Publications

Recent Publications

2020

  • S. Thakar, P. Rajendran, A. M. Kabirm S. K. Gupta. Manipulator Motion Planning for Part Pick-up and Transport Operations from a Moving Base. (Accepted) IEEE Transactions on Automation Science and Engineering (T-ASE)
  • S. Thakar, P. Rajendran, H. Kim, A. M. Kabir, S. K. Gupta. Accelerating Bi-Directional Sampling-Based Search for Motion Planning of Non-Holonomic Mobile Manipulators. (Accepted) IEEE/RSJ International International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, USA, October 2020.
  • S. Al-Hussaini, J. M. Gregory, Y. Guan, S K. Gupta, Generating Alerts to Assist With Task Assignments in Human-Supervised Multi-Robot Teams Operating in Challenging Environments. (Accepted) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, USA, October 2020.
  • A. M. Kabir, S. Thakar, P. M. Bhatt, R.K. Malhan, P. Rajendran, B. C. Shah, and S. K. Gupta. Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile-Manipulators. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, June 2020.
  • R.K. Malhan, R. Jomy Joseph, A.V. Shembekar, A.M. Kabir, P.M. Bhatt, and S.K. Gupta. Online Grasp Plan Refinement for Reducing Defects During Robotic Layup of Composite Prepreg Sheets. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, June 2020.
  • P. M. Bhatt, C. Gong, A. M. Kabir, R. K. Malhan, B. C. Shah, and S. K. Gupta. Incorporating Tool Contact Considerations in Tool-Path Planning for Robotic Operations. ASME Manufacturing Science and Engineering Conference (MSEC), Cincinati, Ohio, USA, June 2020.
  • P. M. Bhatt, R. K. Malhan, P. Rajendran, and S.K. Gupta. Building free-form thin shell parts using supportless extrusion-based additive manufacturing. Additive Manufacturing. 101003, 2020.
  • P. M. Bhatt, R. K. Malhan, A. V. Shembekar, Y. J. Yoon, and S.K. Gupta. Expanding capabilities of additive manufacturing through use of robotics: A survey. Additive Manufacturing. 31:100933, 2020.


2019

  • Ariyan M. Kabir, PhD Thesis: Trajectory Planning for Manipulators Performing Complex Tasks [Pdf]
  • Pradeep Rajendran, PhD Thesis: Speeding Up Trajectory Planning for Autonomous Robots Operating in Complex Environments [Pdf]
  • S. Shriyam, PhD Thesis: Contingency Handling in Mission Planning for Multi-robot Teams [Pdf]
  • P. Rajendran, S. Thakar, A. Kabir, B. Shah, and S. K. Gupta, Context-dependent search for generating paths for redundant manipulators in cluttered environments, in IEEE International Conference on Intelligent Robots and Systems (IROS) , Macau, China, November 2019.
  • S. Shriyam and S.K Gupta. Incorporation of Contingency Tasks in Task Allocation for Multirobot Teams. IEEE Transactions on Automation Science and Engineering (TASE), 2019.
  • B. C. Shah and S. K. Gupta. Long-distance path planning for unmanned surface vehicles in complex marine environment. IEEE Journal of Oceanic Engineering, 2019
  • S. Shriyam and S.K Gupta. Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic. International Journal of Advanced Robotic Systems, 2019
  • S. Shriyam and S.K Gupta. Modeling and analysis of subsystem interactions in robotic assembly. In: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC), Anaheim, California, 2019.
  • Y. J. Yoon, M. Yon, S. E. Jung, S. K. Gupta, Development of Three-Nozzle Extrusion System for Conformal Multi-Resolution 3D Printing with a Robotic Manipulator, in: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC), Anaheim, California, 2019.
  • S. Thakar, A. Kabir, P. M. Bhatt, R.K. Malhan, P. Rajendran, B. C. Shah, and S. K. Gupta. Task Assignment and Motion Planning for Bi-Manual Mobile Manipulation, IEEE 14th International Conference on Automation Science and Engineering (CASE) Vancouver, Canada, August 2019
  • P. Rajendran, S. Thakar, S. K. Gupta. User-Guided Path Planning for Redundant Manipulators in Highly Constrained Work Environments, IEEE 14th International Conference on Automation Science and Engineering (CASE) Vancouver, Canada, August 2019
  • P. M. Bhatt, A. M. Kabir, R. K. Malhan, A. V. Shembekar, B. C. Shah, and S. K. Gupta. Concurrent design of tool-paths and impedance controllers for performing area coverage operations in manufacturing applications under uncertainty. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019.
  • R. Colombo, F. Gennari, V. Annem, P. Rajendran, S. Thakar, S. K. Gupta. Parameterized Model Predictive Control of a Nonholonomic Mobile Manipulator: A Terminal Constraint-Free Approach, IEEE 14th International Conference on Automation Science and Engineering (CASE) Vancouver, Canada, August 2019
  • P.M. Bhatt, R.K. Malhan, and S.K. Gupta. Computational Foundations for Using Three Degrees of Freedom Build Platforms to Enable Supportless Extrusion-Based Additive Manufacturing. ASME Manufacturing Science and Engineering Conference, Erie, PA, June 2019.
  • R.K. Malhan, A.M. Kabir, B. Shah, T. Centea, and S.K. Gupta. Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup. ASME Manufacturing Science and Engineering Conference, (MSEC) Erie, PA, June 2019.
  • V. Annem, P. Rajendran, S. Thakar, and S.K. Gupta. Towards remote teleoperation of a semi-autonomous mobile manipulator system in machine tending tasks. ASME Manufacturing Science and Engineering Conference, (MSEC) Erie, PA, June 2019.
  • P. M. Bhatt, A. M. Kabir, R. K. Malhan, B. C. Shah, A. V. Shembekar, Y. J. Yoon, and S.K. Gupta. A Robotic Cell for Multi-Resolution Additive Manufacturing. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20 - May 24, 2019.
  • S. Thakar, V. Annem, A. Kabir, P. Rajendran, and S. K. Gupta. Accounting for Part Pose Estimation Uncertainties during Trajectory Generation for Part Pick-Up Using Mobile Manipulators. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20 - May 24, 2019.
  • R. K. Malhan, A. M. Kabir, B. C. Shah, and S. K. Gupta. Identifying Feasible Workpiece Placement with Respect to Redundant Manipulator for Complex Manufacturing Tasks. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20 - May 24, 2019.
  • A. M. Kabir, A. Kanyuck, R. K. Malhan, A. V. Shembekar, S. Thakar, B. C. Shah, and S. K. Gupta. Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20 - May 24, 2019.
  • P. M. Bhatt, P. Rajendran, K. McKay, and S. K. Gupta. Context-Dependent Compensation Scheme to Reduce Trajectory Execution Errors for Industrial Manipulators. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20 - May 24, 2019.
  • P. M. Bhatt, A.M. Kabir, M. Peralta, H.A. Bruck, and S.K. Gupta. A robotic cell for performing sheet lamination-based additive manufacturing. Additive Manufacturing. 27:278-289, 2019.


2018

  • L.S. Santos, S.K. Gupta, and H.A. Bruck. Simulation of buckling of internal features during selective laser sintering of metals. Additive Manufacturing.
  • G.E. Mullins, C. Kessens, and S.K. Gupta. An adaptive sampling approach for evaluating robot self-righting capabilities. IEEE Robotics and Automation Letters (RAL).
  • K.N. Kaipa, C.W. Morato, and S.K. Gupta. Design of hybrid cells to facilitate safe and efficient human-robot collaboration during assembly operations. ASME Journal of Computing and Information Science in Engineering. 18(3):031004, 2018.
  • Z. Kootbally, T. Kramer, C. Schlenoff, and S.K. Gupta. Implementation of an ontology-based approach to enable agility in kit building applications. International Journal of Semantic Computing, 12(1):5-24, 2018.
  • J.D. Langsfeld, A.M. Kabir, K.N. Kaipa, and S.K. Gupta. Integration of planning and deformation model estimation for robotic cleaning of elastically deformable objects. IEEE Robotics and Automation Letters, (RAL) 3(1): 352-359, 2018.
  • Z. Kootbally, C. Schlenoff, B. Antonishek, F. Proctor, T. Kramer, W. Harrison, A. Downs, and S. K. Gupta. Enabling robot agility in manufacturing kitting applications. Integrated Computer-Aided Engineering, 25(2):193-212, 2018.
  • A.M. Kabir, J.D. Langsfeld, K.N. Kaipa, and S.K. Gupta. Identifying optimal trajectory parameters in robotic finishing operations using minimum number of physical experiments. Integrated Computer-Aided Engineering Journal, 25(2):111-135, 2018.
  • S. Shriyam. B. C. Shah, and S.K. Gupta. Decomposition of collaborative surveillance tasks for execution in marine environments by a team of unmanned surface vehicles. ASME Journal of Mechanisms and Robotics, 10(2):025007-025007-7, 2018.
  • N. B. Kumbla, S. Thakar, K. N. Kaipa, J. A. Marvel, and S. K. Gupta. Handling perception uncertainty in simulation based singulation planning in robotic bin picking. ASME Journal of Computing and Information Science in Engineering, 18(2):021004-021004-10, 2018.
  • A.E. Holness, H.A. Bruck and S.K. Gupta. Characterizing and modeling the enhancement of lift and payload capacity resulting from thrust augmentation in a propeller-assisted flapping wing air vehicle. International Journal of Micro Air Vehicles, 10(1):50–69, 2018.
  • G.E. Mullins, P.G. Stankiewicz, R.C. Hawhthorne, and S.K. Gupta. Adaptive generation of challenging scenarios for testing and evaluation of autonomous vehicles. Journal of Systems and Software, 137:197-215, March 2018.
  • J.D. Langsfeld, K.N. Kaipa, and S.K. Gupta. Selection of trajectory parameters for dynamic pouring tasks based on exploitation-driven updates of local metamodels. Robotica , 36(1):141-166, January 2018.
  • S. Al-Hussaini, J. M. Gregory and S. K. Gupta. Generation of context-dependent policies for robot rescue decision-making in multi-robot teams. IEEE/RSJ International Conference on Intelligent Robots and Systems ,(IROS) Madrid, Spain, October 1-5, 2018.
  • D. Jones, M.J. Kuhlman, D.A. Sofge, S.K. Gupta, and G. A. Hollinger. Stochastic optimization for autonomous vehicles with limited control authority. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018.
  • S. Al-Hussaini, J. M. Gregory, and S. K. Gupta. A policy synthesis-based framework for robot rescue decision-making in multi-robot exploration of disaster sites. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Philadelphia, PA, USA, August 2018.
  • P. Rajendran, T. Moscicki, J. Wampler, B. C. Shah, K. D. von Ellenrieder, S. K. Gupta. Wave-aware trajectory planning for unmanned surface vehicles operating in congested environments. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Philadelphia, PA, USA, August 2018.
  • S. Thakar, L. Fang, B. C. Shah, and S. K. Gupta. Towards time-optimal trajectory planning for pick-and-transport operation with a mobile manipulator. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • N.B. Kumbla, J.A. Marvel, and S.K. Gupta. Enabling fixtureless assemblies in human-robot collaborative workcells by reducing uncertainty in the part pose estimate. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • A. M. Kabir, B. C. Shah, and S. K. Gupta. Trajectory Planning for manipulators operating in confined workspaces. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • R. K. Malhan, A. M. Kabir, A. V. Shembekar, B. C. Shah, T. Centea, and S. K. Gupta. Hybrid cells for multi-layer prepreg composite sheet layup. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • A. V. Shembekar, Y. J. Yoon, A. Kanyuck and S.K. Gupta. Trajectory planning for conformal 3d printing using non-planar layers. ASME Computers and Information in Engineering Conference, Montreal, Quebec City, Canada, August 2018.
  • S. Shriyam and S.K. Gupta. Task assignment and scheduling for mobile robot teams. ASME Mechanism and Robotics Conference, Quebec City, Canada, August 2018.
  • P.M. Bhatt, M. Peralta, H.A. Bruck, and S.K. Gupta. Robot assisted additive manufacturing of thin multifunctional structures. ASME Manufacturing Science and Engineering Conference (MSEC), College Station, TX, June 2018.
  • A.M. Kabir, A.V. Shembekar, R.K. Malhan, R.S. Aggarwal, J.D. Langsfeld, B.C. Shah, and S.K. Gupta. Robotic finishing of interior regions of geometrically complex parts. ASME Manufacturing Science and Engineering Conference, College Station (MSEC), TX, June 2018.
  • R.K. Malhan, Y. Shahapurkar, A.M. Kabir, B.C. Shah, and S.K. Gupta. Integrating impedance control and learning based search scheme for robotic assemblies under uncertainty. ASME Manufacturing Science and Engineering Conference (MSEC), College Station, TX, June 2018.
  • L. Zhao and S.K. Gupta. Design, manufacturing, and characterization of a pneumatically-actuated soft hand. ASME Manufacturing Science and Engineering Conference (MSEC), College Station, TX, June 2018.
  • R.K. Malhan, A.M. Kabir, B. Shah, T. Centea, S.K. Gupta. Automated prepreg sheet placement using collaborative robotics. SAMPE , Long Beach, CA, May 2018.
  • S. Shriyam, and S.K. Gupta. Incorporating potential contingency tasks in multi-robot mission planning. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
  • G.E. Mullins, A.G. Dress, P.G. Stankiewicz, J.D. Appler, and S.K. Gupta. "Accelerated Testing and Evaluation of Autonomous Vehicles via Imitation Learning. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

2017

  • M.J. Kuhlman, M.W. Otte, D.A. Sofge, and S.K. Gupta. Multipass target search in natural environments. Sensors, 17(11), 2514, 2017.
  • L.J. Roberts. H. A. Bruck, and S.K. Gupta. Modeling of dive maneuvers for executing autonomous dives with a flapping wing air vehicle. ASME Journal of Mechanisms and Robotics, 9(6):061919-1-061919-11, December 2017.
  • J.W. Gerdes, H.A. Bruck, and S.K Gupta. Improving prediction of flapping-wing motion by incorporating actuator constraints with models of aerodynamic loads using in-flight data. ASME Journal of Mechanisms and Robotics, 9(2):021011-021011-11, 2017.
  • A.M. Kabir, K.N. Kaipa, J. Marvel, S.K. Gupta. Automated planning for robotic cleaning using multiple setups and oscillatory tool motions. IEEE Transaction on Automation Science and Engineering, 14(3):1364-1377, July 2017.
  • J. Gregory, I. Brookshaw, J. Fink, and S.K. Gupta. An investigation of goal assignment for a heterogeneous robotic team to enable resilient disaster-site exploration. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Shanghai, China, October 2017.
  • J.W. Gerdes, H.A. Bruck, S.K. Gupta. Experimental power model identification of a flapping wing air vehicle with flight test data. ASME Mechanisms and Robotics Conference, Cleveland, OH, August 2017.
  • C.W. Morato, K.N. Kaipa, and S,K. Gupta. System state monitoring to facilitate safe and efficient human-robot collaboration in hybrid assembly cells. ASME Computers and Information in Engineering Conference, Cleveland, OH, August 2017.
  • S. Shriyam, B.C. Shah, and S.K. Gupta. On-line task decomposition for collaborative surveillance of marine environment by a team of unmanned surface vehicles. ASME Mechanisms and Robotics Conference, Cleveland, OH, August 2017.
  • N. Kumbla, S. Thakar, K.N. Kaipa, J. Marvel, and S.K. Gupta. Simulation-based on-line evaluation of singulation plans to handle perception uncertainty in robotic bin-picking. ASME Manufacturing Science and Engineering Conference, Los Angeles, CA, USA, June 2017.
  • A. Alsharhan, T. Centea, and S.K. Gupta. Enhancing the mechanical properties of thin-walled structures using non-planar extrusion-based additive manufacturing. ASME Manufacturing Science and Engineering Conference, Los Angeles, CA, USA, June 2017.
  • A.M. Kabir, J.D. Langsfeld, C. Zhuang, K.N. Kaipa, and S.K. Gupta. A systematic approach for minimizing physical experiments to identify optimal trajectory parameters for robots. IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.
  • G.E. Mullins, P.G. Stankiewicz, and S.K. Gupta. Automated generation of diverse and challenging scenarios for test and evaluation of autonomous vehicles. IEEE International Conference on Robotics and Automation Conference (ICRA), Singapore, May 2017.
  • M.J. Kuhlman, MW. Otte, D.A. Sofge, and S.K. Gupta. Maximizing mutual information for multipass target search in changing environments. IEEE International Conference on Robotics and Automation Conference (ICRA), Singapore, May 2017.
  • K.N. Kaipa, C. Morato, J.Liu, and S.K. Gupta. Towards automated generation of multimodal assembly instructions for human operators. International Conference on Systems Engineering Research, Redondo Beach, CA, March 2017.

2016

  • B. C. Shah. PhD Thesis: Planning for Autonomous Operation of Unmanned Surface Vehicles
  • A. Perez-Rosado, H.A. Bruck and S.K. Gupta. Integrating solar cells into flapping wing air vehicles for enhanced flight endurance. ASME Journal of Mechanisms and Robotics, 8(10):051006, October, 2016.
  • B. C. Shah, P. Svec, I.R. Bertaska, W. Klinger, A.J. Sinisterra, K. v. Ellenrieder, M. Dhanak, and S.K. Gupta. Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic. Autonomous Robots, 40(7): 1139–1163, 2016.
  • Y.S. Kim, H. Shi, N.G. Dagalakis, and S.K. Gupta. Design of a MEMS-based motion stage based on a lever mechanism for generating large displacements and forces, Journal of Micromechanics and Microengineering, 26(9): 095008, 2016.
  • K.N. Kaipa, A.S. Kankanhalli-Nagendra, N.B. Kumbla, S. Shriyam, S. S. Thevendria-Karthic, J.A. Marvel, and S.K. Gupta. Addressing perception uncertainty induced failure modes in robotic bin-picking. Robotics and Computer Integrated Manufacturing, 42(12):17-38, 2016.
  • L. Johnson, H.A. Bruck, and S.K. Gupta. Design, fabrication, and characterization of a soft, multi-fingered hand. ASME International Mechanical Engineering Congress and Exposition, Phoenix, AZ, November 11-17, 2016.
  • L. Roberts, H.A. Bruck, and S.K. Gupta. Using a large two degree of freedom tail for autonomous aerobatics on a flapping wing unmanned serial vehicle. ASME Mechanisms and Robotics Conference, Charlotte, NC, August 2016.
  • J. Gerdes, H.A. Bruck, and S.K. Gupta. Instrumenting a flapping wing air vehicle system for free flight measurement. ASME Mechanisms and Robotics Conference, Charlotte, NC, August 2016.
  • A. Holness, E. Steins, H.A. Bruck, M. Peckerar, and S.K. Gupta. Performance characterization of multifunctional wings with integrated flexible batteries for flapping wing unmanned air vehicles. ASME Mechanisms and Robotics Conference, Charlotte, NC, August 2016.
  • A.M. Kabir, J.D. Langsfeld, S. Shriyam, V. Rachakonda, C. Zhaung, K.N. Kaipa, J. Marvel, and S.K. Gupta. Planning algorithms for multi-setup multi-pass robotic cleaning with oscillatory moving tools. IEEE International Conference on Automation Science and Engineering, Fort Worth, TX, August, 2016.
  • J.D. Langsfeld, A.M. Kabir, K.N. Kaipa, and S.K. Gupta. Robotic bimanual cleaning of deformable objects with online learning of part and tool models. IEEE International Conference on Automation Science and Engineering, Fort Worth, TX, August 2016.
  • K. N. Kaipa, A. S. Kankanhalli-Nagendra, N. B. Kumbla, S. Shriyam, S. S. Thevendria-Karthic, J. A. Marvel, and S. K. Gupta. Enhancing robotic unstructured bin-picking performance by enabling remote human interventions in challenging perception scenarios. IEEE International Conference on Automation Science and Engineering, Fort Worth, TX, August 2016.
  • M. Bollavaram, P. Sane, S. Chowdhury, S.K. Gupta, and A. G. Banerjee. Automated detection of live cells and microspheres in low contrast bright field microscopy. International Conference on Manipulation, Automation and Robotics at Small Scales, Paris, France, July 2016.
  • B.C. Shah and S.K. Gupta. Speeding up A* search on visibility graphs defined over quadtrees to enable long distance path planning for unmanned surface vehicles. International Conference on Automated Planning and Scheduling, London, UK, June 2016.
  • J.D. Langsfeld, A. M. Kabir, K.N. Kaipa, and S.K. Gupta. Online learning of part deformation models in robotic cleaning. ASME Manufacturing Science and Engineering Conference, Blacksburg, USA, June 2016.
  • K.N. Kaipa, S. Shriyam, N. Kumbla, and S.K. Gupta. Resolving occlusions through simple extraction motions in robotic bin picking. ASME Manufacturing Science and Engineering Conference, Blacksburg, USA, June 2016.
  • A.M. Kabir, J.D. Langsfeld, C. Zhuang, K.N. Kaipa, and S.K. Gupta. Automated leaning of operation parameters for robotic cleaning by mechanical scrubbing. ASME Manufacturing Science and Engineering Conference, Blacksburg, USA, June 2016.
  • A. Narayanan, A. Kanyuck, S.K. Gupta, and S. Rachuri. Machine condition detection for milling operations using low cost ambient sensors. ASME Manufacturing Science and Engineering Conference, Blacksburg, USA, June 2016.