HR job title
- Professor
- Contact Info
- 1 979 458 3578
- Websites
Rathinam, Sivakumar Professor
Positions
- Professor, Mechanical Engineering, College of Engineering
My research focuses on motion planning and control of autonomous vehicles, collaborative decision making, combinatorial optimization, vision based control and air traffic control.
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Overview
Publications
selected publications
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academic article
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Ren, Z., Rubinstein, Z. B., Smith, S. F., Rathinam, S., & Choset, H.
(2023).
ERCA*: A New Approach for the Resource Constrained Shortest Path Problem. 24(12), 14994-15005.
-
Ninan, S., & Rathinam, S.
(2023).
Road Descriptors for Fast Global Localization on Rural Roads Using OpenStreetMap. Sensors.
23(18), 7915-7915.
-
Chour, K., Reddinger, J., Dotterweich, J., Childers, M., Humann, J., Rathinam, S., & Darbha, S.
(2023).
An agent-based modeling framework for the multi-UAV rendezvous recharging problem. 166, 104442-104442.
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Ren, Z., Rathinam, S., & Choset, H.
(2023).
CBSS: A New Approach for Multiagent Combinatorial Path Finding. 39(4), 2669-2683.
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Nayak, A., & Rathinam, S.
(2023).
Heuristics and Learning Models for Dubins MinMax Traveling Salesman Problem. Sensors.
23(14), 6432-6432.
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Darbha, S., Pavan, A., Kumbakonam, R., Rathinam, S., Casbeer, D., & Manyam, S.
(2023).
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere. JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS.
197(3), 966-992.
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Ren, Z., Rathinam, S., & Choset, H.
(2023).
A Conflict-Based Search Framework for Multiobjective Multiagent Path Finding. IEEE Transactions on Automation Science and Engineering.
20(2), 1262-1274.
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Hari, S., Rathinam, S., Darbha, S., Manyam, S. G., Kalyanam, K., & Casbeer, D.
(2023).
Bounds on Optimal Revisit Times in Persistent Monitoring Missions With a Distinct and Remote Service Station. IEEE Transactions on Robotics.
39(2), 1070-1086.
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Chandak, N., Chour, K., Rathinam, S., & Ravi, R.
(2023).
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions. IEEE Transactions on Automation Science and Engineering.
PP(99), 1-14.
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Hari, S., Rathinam, S., Darbha, S., & Casbeer, D.
(2023).
Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity. Drones.
7(6), 388-388.
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Bhadoriya, A. S., Montez, C. M., Rathinam, S., Darbha, S., Casbeer, D. W., & Manyam, S. G.
(2023).
Optimal Path Planning for a Convoy-Support Vehicle Pair Through a Repairable Network. IEEE Transactions on Automation Science and Engineering.
PP(99), 1-12.
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Ren, Z., Zhan, R., Rathinam, S., Likhachev, M., & Choset, H.
(2022).
Enhanced Multi-Objective A* Using Balanced Binary Search Trees. 15(1), 162-170.
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Chandak, N., Chour, K., Rathinam, S., & Ravi, R.
(2022).
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions (Extended Abstract). 15(1), 258-260.
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Ren, Z., Rathinam, S., Likhachev, M., & Choset, H.
(2022).
Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles. IEEE Robotics and Automation Letters.
7(3), 8154-8161.
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Vegamoor, V., Rathinam, S., & Darbha, S.
(2022).
String Stability of Connected Vehicle Platoons Under Lossy V2V Communication. IEEE Transactions on Intelligent Transportation Systems.
23(7), 8834-8845.
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Bhadoriya, A. S., Vegamoor, V., & Rathinam, S.
(2022).
Vehicle Detection and Tracking Using Thermal Cameras in Adverse Visibility Conditions. Sensors.
22(12), 4567-4567.
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Ren, Z., Rathinam, S., Likhachev, M., & Choset, H.
(2022).
Multi-Objective Path-Based D* Lite. IEEE Robotics and Automation Letters.
7(2), 3318-3325.
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Ren, Z., Rathinam, S., & Choset, H.
(2021).
Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding. IEEE Robotics and Automation Letters.
6(4), 7153-7160.
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Liu, M., Chour, K., Rathinam, S., & Darbha, S.
(2021).
Lateral Control of an Autonomous and Connected Following Vehicle With Limited Preview Information. 6(3), 406-418.
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Chour, K., Rathinam, S., & Ravi, R.
(2021).
S*: A Heuristic Information-Based Approximation Framework for Multi-Goal Path Finding. Proceedings International Conference on Automated Planning and Scheduling, ICAPS.
31, 85-93.
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Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2021).
Optimal UAV Route Planning for Persistent Monitoring Missions. IEEE Transactions on Robotics.
37(2), 550-566.
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Hari, S., Nayak, A., & Rathinam, S.
(2020).
An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem Involving a Human-Robot Team. IEEE Robotics and Automation Letters.
5(2), 2146-2153.
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Misra, S., Wang, B., Sundar, K., Sharma, R., & Rathinam, S.
(2020).
Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements. IEEE Access.
8, 31004-31017.
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Maini, P., Sundar, K., Singh, M., Rathinam, S., & Sujit, P. B.
(2019).
Cooperative Aerial-Ground Vehicle Route Planning With Fuel Constraints for Coverage Applications. 55(6), 3016-3028.
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Sundar, K., Rathinam, S., & Sharma, R.
(2019).
Path planning for unmanned vehicles with localization constraints. Optimization Letters.
13(5), 993-1009.
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Valicka, C. G., Garcia, D., Staid, A., Watson, J., Hackebeil, G., Rathinam, S., & Ntaimo, L.
(2019).
Mixed-integer programming models for optimal constellation scheduling given cloud cover uncertainty. European Journal of Operational Research.
275(2), 431-445.
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Rathinam, S., Manyam, S. G., & Zhang, Y.
(2019).
Near-Optimal Path Planning for a Car-Like Robot Visiting a Set of Waypoints With Field of View Constraints. IEEE Robotics and Automation Letters.
4(2), 391-398.
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Rathinam, S., Manyam, S. G., & Zhang, Y.
(2019).
Near-Optimal Path Planning for a Car-Like Robot Visiting a Set of Waypoints With Field of View Constraints. IEEE Robotics and Automation Letters.
4(2), 391-398.
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Raza, S. A., Abdullakutty, F. C., Rathinam, S., & Govindaluri, S. M.
(2019).
Multi-objective framework for process mean selection and price differentiation with leakage effects under price-dependent stochastic demand. Computers and Industrial Engineering.
127, 698-708.
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Venkatachalam, S., Sundar, K., & Rathinam, S.
(2018).
A Two-Stage Approach for Routing Multiple Unmanned Aerial Vehicles with Stochastic Fuel Consumption. Sensors.
18(11), 3756-3756.
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Manyam, S. G., & Rathinam, S.
(2018).
On Tightly Bounding the Dubins Traveling Salesman's Optimum. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.
140(7),
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Gopalswamy, S., & Rathinam, S.
(2018).
Infrastructure Enabled Autonomy: A Distributed Intelligence Architecture for Autonomous Vehicles. 00, 986-992.
-
Raza, S. A., Rathinam, S., Turiac, M., & Kerbache, L.
(2018).
An integrated revenue management framework for a firm's greening, pricing and inventory decisions. International Journal of Production Economics.
195, 373-390.
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Sundar, K., & Rathinam, S.
(2017).
Algorithms for Heterogeneous, Multiple Depot, Multiple Unmanned Vehicle Path Planning Problems. Journal of Intelligent and Robotic Systems: Theory and Applications.
88(2-4), 513-526.
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Manyam, S. G., Rathinam, S., Casbeer, D., & Garcia, E.
(2017).
Tightly Bounding the Shortest Dubins Paths Through a Sequence of Points. Journal of Intelligent and Robotic Systems: Theory and Applications.
88(2-4), 495-511.
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Sundar, K., Venkatachalam, S., & Rathinam, S.
(2017).
Analysis of Mixed-Integer Linear Programming Formulations for a Fuel-Constrained Multiple Vehicle Routing Problem. Unmanned Systems.
5(4), 197-207.
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Sundar, K., & Rathinam, S.
(2017).
Multiple depot ring star problem: a polyhedral study and an exact algorithm. 67(3), 527-551.
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Raza, S. A., & Rathinam, S.
(2017).
A risk tolerance analysis for a joint price differentiation and inventory decisions problem with demand leakage effect. International Journal of Production Economics.
183, 129-145.
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Ni, D., Yu, G., & Rathinam, S.
(2017).
Unmanned Aircraft System and Its Applications in Transportation. Journal of Advanced Transportation.
2017, 1-2.
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Manyam, S. G., Rathinam, S., Darbha, S., Casbeer, D., Cao, Y., & Chandler, P.
(2016).
GPS Denied UAV Routing with Communication Constraints. Journal of Intelligent and Robotic Systems: Theory and Applications.
84(1-4), 691-703.
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Raza, S. A., Abdullakutty, F. C., & Rathinam, S.
(2016).
Joint determination of process mean, price differentiation, and production decisions with demand leakage: A multi-objective approach. Applied Mathematical Modelling.
40(19-20), 8446-8463.
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Bae, J., & Rathinam, S.
(2016).
A primal-dual approximation algorithm for a two depot heterogeneous traveling salesman problem. Optimization Letters.
10(6), 1269-1285.
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Sundar, K., & Rathinam, S.
(2016).
Generalized multiple depot traveling salesmen problem-Polyhedral study and exact algorithm. Computers & Operations Research.
70, 39-55.
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Kalyanam, K., Rathinam, S., Casbeer, D., & Pachter, M.
(2016).
Optimal Threshold Policy for Sequential Weapon Target Assignment. IFAC-PapersOnLine.
49(17), 7-10.
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Manyam, S. G., Rathinam, S., & Darbha, S.
(2015).
Computation of Lower Bounds for a Multiple Depot, Multiple Vehicle Routing Problem With Motion Constraints. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.
137(9), 094501.
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Bae, J., & Rathinam, S.
(2015).
Approximation Algorithm for a Heterogeneous Vehicle Routing Problem. 12(8), 113-113.
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Nagarajan, H., Rathinam, S., & Darbha, S.
(2015).
Synthesizing Robust Communication Networks for Unmanned Aerial Vehicles With Resource Constraints. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.
137(6), 061001.
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Manyam, S. G., Rathinam, S., Darbha, S., & Obermeyer, K. J.
(2015).
LOWER BOUNDS FOR A VEHICLE ROUTING PROBLEM WITH MOTION CONSTRAINTS. International Journal of Robotics and Automation.
30(3), 207-215.
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Nagarajan, H., Wei, P., Rathinam, S., & Sun, D.
(2014).
Heuristics for Synthesizing Robust Networks with a Diameter Constraint. Mathematical Problems in Engineering.
2014, 1-11.
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Montoya, J., Rathinam, S., & Wood, Z.
(2014).
Multiobjective Departure Runway Scheduling Using Dynamic Programming. IEEE Transactions on Intelligent Transportation Systems.
15(1), 399-413.
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Sundar, K., & Rathinam, S.
(2014).
Algorithms for Routing an Unmanned Aerial Vehicle in the Presence of Refueling Depots. IEEE Transactions on Automation Science and Engineering.
11(1), 287-294.
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Levy, D., Sundar, K., & Rathinam, S.
(2014).
Heuristics for Routing Heterogeneous Unmanned Vehicles with Fuel Constraints. Mathematical Problems in Engineering.
2014, 1-12.
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Darbha, S., Rathinam, S., & Rajagopal, K. R.
(2013).
Combinatorial Motion Planning Algorithms for a Heterogeneous Collection of Unmanned Vehicles
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Nagarajan, H., Rathinam, S., & Darbha, S.
(2013).
SYNTHESIZING ROBUST COMMUNICATION NETWORKS FOR UNMANNED AERIAL VEHICLES WITH RESOURCE CONSTRAINTS. 1, 393-402.
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Ravidas, A., Rathinam, S., & Wood, Z.
(2013).
An optimal algorithm for a two runway scheduling problem. 227(7), 1122-1129.
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Cao, Y. i., Rathinam, S., & Sun, D.
(2013).
Greedy-Heuristic-Aided Mixed-Integer Linear Programming Approach for Arrival Scheduling. Journal of Aerospace Information Systems.
10(7), 323-336.
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Sundar, K., & Rathinam, S.
(2013).
A Primal-Dual Heuristic for a Heterogeneous Unmanned Vehicle Path Planning Problem Regular Paper. International Journal of Advanced Robotic Systems.
10(10), 349-349.
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Nagarajan, H., Rathinam, S., Darbha, S., & Rajagopal, K.
(2012).
Algorithms for synthesizing mechanical systems with maximal natural frequencies. Nonlinear Analysis: Real World Applications.
13(5), 2154-2162.
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Yadlapalli, S., Rathinam, S., & Darbha, S.
(2012).
3-Approximation algorithm for a two depot, heterogeneous traveling salesman problem. Optimization Letters.
6(1), 141-152.
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Bae, J., & Rathinam, S.
(2012).
Approximation algorithms for multiple terminal, Hamiltonian path problems. Optimization Letters.
6(1), 69-85.
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Doshi, R., Yadlapalli, S., Rathinam, S., & Darbha, S.
(2011).
Approximation algorithms and heuristics for a 2-depot, heterogeneous Hamiltonian path problem. International Journal of Robust and Nonlinear Control.
21(12), 1434-1451.
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Stiverson, P., & Rathinam, S.
(2011).
Heuristics for a runway-queue management problem. Proceedings of the Institution of Mechanical Engineers Part G: Journal of Aerospace Engineering.
225(G5), 481-499.
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Bae, J., & Rathinam, S.
(2011).
A Primal Dual Algorithm for a Heterogeneous Traveling Salesman Problem. abs/1111.0567.
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Oberlin, P., Rathinam, S., & Darbha, S.
(2010).
Today's Traveling Salesmen Problem Heterogeneous, Multiple Depot, Multiple UAV Routing Problem. IEEE Robotics and Automation magazine.
17(4), 70-77.
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Rathinam, S., & Sengupta, R.
(2010).
3/2-approximation algorithm for two variants of a 2-depot Hamiltonian path problem. Operations Research Letters.
38(1), 63-68.
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Martin, T. D., Rathinam, S. R., & Cunningham, E. T.
(2009).
086: Prevalence, clinical characteristics, and causes of vision loss in children with Vogt-Koyanagi-Harada disease in South India. Journal of American Association for Pediatric Ophthalmology and Strabismus.
13(1), e22-e22.
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Rathinam, S., Kim, Z. W., & Sengupta, R.
(2008).
Vision-Based Monitoring of Locally Linear Structures Using an Unmanned Aerial Vehicle. 14(1), 52-63.
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Malik, W., Rathinam, S., & Darbha, S.
(2007).
An approximation algorithm for a symmetric generalized multiple depot, multiple travelling salesman problem. Operations Research Letters.
35(6), 747-753.
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Rathinam, S., Sengupta, R., & Darbha, S.
(2007).
A resource allocation algorithm for multivehicle systems with nonholonomic constraints. IEEE Transactions on Automation Science and Engineering.
4(1), 98-104.
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Rathinam, S., Zennaro, M., Mak, T., & Sengupta, R.
(2004).
An architecture for UAV team control. IFAC-PapersOnLine.
37(8), 573-578.
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Ren, Z., Nandy, A., Rathinam, S., & Choset, H.
DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding. IEEE Robotics and Automation Letters.
9(9), 7987-7994.
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Ren, Z., Rubinstein, Z. B., Smith, S. F., Rathinam, S., & Choset, H.
(2023).
ERCA*: A New Approach for the Resource Constrained Shortest Path Problem. 24(12), 14994-15005.
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chapter
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Ren, Z., Rathinam, S., & Choset, H.
(2023).
A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2D. ROBOTICS RESEARCH, VOL 2.
Algorithmic Foundations of Robotics XV.
(pp. 540-556).
Springer Nature.
-
Rathinam, S., & Sharma, R.
(2017).
Sensor Placement Algorithms for a Path Covering Problem. Cooperative Control of MultiAgent Systems.
(pp. 31-50).
Wiley.
-
Nagarajan, H., Rathinam, S., Darbha, S., & Rajagopal, K.
(2012).
Algorithms for Finding Diameter-constrained Graphs with Maximum Algebraic Connectivity. Springer Proceedings in Mathematics and Statistics.
Dynamics of Information Systems: Mathematical Foundations.
(pp. 121-135).
Springer Nature.
-
Yadlapalli, S. K., Malik, W. A., Darbha, S., & Rathinam, S.
(2007).
A Lagrangian-based algorithm for a combinatorial motion planning problem. Lecture Notes in Control and Information Sciences.
Advances in Cooperative Control and Optimization.
(pp. 373-+).
Springer Nature.
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Rathinam, S., & Sengupta, R.
(2007).
Algorithms for Routing Problems Involving UAVs. Studies in Computational Intelligence.
Chahl, J. S., Jain, L. C., Mizutani, A., & Sato-Ilic, M. (Eds.),
INNOVATIONS IN INTELLIGENT MACHINES - 1.
(pp. 147-172).
Springer Nature.
-
Ren, Z., Rathinam, S., & Choset, H.
(2023).
A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2D. ROBOTICS RESEARCH, VOL 2.
Algorithmic Foundations of Robotics XV.
(pp. 540-556).
Springer Nature.
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conference paper
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Bhadoriya, A. S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S. J., & Manyam, S. G.
(2023).
Multi-Agent Assisted Shortest Path Planning using Monte Carlo Tree Search
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Chour, K., Reddinger, J., Dotterweich, J., Childers, M., Humann, J., Rathinam, S., & Darbha, S.
(2022).
A Reactive Energy-Aware Rendezvous Planning Approach for Multi-Vehicle Teams. IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering.
537-542.
-
Ren, Z., Rathinam, S., & Choset, H.
(2022).
Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding. Robotics: Science and Systems.
-
Nayak, A., Pike, A., & Rathinam, S.
(2022).
Effect of Pavement Markings on Machine Vision Used in ADAS Functions. SAE Technical Papers.
-
Rathinam, S., & Rajagopal, H.
(2022).
Optimizing Mission Times for Multiple Unmanned Vehicles with Vehicle-Target Assignment Constraints
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems.
9714-9719.
-
Battistini, J., Rathinam, S., & Tatum, R.
(2021).
Min-Max Task Assignment and Sequencing with Heterogeneous Unmanned Vehicles. IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering.
619-624.
-
Montez, C., Rathinam, S., Darbha, S., Casbeer, D., & Manyam, S. G.
(2021).
An Approximation Algorithm for an Assisted Shortest Path Problem. IEEE International Conference on Robotics and Automation.
8024-8030.
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding. IEEE International Conference on Robotics and Automation.
11560-11565.
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
Multi-objective Conflict-based Search for Multi-agent Path Finding. IEEE International Conference on Robotics and Automation.
8786-8791.
-
Chour, K., Rathinam, S., & Ravi, R.
(2021).
S*: A Heuristic Information-Based Approximation Framework for Multi-Goal Path Finding. 85-93.
-
Bhadoriya, A. S., Vegamoor, V. K., & Rathinam, S.
(2021).
Object Detection and Tracking for Autonomous Vehicles in Adverse Weather Conditions. SAE Technical Papers.
-
Montez, C., Rathinam, S., Darbha, S., & Casbeer, D.
(2021).
Finding Shortest Paths for a Team of Convoy and Repair Vehicles
-
Liu, M., Rathinam, S., & Darbha, S.
(2020).
Lateral Control of a Convoy of Vehicles with a Limited Preview Information. Proceedings of SPIE.
66.
-
Chour, K., Rathinam, S., & Darbha, S.
(2020).
Aerial-Ground Vehicle Path Coordination Algorithms for Monitoring Applications. Proceedings of SPIE.
51.
-
Nayak, A., Rathinam, S., Pike, A., & Gopalswamy, S.
(2020).
Reference Test System for Machine Vision Used for ADAS Functions. SAE Technical Papers.
-
Vegamoor, V., Yan, S., Rathinam, S., & Darbha, S.
(2020).
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings. 1-6.
-
Wang, B., Bobadilla, L., & Rathinam, S.
(2020).
Connecting Soldiers with Relay Robots in Challenging Environments. Proceedings of SPIE.
41.
-
Banik, S., Sujit, P. B., & Rathinam, S.
(2020).
Multi-AUV Coverage with Functional Constraints and Currents. 1-2.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2019).
The Generalized Persistent Monitoring Problem. Proceedings of the ... American Control Conference. American Control Conference.
2783-2788.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2019).
Bounding Algorithms for Persistent Monitoring of Targets using Unmanned Vehicles. 615-621.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2019).
Efficient Computation of Optimal UAV Routes for Persistent Monitoring of Targets. 605-614.
-
Liu, M., Rathinam, S., & Darbha, S.
(2019).
Lateral Control of an Autonomous Car with Limited Preview Information. 3192-3197.
-
Vegamoor, V. K., Kalathil, D., Rathinam, S., & Darbha, S.
(2019).
Reducing Time Headway in Homogeneous CACC Vehicle Platoons in the Presence of Packet Drops. 3159-3164.
-
Nayak, A., Gopalswamy, S., & Rathinam, S.
(2019).
Vision-Based Techniques for Identifying Emergency Vehicles. SAE Technical Papers.
-
Wang, B., Rathinam, S., & Sharma, R.
(2019).
Landmark Placement for Cooperative Localization and Routing of Unmanned Vehicles. 33-42.
-
Wang, B., Rathinam, S., & Sharma, R.
(2019).
Landmark Placement Algorithms for Multi-vehicle Path Planning with Localization Constraints
-
Banik, S., Rathinam, S., & Sujit, P. B.
(2018).
Min-Max Path Planning Algorithms for Heterogeneous, Autonomous Underwater Vehicles. 1-6.
-
Sundar, K., Srinivasan, S., Misra, S., Rathinam, S., & Sharma, R.
(2018).
Landmark Placement for Localization in a GPS-denied Environment. Proceedings of the ... American Control Conference. American Control Conference.
2769-2775.
-
Wang, B., Rathinam, S., Sharma, R., & Sundar, K.
(2018).
ALGORITHMS FOR LOCALIZATION AND ROUTING OF UNMANNED VEHICLES IN GPS-DENIED ENVIRONMENTS. Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference.
v003t32a001-v003t32a001.
-
Gopalswamy, S., & Rathinam, S.
(2018).
Infrastructure Enabled Autonomy: A Distributed Intelligence Architecture for Autonomous Vehicles. 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV).
986-992.
-
Maini, P., Rathinam, S., & Sujit, P. B.
(2017).
Curvature Constrained Trajectory Planning for a UAV through a Sequence of Points: A Perturbation Approach. 1276-1281.
-
Rathinam, S., & Khargonekar, P.
(2017).
AN APPROXIMATION ALGORITHM FOR A SHORTEST DUBINS PATH PROBLEM. v002t24a007-v002t24a007.
-
Garber, M., Rathinam, S., & Sharma, R.
(2017).
A Grid-Based Path Planning Approach for a Team of Two Vehicles with Localization Constraints. 516-523.
-
Sundar, K., Misra, S., Rathinam, S., & Sharma, R.
(2017).
Routing Unmanned Vehicles in GPS-Denied Environments. 62-71.
-
Sundar, K., Misra, S., Rathinam, S., & Sharma, R.
(2017).
Routing Unmanned Vehicles in GPS-Denied Environments. 62-71.
-
Sundar, K., Venkatachalam, S., & Rathinam, S.
(2016).
Formulations and algorithms for the multiple depot, fuel-constrained, multiple vehicle routing problem. Proceedings of the ... American Control Conference. American Control Conference.
6489-6494.
-
Manyam, S., Rathinam, S., & Casbeer, D.
(2016).
Dubins Paths Through a Sequence of Points: Lower and Upper Bounds. 284-291.
-
Sharma, R., & Rathinam, S.
(2016).
Cooperative-timing Attack with Smart Munitions using Cooperative Localization in Contested Environments
-
Sharma, R., & Rathinam, S.
(2016).
Cooperative-timing attack with smart munitions using cooperative localization in contested environments: Formulation and centralized algorithm
-
Hari, S., Sundar, K., Rathinam, S., & Darbha, S.
(2016).
Scheduling Tasks for Human Operators in Monitoring and Surveillance Applications. IFAC-PapersOnLine.
54-59.
-
Rathinam, S., & Sharma, R.
(2015).
A Multiple Vehicle Path Covering Problem with Localization Constraints: Formulation and Algorithms. Proceedings of the ... American Control Conference. American Control Conference.
3746-3751.
-
Nagarajan, H., Rathinam, S., & Darbha, S.
(2015).
On maximizing algebraic connectivity of networks for various engineering applications. 1626-1632.
-
Sundar, K., & Rathinam, S.
(2015).
An exact algorithm for a heterogeneous, multiple depot, multiple traveling salesman problem. 366-371.
-
Manyam, S. G., Rathinam, S., Darbha, S., Casbeer, D., & Chandler, P.
(2014).
Routing of Two Unmanned Aerial Vehicles with Communication Constraints. 140-148.
-
Manyam, S. G., Rathinam, S., & Darbha, S.
(2013).
Computation of Lower bounds for a Multiple Depot, Multiple Vehicle Routing Problem With Motion Constraints. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
2378-2383.
-
Manyam, S. G., Rathinam, S., Darbha, S., & Obermeyer, K. J.
(2012).
Computation of a Lower Bound for a Vehicle Routing Problem With Motion Constraints. 695-701.
-
Manyam, S. G., Rathinam, S., Darbha, S., & Obermeyer, K. J.
(2012).
COMPUTATION OF A LOWER BOUND FOR A VEHICLE ROUTING PROBLEM WITH MOTION CONSTRAINTS. 687-693.
-
Sundar, K., & Rathinam, S.
(2012).
Route Planning Algorithms for Unmanned Aerial Vehicles with Refueling Constraints. Proceedings of the ... American Control Conference. American Control Conference.
3266-3271.
-
Nagarajan, H., Rathinam, S., Darbha, S., & Rajagopal, K. R.
(2012).
Synthesizing robust communication networks for UAVs. Proceedings of the ... American Control Conference. American Control Conference.
3730-3735.
-
Bae, J., & Rathinam, S.
(2012).
AN APPROXIMATION ALGORITHM FOR A HETEROGENEOUS TRAVELING SALESMAN PROBLEM. 637-644.
-
Montoya, J., Zachary, W. T., & Rathinam, S.
(2011).
Runway scheduling using generalized dynamic programming
-
Cao, Y. i., Rathinam, S., & Sun, D.
(2011).
A Rescheduling Method for Conflict-free Continuous Descent Approach
-
Montoya, J., Wood, Z., & Rathinam, S.
(2011).
Runway Scheduling Using Generalized Dynamic Programming
-
Yadlapalli, S., Bae, J., Rathinam, S., & Darbha, S.
(2011).
Approximation Algorithms for a Heterogeneous Multiple Depot Hamiltonian Path Problem. Proceedings of the ... American Control Conference. American Control Conference.
2789-2794.
-
Montoya, J., Wood, Z., Rathinam, S., & Malik, W.
(2010).
A Mixed Integer Linear Program for Solving a Multiple Route Taxi Scheduling Problem
-
Oberlin, P., Rathinam, S., & Darbha, S.
(2010).
COMBINATORIAL MOTION PLANNING FOR A DUBINS VEHICLE WITH PRECEDENCE CONSTRAINTS. 1627-1634.
-
Rathinam, S., Wood, Z., Sridhar, B., & Jung, Y.
(2009).
A Generalized Dynamic Programming Approach for a Departure Scheduling Problem
-
Wood, Z., Rathinam, S., Jung, Y., & Kistler, M.
(2009).
A Simulator for Modeling Aircraft Surface Operations at Airports
-
Oberlin, P., Rathinam, S., & Darbha, S.
(2009).
A Transformation for a Heterogeneous, Multiple Depot, Multiple Traveling Salesman Problem. Proceedings of the ... American Control Conference. American Control Conference.
1292-1297.
-
Oberlin, P., Rathinam, S., & Darbha, S.
(2009).
A Transformation for a Multiple Depot, Multiple Traveling Salesman Problem. Proceedings of the ... American Control Conference. American Control Conference.
2636-2641.
-
Yadlapalli, S. K., Rathinam, S., & Darbha, S.
(2009).
An Approximation algorithm for a 2-Depot, Heterogeneous Vehicle Routing Problem. Proceedings of the ... American Control Conference. American Control Conference.
1730-1735.
-
Rathinam, S., Montoya, J., & Jung, Y.
(2008).
An optimization model for reducing aircraft taxi times at the Dallas Fort Worth International Airport. 3470-3483.
-
Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.
(2007).
A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. IEEE Conference on Decision and Control.
5979-5984.
-
Rathinam, S., Almeida, P., Kim, Z., Jackson, S., Tinka, A., Grossman, W., & Sengupta, R.
(2007).
Autonomous Searching and Tracking of a River using an UAV. Proceedings of the ... American Control Conference. American Control Conference.
359-364.
-
Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.
(2007).
A Lagrangian-based algorithm for a combinatorial motion planning problem. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
5200-5205.
-
Rathinam, S., Almeida, P., Kim, Z., Jackson, S., Tinka, A., Grossman, W., & Sengupta, R.
(2007).
Autonomous searching and tracking of a river using an UAV. Proceedings of the ... American Control Conference. American Control Conference.
2035-2040.
-
Rathinam, S., Sengupta, R., & Darbha, S.
(2007).
Path Planning for a Collection of Vehicles With Yaw Rate Constraints. Lecture Notes in Economics and Mathematical Systems.
255-268.
-
Malik, W., Rathinam, S., Darbha, S., & Jeffcoat, D.
(2006).
Combinatorial motion planning of multiple vehicle systems. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
5299-+.
-
Rathinam, S., & Sengupta, R.
(2006).
Lower and upper bounds for a multiple depot UAV routing problem. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
5287-5292.
-
Tisdale, J., Ryan, A., Zennaro, M., Xiao, X., Caveney, D., Rathinam, S., Hedrick, J. K., & Sengupta, R.
(2006).
The Software Architecture of the Berkeley UAV Platform. 1420-1425.
-
Tisdale, J., Ryan, A., Zennaro, M., Xiao, X., Caveney, D., Rathinam, S., Hedrick, J., & Sengupta, R.
(2006).
The Software Architecture of the Berkeley UAV Platform. 1420-1425.
-
Ryan, A., Xiao, X., Rathinam, S., Tisdale, J., Zennaro, M., Caveney, D., Sengupta, R., & Hedrick, J. K.
(2006).
A Modular Software Infrastructure for Distributed Control of Collaborating UAVs. 3248-3256.
-
Tisdale, J., Ryan, A., Zennaro, M., Xiao, X., Caveney, D., Rathinam, S., Hedrick, J. K., & Senoupta, R.
(2006).
The software architecture of the Berkeley UAV platform. Proceedings of the IEEE Conference on Control Applications.
873-878.
-
Rathinam, S., Kim, Z. u., Soghikian, A., & Sengupta, R.
(2005).
Vision based following of locally linear structures using an unmanned aerial vehicle. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
6085-6090.
-
Rathinam, S., & Sengupta, R.
(2004).
A safe flight algorithm for unmanned aerial vehicles. IEEE Aerospace Conference Proceedings.
3025-3031.
-
Rathinam, S., & Sengupta, R.
(2004).
Safe UAV navigation with sensor processing delays in an unknown environment. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
1081-1086.
-
Frew, E., McGee, T., Kim, Z., Xiao, X., Jackson, S., Morimoto, M., ... Sengupta, R.
(2004).
Vision-based road-following using a small autonomous aircraft. IEEE Aerospace Conference Proceedings.
3006-3015.
-
Sundar, K., Qin, J., Rathinam, S., Ntaimo, L., Darbha, S., & Valicka, C.
Algorithms for a Satellite Constellation Scheduling Problem. IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering.
373-378.
-
Liu, M., Rathinam, S., Lukuc, M., & Gopalswamy, S.
Fusing Radar and Vision Data for Cut-In Vehicle Identification in Platooning Applications. SAE International Journal of Advances and Current Practices in Mobility.
3044-3050.
-
Bhadoriya, A. S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S. J., & Manyam, S. G.
(2023).
Multi-Agent Assisted Shortest Path Planning using Monte Carlo Tree Search
-
institutional repository document
-
Bhadoriya, A. S., Rathinam, S., Darbha, S., Casbeer, D. W., & Manyam, S. G.
(2023).
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
-
Kumar, D. P., Rathinam, S., Darbha, S., & Bihl, T.
(2023).
Heuristic for Min-Max Heterogeneous Multi-Vehicle Multi-Depot Traveling Salesman Problem
-
Ren, Z., Nandy, A., Rathinam, S., & Choset, H.
(2023).
DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding
-
Philip, A. G., Ren, Z., Rathinam, S., & Choset, H.
(2023).
C*: A New Bounding Approach for the Moving-Target Traveling Salesman Problem
-
Nandy, A., Ren, Z., Rathinam, S., & Choset, H.
(2023).
Heuristic Search for Path Finding with Refuelling
-
Ninan, S., & Rathinam, S.
(2023).
Road Descriptors for Fast Global localization on Rural Roads using OpenStreetMaps
-
Kothare, V., Ren, Z., Rathinam, S., & Choset, H.
(2022).
Enhanced Multi-Objective A* with Partial Expansion
-
Hari, S., Rathinam, S., Darbha, S., & Casbeer, D. W.
(2022).
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
-
Chandak, N., Chour, K., Rathinam, S., & Ravi, R.
(2022).
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions
-
Bhadoriya, A. S., Montez, C., Rathinam, S., Darbha, S., Casbeer, D. W., & Manyam, S. G.
(2022).
Assisted Shortest Path Planning for a Convoy through a Repairable Network
-
Darbha, S., Pavan, A., Rajagopal, K. R., Rathinam, S., Casbeer, D. W., & Manyam, S. G.
(2022).
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
-
Ren, Z., Rathinam, S., & Choset, H.
(2022).
A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
-
Ren, Z., Zhan, R., Rathinam, S., Likhachev, M., & Choset, H.
(2022).
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
-
Virmani, L., Ren, Z., Rathinam, S., & Choset, H.
(2021).
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
-
Ren, Z., Rathinam, S., Likhachev, M., & Choset, H.
(2021).
Multi-Objective Path-Based D* Lite
-
Ren, Z., Rathinam, S., Likhachev, M., & Choset, H.
(2021).
Multi-objective Conflict-based Search Using Safe-interval Path Planning
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2021).
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct & Remote Service Station
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
-
Ren, Z., Rathinam, S., & Choset, H.
(2021).
A Conflict-Based Search Framework for Multi-Objective Multi-Agent Path Finding
-
Liu, M., Rathinam, S., & Darbha, S.
(2020).
Lateral Control of a Convoy of Autonomous and Connected Vehicles with Limited Preview Information
-
Vegamoor, V., Rathinam, S., & Darbha, S.
(2020).
String Stability of Connected Vehicle Platoons under Lossy V2V Communication
-
Vegamoor, V., Yan, S., Rathinam, S., & Darbha, S.
(2020).
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings
-
Hari, S. K., Nayak, A., & Rathinam, S.
(2019).
An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem involving a Human-Robot Team
-
Wang, B., Misra, S., Rathinam, S., Sharma, R., & Sundar, K.
(2018).
Routing Multiple Unmanned Vehicles in GPS-Denied Environments
-
Rathinam, S., Manyam, S. G., & Zhang, Y.
(2018).
Path Planning Algorithms for a Car-Like Robot visiting a set of Waypoints with Field of View Constraints
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2018).
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle
-
Maini, P., Sundar, K., Rathinam, S., & Sujit, P. B.
(2018).
Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage
-
Nayak, A., Chour, K., Marr, T., Ravipati, D., Dey, S., Gautam, A., Gopalswamy, S., & Rathinam, S.
(2018).
A Distributed Hybrid Hardware-In-the-Loop Simulation framework for Infrastructure Enabled Autonomy
-
Gopalswamy, S., & Rathinam, S.
(2018).
Infrastructure Enabled Autonomy: A Distributed Intelligence Architecture for Autonomous Vehicles
-
Sundar, K., Srinivasan, S., Misra, S., Rathinam, S., & Sharma, R.
(2018).
Landmark Placement for Localization in a GPS-denied Environment
-
Venkatachalam, S., Sundar, K., & Rathinam, S.
(2017).
A Two-Stage Approach for Routing Multiple Unmanned Aerial Vehicles with Stochastic Fuel Consumption
-
Sundar, K., Misra, S., Rathinam, S., & Sharma, R.
(2017).
Routing Unmanned Vehicles in GPS-Denied Environments
-
Sundar, K., Venkatachalam, S., & Rathinam, S.
(2016).
An Exact Algorithm for a Fuel-Constrained Autonomous Vehicle Path Planning Problem
-
Rathinam, S., & Khargonekar, P.
(2016).
An Approximation Algorithm for a Shortest Dubins Path Problem
-
Sundar, K., Venkatachalam, S., & Rathinam, S.
(2015).
Formulations and algorithms for the multiple depot, fuel-constrained, multiple vehicle routing problem
-
Sundar, K., & Rathinam, S.
(2015).
Generalized multiple depot traveling salesmen problem - polyhedral study and exact algorithm
-
Manyam, S., Rathinam, S., Casbeer, D., & Garcia, E.
(2015).
Shortest Paths of Bounded Curvature for the Dubins Interval Problem
-
Manyam, S., & Rathinam, S.
(2015).
On Tightly Bounding the Dubins Traveling Salesman's Optimum
-
Sundar, K., & Rathinam, S.
(2014).
Multiple Depot Ring Star Problem: A polyhedral study and exact algorithm
-
Sundar, K., & Rathinam, S.
(2013).
Algorithms for Routing an Unmanned Aerial Vehicle in the presence of Refueling Depots
-
Bae, J., & Rathinam, S.
(2011).
A Primal Dual Algorithm for a Heterogeneous Traveling Salesman Problem
-
Bhadoriya, A. S., Rathinam, S., Darbha, S., Casbeer, D. W., & Manyam, S. G.
(2023).
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
-
thesis
-
Ravipati, D., Chour, K., Nayak, A., Marr, T., Dey, S., Gautam, A., Rathinam, S., & Swaminathan, G.
(2019).
Vision Based Localization for Infrastructure Enabled Autonomy
-
Ravipati, D., Chour, K., Nayak, A., Marr, T., Dey, S., Gautam, A., Rathinam, S., & Swaminathan, G.
(2019).
Vision Based Localization for Infrastructure Enabled Autonomy
Research
principal investigator on
- A Sensor Fusion and Localization System for Improving Vehicle Safety In Challenging Weather Conditions awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2019 - 2021
- Reference Machine Vision for ADAS Functions awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2019 - 2020
- Response of Autonomous Vehicles to Emergency Response Vehicles awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2018 - 2019
- RI: Small: Collaborative Research: Cooperative Autonomous Vehicle Routing Algorithms with Resource and Localization Constraints awarded by National Science Foundation - (Arlington, Virginia, United States) 2015 - 2019
Teaching
teaching activities
- MEEN363 Dynamics And Vibrations Instructor
- MEEN364 Dynamic Syst And Control Instructor
- MEEN365 Dynamic Syst & Control Lab Instructor
- MEEN431 Adv Syst Dynamic & Cntrl Instructor
- MEEN485 Directed Studies Instructor
- MEEN491 Hnr-research Instructor
- MEEN602 Modeling And Analysis Mech Sys Instructor
- MEEN651 Control System Design Instructor
- MEEN684 Professional Internship Instructor
- MEEN684 Professional Internship Instructor
- MEEN685 Directed Studies Instructor
- MEEN691 Research Instructor
Works By Students
chaired theses and dissertations
-
Bae, Jung Yun (2014-06). Algorithms for Multiple Vehicle Routing Problems.
-
Doshi, Riddhi Rajeev (2011-10). Approximation Algorithms and Heuristics for a 2-depot, Heterogeneous Hamiltonian Path Problem.
-
Levy, David (2013-06). Multiple Vehicle Routing Problem with Fuel Constraints.
-
Manyam, Satyanarayana Gupta (2015-04). Routing Vehicles with Motion, Resource and Mission Constraints: Algorithms and Bounds.
-
Nagarajan, Harsha (2014-04). Synthesizing Robust Networks for Engineering Applications with Resource Constraints.
-
Park, Myoungkuk (2014-04). Performance Guarantee of a Sub-Optimal Policy for a Discrete Markov Decision Process and Its Application to a Robotic Surveillance Problem.
-
Qin, Jianglei (2013-06). Algorithms for an Unmanned Vehicle Path Planning Problem.
-
Rangarajan, Rahul (2011-08). Approximation Algorithms and Heuristics for a Heterogeneous Traveling Salesman Problem.
-
Ravidas, Amrish Deep (2011-02). An Exact Algorithm and a Local Search Heuristic for a Two Runway Scheduling Problem.
-
Stiverson, Paul W. (2010-01). A Study of Heuristic Approaches for Runway Scheduling for the Dallas-Fort Worth Airport.
-
Sundar, Kaarthik (2012-10). Motion Planning for Unmanned Aerial Vehicles with Resource Constraints.
-
Sundar, Kaarthik (2016-02). Algorithms for Routing Unmanned Vehicles with Motions, Resource, and Communication Constraints.
Contact
first name
- Sivakumar
has last name
- Rathinam
mailing address
-
Texas A&M University
Mechanical Engineering
3123 TAMU
College Station, TX 77843-3123
USA
Other
- srathinam@tamu.edu