices with Application to a Graph Connection Problem",, 2021. arXiv:2103.09413 [cs.SP]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  |  Brief note on geometry lemmas appearing in the paper  ]
12. Mohammad Saleh Teymouri and Subhrajit Bhattacharya, "Landmark-based Distributed Topological Mapping and Navigation in GPS-denied Urban Environments Using Teams of Low-cost Robots",, 2021. arXiv:2103.03741 [cs.RO]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  ]
13. Leiming Zhang, Brian M. Sadler, Rick S. Blum and Subhrajit Bhattacharya, "Inter-cluster Transmission Control Using Graph Modal Barriers", arXiv preprint arXiv:2010.04790, Oct, 2020. arXiv:2010.04790 [cs.SI]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  ]
14. Wenying Wu, Subhrajit Bhattacharya and Amanda Prorok, "Multi-Robot Path Deconfliction through Prioritization by Path Prospects", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). May, 2020. (BibTeX)
    
    [  PDF on IEEE website  |  Preprint on arXiv  ]
15. Leiming Zhang, Amanda Prorok and Subhrajit Bhattacharya, "Multi-Agent Pursuit-Evasion under Uncertainties with Redundant Robot Assignments", In IEEE International Symposium on Multi-Robot and Multi-Agent Systems. 22-23, August, 2019. Extended Abstract. (BibTeX)
    
    [  PDF on IEEE website  |  Related journal publication  |  conference website  ]
16. Subhrajit Bhattacharya, "Towards Optimal Path Computation in a Simplicial Complex", International Journal of Robotics Research (IJRR), 38(8):981-1009, June, 2019. DOI: 10.1177/0278364919855422. (BibTeX)
    
    [  PDF on publisher's website  |  DOSL C++ library with an implementation of Basic S*  |  Electronic pre-print of an earlier version  ]
17. Bo Tian and Subhrajit Bhattacharya, "Modelling and Control of a Spatial Dynamic Cable", Acta Mechanica Sinica, 35:866-878, Springer, Apr, 2019. (BibTeX)
    
    [  PDF on Springer website  ]
18. Subhrajit Bhattacharya and Robert Ghrist, "Path Homotopy Invariants and their Application to Optimal Trajectory Planning", Annals of Mathematics and Artificial Intelligence, 84(3-4):139-160, Springer International Publishing, December, 2018. (BibTeX)
    
    [  PDF on publisher's website  |  Electronic pre-print on arXiv.org  |  PDF of related conference paper  ]
19. Dhanushka Kularatne, Subhrajit Bhattacharya and M. Ani Hsieh, "Going with the flow: a graph based approach to optimal path planning in general flows", Autonomous Robots (AURO), 42(7):1369-1387, Springer, Oct, 2018. DOI: 10.1007/s10514-018-9741-6. (BibTeX)
    
    [  PDF on Springer website  ]
20. Xiaolong Wang and Subhrajit Bhattacharya, "A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments", In International Conference on Intelligent Robots (IROS). 1-5, October, 2018. (BibTeX)
    
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    PDF  ]
21. Xiaolong Wang and Subhrajit Bhattacharya, "A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments", IEEE Robotics and Automation Letters, 3(3):2600-2607, July, 2018. DOI: 10.1109/LRA.2018.2817684. (BibTeX)
    
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    PDF  ]
22. Rattanachai Ramaithitima and Subhrajit Bhattacharya, "Landmark-based Exploration with Swarm of Resource Constrained Robots", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). May 21-25, 2018. (BibTeX)
    
    [  PDF on IEEE website  ]
23. Monroe Kennedy, III, Dinesh Thakur, M. Ani Hsieh, Subhrajit Bhattacharya and Vijay Kumar, "Optimal Paths for Polygonal Robots in SE(2)", Journal of Mechanisms and Robotics, 10(2):021005-021005-8, ASME, Feb 01, 2018. DOI: 10.1115/1.4038980. (BibTeX)
    
    [  PDF on ASME website  ]
24. Subhrajit Bhattacharya and Robert Ghrist, "Path Homotopy Invariants and their Application to Optimal Trajectory Planning", electronic pre-print, 2017. arXiv:1710.02871 [cs.RO]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  |  PDF of related conference paper  ]
25. Dhanushka Kularatne, Subhrajit Bhattacharya and M. Ani Hsieh, "Optimal Path Planning in Time-Varying Flows using Adaptive Discretization", IEEE Robotics and Automation Letters, PP(99):1-1, 2017. (BibTeX)
    
    [  PDF on IEEE website  ]
26. 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. (BibTeX)
    
    [  PDF  ]
27. 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)
    
    [  PDF on IEEE website  ]
28. 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)
    
    [  PDF on IEEE website  ]
29. Subhrajit Bhattacharya, "Approximate Structure Construction Using Large Statistical Swarms", Electronic Pre-print, June, 2017. arXiv:1706.03842 [cs.RO]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  ]
30. 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), 2(3), January, 2017. (BibTeX)
    
    [  PDF on IEEE website  ]
31. 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)
    
    [  Poster PDF on conference web-site  ]
32. Subhrajit Bhattacharya, "A Search Algorithm for Simplicial Complexes", Electronic Pre-print, August, 2016. arXiv:1607.07009 [cs.DM]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  ]
33. 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)
    
    [  conference website  ]
34. 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)
    
    [  paper on conference site  ]
35. 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)
    
    [  paper on publisher's site  ]
36. 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)
    
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    abstract on conference website  ]
37. 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)
    
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    PDF on IEEE website  ]
38. 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)
    
    [  Link to article on Springer web-site  |  Related electronic pre-print on arXiv.org  |  HTML5 + Javascript simulation  ]
39. 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  ]
40. 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)
    
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    PDF on IEEE website  ]
41. 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)
    
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    PDF on Sagepub's web-site  |  Related pre-print on homotopy invariants  |  Video of dynamic simulations and experiment  ]
42. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, "Persistent Homology for Path Planning in Uncertain Environments", [Original title: "Persistent homology in coefficients for robot path planning in uncertain environments"]. pre-print, April, 2015. (BibTeX)
    
    [  pre-print (PDF) of an earlier version  ]
43. 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)
    
    [  PDF on IEEE Xplore  |  pre-print (PDF) of an earlier version  ]
44. 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  ]
45. 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  ]
46. 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)
    
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    PDF  ]
47. 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)
    
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    PDF  |  Related conference paper  |  C++ code for uniform coverage on 2-sphere  ]
48. 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)
    
    [  PDF  |  Full published article (bibtex)  |  Complete published article  |  HTML5 + Javascript simulation  ]
49. Subhrajit Bhattacharya and Mihail Pivtoraiko, "A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem", Electronic pre-print, September, 2013-14. arXiv:1309.7960 [math.DG]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  |  PDF  |  HTML5 + Javascript simulation  ]
50. 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)
    
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    PDF  |  video  |  conference site  ]
51. 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)
    
    [  PDF (not yet available)  |  video on Youtube  ]
52. 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)
    
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    PDF  |  video on Youtube  ]
53. 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)
    
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    PDF on Springer web-site  |  Related paper on arXiv.org  |  YAGSBPL library  ]
54. 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)
    
    [  PDF on IEEE web-site  ]
55. 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)
    
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    PDF on Springer web-site  |  External link not working? [X]
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    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)  ]
56. Subhrajit Bhattacharya, David Lipsky, Robert Ghrist and Vijay Kumar, "Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics", Electronic pre-print, Aug, 2012. arXiv:1208.0573 [math.AT]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  |  PDF  |  See the published AMAI'13 paper  |  See the related AURO'12 paper  ]
57. 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)
    
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    PDF  |  See RSS'12 paper for more details  |  See AURO'12 paper for more details  ]
58. 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)
    
    [  PDF on Springer web-site  ]
59. 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)
    
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    PDF  |  PPT presentation  |  Related report  ]
60. 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)
    
    [  PDF of report  |  Related paper on coverage and exploration  ]
61. Subhrajit Bhattacharya, "Topological and Geometric Techniques in Graph-Search Based Robot Planning", PhD thesis, University of Pennsylvania, 2012. (BibTeX)
    
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    PDF of thesis  |  Presentation and movies  |  [X]Proposition 5.3.1 and Corollary 5.3.2 assume that the metric tensor is isotropic in the given coordinate chart (scalar multiple of Kronecker delta) for the application to robot coverage & exploration. See recent publication or related report for more general statements of the proposition & the corollary.
    Addendum  ]
62. 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)
    
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    PDF  |  Supplimentary notes  |  Short presentation  |  Poster  |  YAGSBPL library  |  Best Paper Award  |  See the related AURO'12 paper  ]
63. 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)
    
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    PDF  |  Supplementary notes  |  Video  |  Single-slide summary  |  presentation  |  codes (un-documented)  ]
64. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "A Homotopy-like Class Invariant for Sub-manifolds of Punctured Euclidean Spaces", [See a more recent and refined recent work at arXiv:1208.0573]. Electronic pre-print, March, 2011. arXiv:1103.2488 [math.DG]. (BibTeX)
    
    [  Electronic pre-print on arXiv.org  |  See more recent and refined version of this work at arXiv:1208.0573  |  YAGSBPL library  |  See the related AURO'12 paper for more details  |  See the related AMAI'13 paper for a more refined work  ]
65. 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  |  External link not working? [X]
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    poster  |  single-slide digest  |  C++ code  ]
66. 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)
    
    [   [X]For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.
    Addendum  |  External link not working? [X]
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    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  ]
67. 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)
    
    [   [X]For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.
    Addendum  |  External link not working? [X]
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    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)  ]
68. 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)
    
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    PDF of the paper  |  Poster  |  2-slide brief presentation  |  MATLAB code for the exact implementation  |  Related Technical Report  |  Project Page  ]
69. 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)
    
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    PDF  |  Related Technical Report  |  Related paper on distributed optimization with pair-wise constraints  |  Presentation  |  Project Page  ]
70. 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)
    
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71. 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)
    
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72. 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)
    
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73. 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)
    
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74. 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)
    
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75. 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)
    
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76. 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)
    
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