HR job title
- Professor
- Contact Info
- 9798622238
Darbha, Swaroop Gulf Oil / Thomas A Dietz Professor
Positions
- Professor (Courtesy), Ocean Engineering, College of Engineering
- Professor (Courtesy), Industrial and Systems Engineering, College of Engineering
- Professor, Mechanical Engineering, College of Engineering
My research focuses on Advanced Vehicular Control and Diagnostic Systems, Motion planning and control of Unmanned Vehicles, Decision making under uncertainty, Fixed Structure Controller Synthesis
Research Areas
- Overview
- Publications
- Research
- Teaching
- Works By Students
- Background
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Overview
Publications
selected publications
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academic article
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Swar, S. C., Manickam, S., Casbeer, D., Kalyanam, K., & Darbha, S.
(2021).
Optimal Autonomous Pursuit of an Intruder on a Grid Aided by Local Node and Edge Sensors. Unmanned Systems.
1-16.
-
Vegamoor, V., Rathinam, S., & Darbha, S.
(2021).
String Stability of Connected Vehicle Platoons Under Lossy V2V Communication. IEEE Transactions on Intelligent Transportation Systems.
PP(99), 1-12.
-
Darbha, S., Konduri, S., & Pagilla, P. R.
(2020).
Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information. IET Intelligent Transport Systems.
14(6), 589-600.
-
Liu, M., Chour, K., Rathinam, S., & Darbha, S.
(2020).
Lateral Control of an Autonomous and Connected Following Vehicle With Limited Preview Information. IEEE Transactions on Intelligent Vehicles.
6(3), 406-418.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2020).
Optimal UAV Route Planning for Persistent Monitoring Missions. IEEE Transactions on Robotics.
37(2), 550-566.
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Vegamoor, V. K., Darbha, S., & Rajagopal, K. R.
(2019).
A Review of Automatic Vehicle Following Systems. JOURNAL OF THE INDIAN INSTITUTE OF SCIENCE.
99(4), 567-587.
-
Darbha, S., Konduri, S., & Pagilla, P. R.
(2018).
Benefits of V2V Communication for Autonomous and Connected Vehicles. IEEE Transactions on Intelligent Transportation Systems.
20(5), 1954-1963.
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Hari, S., Sundar, K., Braga, J., Teixeira, J., Darbha, S., & Sousa, J.
(2017).
Adaptive Position Estimation for Vehicles using Range Measurements. IFAC PAPERSONLINE.
50(1), 1145-1150.
-
Konduri, S., Pagilla, P. R., & Darbha, S.
(2017).
Vehicle Platooning with Multiple Vehicle Look-ahead Information. IFAC PAPERSONLINE.
50(1), 5768-5773.
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Konduri, S., Pagilla, P. R., & Darbha, S.
(2017).
A Combinatorial Approach for Developing Ring Communication Graphs for Vehicle Formations. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME.
139(10), 101014.
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Kalyanam, K., Pachter, M., Patzek, M., Rothwell, C., & Darbha, S.
(2016).
Optimal HumanMachine Teaming for a Sequential Inspection Operation. IEEE Transactions on Human-Machine Systems.
46(4), 557-568.
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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 & Robotic Systems.
84(1-4), 691-703.
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Hari, S., Sundar, K., Rathinam, S., & Darbha, S.
(2016).
Scheduling Tasks for Human Operators in Monitoring and Surveillance Applications. IFAC PAPERSONLINE.
49(32), 54-59.
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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.
-
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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Raul, P. R., Manyam, S. G., Pagilla, P. R., & Darbha, S.
(2015).
Output Regulation of Nonlinear Systems With Application to Roll-to-Roll Manufacturing Systems. IEEE/ASME Transactions on Mechatronics.
20(3), 1089-1098.
-
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.
-
Darbha, S., Rathinam, S., & Rajagopal, K. R.
(2013).
Combinatorial Motion Planning Algorithms for a Heterogeneous Collection of Unmanned Vehicles
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Darbha, S., & Rajagopal, K. R.
(2013).
A methodology to assess the safety of automatically controlled vehicles. International Journal of Advances in Engineering Sciences and Applied Mathematics.
5(2-3), 87-93.
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Krishnamoorthy, K., Park, M., Darbha, S., Pachter, M., & Chandler, P.
(2013).
Approximate Dynamic Programming Applied to UAV Perimeter Patrol. ADVANCES IN COOPERATIVE CONTROL AND OPTIMIZATION.
444, 119-146.
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Krishnamoorthy, K., Park, M., Darbha, S., Pachter, M., & Chandler, P.
(2013).
Approximate Dynamic Programming Applied to UAV Perimeter Patrol. ADVANCES IN COOPERATIVE CONTROL AND OPTIMIZATION.
444, 119-146.
-
Park, M., Krishnamoorthy, K., Darbha, S., Chandler, P., & Pachter, M.
(2012).
State partitioning based linear program for stochastic dynamic programs: An invariance property. Operations Research Letters.
40(6), 487-491.
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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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Nagarajan, H., Rathinam, S., & Darbha, S.
(2012).
Synthesizing Robust Communication Networks for Unmanned Aerial Vehicles With Resource Constraints. 1, 393-402.
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Nagarajan, H., Rathinam, S., Darbha, S., & Rajagopal, K.
(2012).
Algorithms for Finding Diameter-constrained Graphs with Maximum Algebraic Connectivity. ADVANCES IN GLOBAL OPTIMIZATION.
20, 121-135.
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Darbha, S., & Choi, W.
(2012).
A Methodology for Assessing the Benefits of Coordination on the Safety of Vehicles. Journal of Intelligent Transportation Systems.
16(2), 70-81.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2012).
On Controlling the Transient Response of Linear Time Invariant Systems with Fixed Structure Controllers. Asian Journal of Control.
14(6), 1643-1648.
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Kalyanam, K., Chandler, P., Pachter, M., & Darbha, S.
(2012).
Optimization of Perimeter Patrol Operations Using Unmanned Aerial Vehicles. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS.
35(2), 434-441.
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Obermeyer, K. J., Oberlin, P., & Darbha, S.
(2012).
Sampling-Based Path Planning for a Visual Reconnaissance Unmanned Air Vehicle. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS.
35(2), 619-631.
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Krishnamoorthy, K., Pachter, M., Darbha, S., & Chandler, P.
(2011).
Approximate dynamic programming with state aggregation applied to UAV perimeter patrol. International Journal of Robust and Nonlinear Control.
21(12), 1396-1409.
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Dhar, S., Darbha, S., & Rajagopal, K. R.
(2011).
Identification and estimation of parameters defining a class of hybrid systems. Nonlinear Analysis Hybrid Systems.
5(3), 446-456.
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Ramarathnam, S., Dhar, S., Darbha, S., & Rajagopal, K. R.
(2011).
Development of a model for an air brake system with leaks and a scheme for the estimation of the steady-state pushrod stroke. Vehicle System Dynamics.
49(8), 1267-1282.
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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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Oberlin, P., Rathinam, S., & Darbha, S.
(2010).
Today's Traveling Salesman Problem. IEEE Robotics & Automation Magazine.
17(4), 70-77.
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Yadlapalli, S., Rathinam, S., & Darbha, S.
(2010).
3-Approximation algorithm for a two depot, heterogeneous traveling salesman problem. Optimization Letters.
6(1), 141-152.
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Darbha, S., & Pagilla, P. R.
(2010).
Limitations of employing undirected information flow graphs for the maintenance of rigid formations for heterogeneous vehicles. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE.
48(11), 1164-1178.
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Metzger, B. D., Martínez‐Pinedo, G., Darbha, S., Quataert, E., Arcones, A., Kasen, D., ... Zinner, N. T.
(2010).
Electromagnetic counterparts of compact object mergers powered by the radioactive decay of r‐process nuclei. MONTHLY NOTICES OF THE ROYAL ASTRONOMICAL SOCIETY.
406(4), 2650-2662.
-
Darbha, S., Nakshatrala, K. B., & Rajagopal, K. R.
(2010).
On the vibrations of lumped parameter systems governed by differential-algebraic equations. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS.
347(1), 87-101.
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Lim, D., Rasmussen, B. P., & Swaroop, D.
(2009).
Selecting PID Control Gains for Nonlinear HVAC&R Systems. Science and Technology for the Built Environment.
15(6), 991-1019.
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Yadlapalli, S., Malik, W. A., Darbha, S., & Pachter, M.
(2009).
A Lagrangian-based algorithm for a Multiple Depot, Multiple Traveling Salesmen Problem. Nonlinear Analysis Real World Applications.
10(4), 1990-1999.
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Tyagi, V., Darbha, S., & Rajagopal, K. R.
(2009).
A review of the mathematical models for traffic flow. International Journal of Advances in Engineering Sciences and Applied Mathematics.
1(1), 53-68.
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Darbha, S., & Rajagopal, K. R.
(2009).
Unsteady motions of degrading or aging linearized elastic solids. International Journal of Non-Linear Mechanics.
44(5), 478-485.
-
Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2008).
A parameter estimation scheme for a class of sequential hybrid systems. Nonlinear Analysis Hybrid Systems.
2(4), 1113-1124.
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Darbha, S., Bhattacharyya, S. P., Malik, W. A., & Kang, S.
(2008).
Synthesis of absolutely stabilising controllers. IET Control Theory and Applications.
2(10), 895-905.
-
Darbha, S., Rajagopal, K. R., & Tyagi, V.
(2008).
A review of mathematical models for the flow of traffic and some recent results. Nonlinear Analysis.
69(3), 950-970.
-
Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2008).
A Linear Programming Approach to the Synthesis of Fixed-Structure Controllers. IEEE Transactions on Automatic Control.
53(6), 1341-1352.
-
Tyagi, V., Darbha, S., & Rajagopal, K. R.
(2008).
A dynamical systems approach based on averaging to model the macroscopic flow of freeway traffic. Nonlinear Analysis Hybrid Systems.
2(2), 590-612.
-
Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2008).
On the boundedness of the set of stabilizing controllers. International Journal of Robust and Nonlinear Control.
18(7), 782-795.
-
Pachter, M., Chandler, P. R., & Darbha, S.
(2008).
Optimal MAV operations in an uncertain environment. International Journal of Robust and Nonlinear Control.
18(2), 248-262.
-
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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Natarajan, S. V., Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2007).
A model of the relay valve used in an air brake system. Nonlinear Analysis Hybrid Systems.
1(3), 430-442.
-
Pachter, M., Chandler, P. R., & Swaroop, D.
(2007).
NONLINEAR OPTIMAL CONTROL OF A SEQUENTIAL INSPECTION OPERATION. IFAC Proceedings Volumes.
40(12), 804-809.
-
Pachter, M., Darbha, S., & Chandler, P.
(2007).
Sequential Inspection Using Loitering. ADVANCES IN COOPERATIVE CONTROL AND OPTIMIZATION.
369, 281-291.
-
Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2006).
A Diagnostic System for Air Brakes in Commercial Vehicles. IEEE Transactions on Intelligent Transportation Systems.
7(3), 360-376.
-
Yadlapalli, S. K., Darbha, S., & Rajagopal, K. R.
(2006).
Information flow and its relation to stability of the motion of vehicles in a rigid formation. IEEE Transactions on Automatic Control.
51(8), 1315-1319.
-
Bowlin, C. L., Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2006).
Pressure control scheme for air brakes in commercial vehicles. IEE Proceedings - Intelligent Transport Systems.
153(1), 21-32.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2004).
On the Synthesis of Fixed Structure Controllers Satisfying given Performance Criteria. IFAC Proceedings Volumes.
37(21), 199-204.
-
Zhao, Z., Darbha, S., & Reddy, A.
(2004).
A Method for Estimating the Proportion of Nonresponsive Traffic at a Router. IEEE-ACM TRANSACTIONS ON NETWORKING.
12(4), 708-718.
-
Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2004).
Modeling the Pneumatic Subsystem of an S-cam Air Brake System. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME.
126(1), 36-46.
-
Darbha, S., & Bhattacharyya, S. P.
(2003).
On the synthesis of controllers for a non-overshooting step response. IEEE Transactions on Automatic Control.
48(5), 797-800.
-
Darbha, S.
(2003).
On the synthesis of controllers for continuous time LTI systems that achieve a non-negative impulse response. Automatica.
39(1), 159-165.
-
DARBHA, S., & RAJAGOPAL, K. R.
(2002).
LIMIT OF A COLLECTION OF DYNAMICAL SYSTEMS: AN APPLICATION TO MODELING THE FLOW OF TRAFFIC. Mathematical Models and Methods in Applied Sciences.
12(10), 1381-1399.
-
Darbha, S.
(2002).
A Note About the Stability of a String of LTI Systems. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME.
124(3), 472-475.
-
Darbha, S., & Bhattacharyya, S. P.
(2002).
Controller synthesis for sign-invariant impulse response. IEEE Transactions on Automatic Control.
47(8), 1346-1351.
-
Chandler, P. R., Pachter, M., Swaroop, D., Fowler, J. M., Howlett, J. K., Rasmussen, S., Schumacher, C., & Nygard, K.
(2002).
Complexity in UAV Cooperative Control. 1985 American Control Conference.
3, 1831-1836.
-
Shankar, S., Darbha, S., & Datta, A.
(2002).
Design of a decentralized detection of interacting LTI systems. MATHEMATICAL PROBLEMS IN ENGINEERING.
8(3), 233-248.
-
Darbha, S., & Rajagopal, K. R.
(2001).
Aggregation of a class of interconnected, linear dynamical systems. Systems & Control Letters.
43(5), 387-401.
-
Darbha, S., & Rajagopal, K. R.
(2001).
Aggregation of a class of large-scale, interconnected, nonlinear dynamical systems. MATHEMATICAL PROBLEMS IN ENGINEERING.
7(4), 379-392.
-
Swaroop, D., Hedrick, J. K., & Choi, S. B.
(2001).
Direct Adaptive Longitudinal Control of Vehicle Platoons. IEEE Transactions on Vehicular Technology.
50(1), 150-161.
-
Swaroop, D., Hedrick, J. K., Yip, P. P., & Gerdes, J. C.
(2000).
Dynamic surface control for a class of nonlinear systems. IEEE Transactions on Automatic Control.
45(10), 1893-1899.
-
Darbha, S., & Rajagopal, K. R.
(1999).
Intelligent cruise control systems and traffic flow stability. Transportation Research Part C Emerging Technologies.
7(6), 329-352.
-
Swaroop, D., & Hedrick, J. K.
(1999).
Constant Spacing Strategies for Platooning in Automated Highway Systems. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME.
121(3), 462-470.
-
Swaroop, D., & Yoon, S. M.
(1999).
Integrated lateral and longitudinal vehicle control for an emergency lane change manoeuvre design. International Journal of Vehicle Design.
21(2/3), 161-174.
-
Assistant, D. S., & Student, R.
(1998).
Intelligent Cruise Control System Design based on a Traffic Flow Specification. Vehicle System Dynamics.
30(5), 319-344.
-
Swaroop, D., & Hedrick, J. K.
(1996).
String stability of interconnected systems. IEEE Transactions on Automatic Control.
41(3), 349-357.
-
SWAROOP, D.
(1994).
A Comparison of Spacing and Headway Control Laws for Automatically Controlled Vehicles. 23(8), 597-625.
-
HEDRICK, J. K., & SWAROOP, D.
(1994).
Dynamic Coupling in Vehicles Under Automatic Control. Vehicle System Dynamics.
23(sup1), 209-220.
-
SWAROOP, D.
(1994).
LIMITATIONS OF ALTERNATIVE PLATOON CONTROL STRATEGIES FOR IVHS. 54(76), 243-257.
-
SWAROOP, D., HEDRICK, J. K., CHIEN, C. C., & IOANNOU, P.
(1994).
A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1. Vehicle System Dynamics.
23(1), 597-625.
-
Swar, S. C., Manickam, S., Casbeer, D., Kalyanam, K., & Darbha, S.
(2021).
Optimal Autonomous Pursuit of an Intruder on a Grid Aided by Local Node and Edge Sensors. Unmanned Systems.
1-16.
-
chapter
-
Hedrick, J. K., & Swaroop, D.
(2021).
Dynamic Coupling in Vehicles Under Automatic Control. The Dynamics of Vehicles on Roads and on Tracks.
(pp. 209-220).
CRC Press.
-
Chandler, P. R., Pachter, M., Nygard, K. E., & Swaroop, D.
(2002).
Cooperative Control for Target Classification. COOPERATIVE CONTROL AND OPTIMIZATION.
Cooperative Control and Optimization.
(pp. 1-19).
Kluwer Academic Publishers.
-
Hedrick, J. K., & Swaroop, D.
(2021).
Dynamic Coupling in Vehicles Under Automatic Control. The Dynamics of Vehicles on Roads and on Tracks.
(pp. 209-220).
CRC Press.
-
conference paper
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Montez, C., Rathinam, S., Darbha, S., & Casbeer, D.
(2021).
Finding Shortest Paths for a Team of Convoy and Repair Vehicles
-
Manyam, S. G., Casbeer, D., Weintraub, I. E., Tran, D. M., Bradley, J. M., & Darbha, S.
(2021).
Quadratic Bezier Curves for Multi-Agent Coordinated Arrival in the Presence of Obstacles
-
Hu, J., Pagilla, P. R., & Darbha, S.
(2021).
The next-best-view for workpiece localization in robot workspace. 2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2.
1201-1206.
-
Montez, C., Darbha, S., Valicka, C., & Staid, A.
(2020).
Routing of an unmanned vehicle for classification. 55.
-
Chour, K., Rathinam, S., & Darbha, S.
(2020).
Aerial-ground vehicle path coordination algorithms for monitoring applications. 1998 INTERNATIONAL SYMPOSIUM ON MICROELECTRONICS.
51.
-
Liu, M., Rathinam, S., & Darbha, S.
(2020).
Lateral control of a convoy of vehicles with a limited preview information. 1998 INTERNATIONAL SYMPOSIUM ON MICROELECTRONICS.
66.
-
Vegamoor, V., Yan, S., Rathinam, S., & Darbha, S.
(2020).
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings. 17th International IEEE Conference on Intelligent Transportation Systems (ITSC).
1-6.
-
Ankem, M. D., & Darbha, S.
(2019).
Effect of Heterogeneity in Time Headway on Error Propagation in Vehicular Strings. 2612-2619.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2019).
Bounding Algorithms for Persistent Monitoring of Targets using Unmanned Vehicles. 2019 International Conference on Unmanned Aircraft Systems (ICUAS).
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. 2019 International Conference on Unmanned Aircraft Systems (ICUAS).
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.
-
Hari, S., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S. G., & Casbeer, D.
(2019).
The Generalized Persistent Monitoring Problem. 1985 American Control Conference.
2783-2788.
-
HasanzadeZonuzy, A., Arefizadeh, S., Talebpour, A., Shakkottai, S., & Darbha, S.
(2018).
Collaborative Platooning of Automated Vehicles Using Variable Time-Gaps. 1985 American Control Conference.
6715-6722.
-
Darbha, S., Konduri, S., & Pagilla, P. R.
(2017).
Effects of V2V Communication on Time Headway for Autonomous Vehicles. 1985 American Control Conference.
2002-2007.
-
Nagarajan, H., Pagilla, P. R., Darbha, S., Bent, R., & Khargonekar, P. P.
(2017).
Optimal Configurations to Minimize Disturbance Propagation in Manufacturing Networks. 1985 American Control Conference.
2213-2218.
-
Sundar, K., Qin, J., Rathinam, S., Ntaimo, L., Darbha, S., & Valicka, C.
(2016).
Algorithms for a Satellite Constellation Scheduling Problem. 2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1-3.
373-378.
-
Konduri, S., Pagilla, P. R., & Darbha, S.
(2016).
Reconfiguration of a Vehicle Formation with Ring Communication Structure. 1862-1867.
-
Park, M., Kalyanam, K., Darbha, S., Khargonekar, P. P., Pachter, M., & Chandler, P. R.
(2016).
Performance Guarantee of an Approximate Dynamic Programming Policy for Robotic Surveillance. IEEE Transactions on Automation Science and Engineering.
564-578.
-
Hari, S., & Darbha, S.
(2015).
Estimation of Location and Orientation From Range Measurements. v002t31a005-v002t31a005.
-
Nagarajan, H., Rathinam, S., & Darbha, S.
(2015).
On Maximizing Algebraic Connectivity of Networks for Various Engineering Applications. 1626-1632.
-
Raul, P. R., Manyam, S. G., Pagilla, P. R., & Darbha, S.
(2015).
Web Tension Regulation with Partially Known Periodic Disturbances in Roll-to-Roll Manufacturing Systems. 678-683.
-
Manyam, S. G., Rathinam, S., Darbha, S., Casbeer, D., & Chandler, P.
(2014).
Routing of Two Unmanned Aerial Vehicles with Communication Constraints. 2013 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS).
140-148.
-
Kalyanam, K., Park, M., Darbha, S., Casbeer, D., Chandler, P., & Pachter, M.
(2014).
Lower Bounding Linear Program for the Perimeter Patrol Optimization Problem. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS.
558-565.
-
Manyam, S. G., Rathinam, S., & Darbha, S.
(2013).
Computation of Lower Bounds for a Multiple Depot, Multiple Vehicle Routing Problem with Motion Constraints. 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5.
2378-2383.
-
Kalyanam, K., Darbha, S., Khargonekar, P., Pachter, M., & Chandler, P. R.
(2013).
Optimal Cooperative Pursuit on a Manhattan Grid
-
Krishnamoorthy, K., Darbha, S., Khargonekar, P. P., Casbeer, D., Chandler, P., & Pachter, M.
(2013).
Optimal minimax pursuit evasion on a Manhattan grid. 1985 American Control Conference.
3421-3428.
-
Konduri, S., Pagilla, P. R., & Darbha, S.
(2013).
Vehicle formations using directed information flow graphs. 1985 American Control Conference.
3045-3050.
-
Park, M., Kalyanam, K., Darbha, S., Khargonekar, P. P., Chandler, P. R., & Pachter, M.
(2013).
Performance Guarantee of a Sub-Optimal Policy for a Robotic Surveillance Application*. IFAC Proceedings Volumes.
283-290.
-
Krishnamoorthy, K., Casbeer, D., Chandler, P., Pachter, M., & Darbha, S.
(2012).
UAV Search & Capture of a Moving Ground Target Under Delayed Information. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
3092-3097.
-
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.
-
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Output Regulation of a Class of Nonlinear Systems Using Differential-Algebraic Equations. 635-643.
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Sub-Optimal Stationary Policies for a Class of Stochastic Optimization Problems Arising in Robotic Surveillance Applications. 263-272.
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A Lower Bounding Linear Programming approach to the Perimeter Patrol Stochastic Control Problem
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Bounding procedure for stochastic dynamic programs with application to the perimeter patrol problem. 1985 American Control Conference.
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Synthesizing robust communication networks for UAVs. 1985 American Control Conference.
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Estimation of pushrod stroke in an air brake system with parametric uncertainty
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Approximation algorithms for a heterogeneous Multiple Depot Hamiltonian Path Problem. 1985 American Control Conference.
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UAV perimeter patrol operations optimization using efficient Dynamic Programming. 1985 American Control Conference.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
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Estimation of Pushrod Stroke in an Air Brake System with Parametric Uncertainty. SAE Technical Papers.
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Dhar, S., Darbha, S., & Rajagopal, K. R.
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Development of Diagnostic Algorithms for an Air Brake System: Theory and Implementation. 327-334.
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Fixed Structure Controller Synthesis Using Groebner Bases and Sign-Definite Decomposition*. IFAC Proceedings Volumes.
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Mohsenizadeh, N., Darbha, S., & Bhattacharyya, S. P.
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Synthesis of Digital PID Controllers for Discrete-Time Systems With Guaranteed Non-Overshooting Transient Response. 473-478.
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Darbha, S., Krishnamoorthy, K., Pachter, M., & Chandler, P.
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State Aggregation based Linear Programming approach to Approximate Dynamic Programming. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
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Kalyanam, K., Pachter, M., & Chandler, P.
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Approximate Dynamic Programming with State Aggregation applied to Perimeter Patrol*
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Obermeyer, K., Oberlin, P., & Darbha, S.
(2010).
Sampling-Based Roadmap Methods for a Visual Reconnaissance UAV*
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Chandler, P., Hansen, J., Holsapple, R., Darbha, S., & Pachter, M.
(2009).
Optimal Perimeter Patrol Alert Servicing with Poisson Arrival Rate
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Oberlin, P., Rathinam, S., & Darbha, S.
(2009).
A transformation for a Heterogeneous, Multiple Depot, Multiple Traveling Salesman Problem. 1985 American Control Conference.
1292-1297.
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Oberlin, P., Rathinam, S., & Darbha, S.
(2009).
A transformation for a Multiple Depot, Multiple Traveling Salesman Problem. 1985 American Control Conference.
2636-2641.
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Yadlapalli, S. K., Rathinam, S., & Darbha, S.
(2009).
An approximation algorithm for a 2-Depot, heterogeneous vehicle routing problem. 1985 American Control Conference.
1730-1735.
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Oberlin, P., Rathinam, S., & Darbha, S.
(2009).
Combinatorial Motion Planning for a Dubins Vehicle With Precedence Constraints. 715-722.
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Ramarathnam, S., Dhar, S., Darbha, S., & Rajagopal, K. R.
(2009).
Development of a model for an air brake system with leaks. 1985 American Control Conference.
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Darbha, S., & Pagilla, P. R.
(2009).
Limitations of Employing Undirected Information Flow Graphs for the Maintenance of Rigid Vehicular Formations. 731-738.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2009).
On the transient control of Linear Time Invariant systems. 1985 American Control Conference.
3142-3147.
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Malik, W. A., Kang, S., Darbha, S., & Bhattacharyya, S. P.
(2008).
Synthesis of Absolutely Stabilizing Controllers. 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5.
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Xiao, L., Darbha, S., & Gao, F.
(2008).
Stability of String of Adaptive Cruise Control Vehicles with Parasitic Delays and Lags. 17th International IEEE Conference on Intelligent Transportation Systems (ITSC).
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Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.
(2007).
A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
5979-5984.
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Yadlapalli, S., Malik, W. A., Darbha, S., & Pachter, M.
(2007).
A Lagrangian-Based Algorithm for a Multiple Depot, Multiple Travelling Salesmen Problem. 1985 American Control Conference.
4027-4032.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2007).
On the Boundedness of the Set of Stabilizing Controllers. 1985 American Control Conference.
5527-5532.
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Yadlapalli, S. K., Malik, W. A., Darbha, S., & Rathinam, S.
(2007).
A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. ADVANCES IN COOPERATIVE CONTROL AND OPTIMIZATION.
373-387.
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Yadlapalli, S. K., Darbha, S., & Rajagopal, K. R.
(2007).
Information Flow Requirements for the Stability of Motion of Vehicles in a Rigid Formation. COMPUTER-AIDED SYSTEMS IN PUBLIC TRANSPORT.
351-367.
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Rathinam, S., Sengupta, R., & Darbha, S.
(2007).
Path Planning for a Collection of Vehicles With Yaw Rate Constraints. COMPUTER-AIDED SYSTEMS IN PUBLIC TRANSPORT.
255-268.
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Malik, W., Rathinam, S., Darbha, S., & Jeffcoat, D.
(2006).
Combinatorial Motion Planning of Multiple Vehicle Systems. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
5299-5304.
-
Pachter, M., Chandler, P. R., & Darbha, S.
(2006).
Optimal Sequential Inspection. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
5930-5934.
-
Tyagi, V., Sane, H., & Darbha, S.
(2006).
An Extremum Seeking Algorithm for Determining the Set Point Temperature for Condensed Water in a Cooling Tower. 1985 American Control Conference.
1127-1131.
-
Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2006).
Diagnosing the Air Brake System of Commercial Vehicles. 1985 American Control Conference.
2567-2572.
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Malik, W., Kang, S., Darbha, S., & Bhattacharyya, S. P.
(2006).
SYNTHESIS OF FIXED ORDER STABILIZING CONTROLLERS USING FREQUENCY RESPONSE MEASUREMENTS. IFAC Proceedings Volumes.
357-362.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2005).
A Recursive Algorithm for Reducing the Order of Controller while Guaranteeing Performance. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
5899-5904.
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Krishna, Y. S., Darbha, S., & Rajagopal, K. R.
(2005).
Information Flow and its Relation to the Stability of the Motion of Vehicles in a Rigid Formation. 1985 American Control Conference.
1853-1858.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2005).
SYNTHESIS OF FIXED STRUCTURE CONTROLLERS FOR DISCRETE TIME SYSTEMS. IFAC Proceedings Volumes.
224-229.
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Darbha, S., Pargaonkar, S., & Bhattacharya, S. P.
(2004).
A linear programming approach to the synthesis of fixed structure controllers. 1985 American Control Conference.
3942-3949.
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Darbha, S., Pargaonkar, S., & Bhattacharya, S. R.
(2004).
A linear programming approach to the synthesis of fixed structure controllers. 1985 American Control Conference.
3942-3949 vol.5.
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Darbha, S., Choi, W., & Bhattacharya, S. P.
(2004).
On the Recursive Reduction of the Order of Stabilizing Controllers for LTI Systems. 1533-1539.
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Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
(2003).
Modeling the Pneumatic Subsystem of a S-cam Air Brake System. 1985 American Control Conference.
1416-1421.
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Darbha, S., & Bhattacharyya, S. P.
(2002).
On the Synthesis of Controllers for a Non-Overshooting Step Response. 1493-1495.
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Zhao, Z., Ametha, J., Darbha, S., & Reddy, A.
(2002).
A method for estimating non-responsive traffic at a router. ACM SIGMETRICS Performance Evaluation Review.
274-275.
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Zhao, Z., Ametha, J., Darbha, S., & Reddy, A.
(2002).
A method for estimating non-responsive traffic at a router. ACM SIGMETRICS Performance Evaluation Review.
274-275.
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Darbha, S., & Bhattacharyya, S. P.
(2002).
Controller Synthesis for Sign Invariant Impulse Response. 1985 American Control Conference.
1055-1061.
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Darbha, S., & Bhattacharyya, S. P.
(2002).
On the Synthesis of Controllers for a Non-Overshooting Step Response1 1 This work is partially supported by the National Snence Foundation under Grant CMS-0127941. 1493-1495.
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Swaroop, D., & Rajagopal, K. R.
(2001).
A review of Constant Time Headway Policy for Automatic Vehicle Following. 65-69.
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Choi, W., & Swaroop, D.
(2001).
Assessing the Benefits of Coordination in Automatically Controlled Vehicles. 70-75.
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Choi, W., & Swaroop, D.
(2001).
Assessing the safety benefits due to coordination amongst vehicles during an emergency braking maneuver. 1985 American Control Conference.
2099-2104.
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Ametha, J., Turner, S., & Darbha, S.
(2001).
Formulation of a new methodology to identify erroneous paired loop detectors. 591-596.
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Swaroop, D., & Neimann, D.
(2001).
On the Impulse Response of LTI Systems. 1985 American Control Conference.
523-528.
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Darbha, S., & Rajagopal, K. R.
(1999).
Aggregation of a class of linear, interconnected dynamical systems. 1985 American Control Conference.
1496-1501 vol.2-1501.
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Godbole, D. N., Hagenmeyer, V., Sengupta, R., & Swaroop, D.
(1997).
Design of emergency manoeuvres for automated highway system: obstacle avoidance problem. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
4774-4779 vol.5-4779.
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Swaroop, D., Gerdes, J. C., Yip, P. P., & Hedrick, J. K.
(1997).
Dynamic surface control of nonlinear systems. 1985 American Control Conference.
3028-3034 vol.5-3034.
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Swaroop, D., Gerdes, J. C., & Hedrick, J. K.
(1997).
Fault tolerant control of automatically controlled vehicles in response to brake system failures. 705-710.
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Swaroop, D., & Hedrick, J. K.
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On local and global exponential stability of nonlinear systems. 1985 American Control Conference.
3035-3036 vol.5-3036.
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Some new results on the oscillatory behavior of impulse and step responses for linear time invariant systems. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
2511-2512 vol.3-2512.
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The use of linear filtering to simplify integrator backstepping control of nonlinear systems. 211-215.
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String stability of interconnected systems. 1806-1810 vol.3-1810.
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Swaroop, D., & Hedrick, J. K.
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Direct adaptive longitudinal control of vehicle platoons. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).
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Godbole, D. N., & Swaroop, D.
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CAD Tools for Nonlinear Control: Speed Control of a Car Engine. 317-318.
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McMahon, D. H., Narendran, V. K., Swaroop, D., Hedrick, J. K., Chang, K. S., & Devlin, P. E.
(1992).
Longitudinal Vehicle Controllers for IVHS: Theory and Experiment. 1753-1757.
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Experimentation with a Vehicle Platoon Control System. SAE Technical Papers.
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Hedrick, J. K., McMahon, D., Narendran, V., & Swaroop, D.
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Longitudinal Vehicle Controller Design for IVHS Systems. 3107-3112.
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Experimentation with a vehicle platoon control system. 1117-1124.
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Montez, C., Rathinam, S., Darbha, S., & Casbeer, D.
(2021).
Finding Shortest Paths for a Team of Convoy and Repair Vehicles
-
report
-
Swaroop, D., & Yoon, S. M.
(1999).
The Design of a Controller for a Following Vehicle in an Emergency Lane Change Maneuver
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Hedrick, J. K., Gerdes, J. C., Maciuca, D. B., & Swaroop, D.
(1997).
Brake System Modeling, Control And Integrated Brake/throttle Switching Phase I
-
Swaroop, D.
(1997).
String Stability Of Interconnected Systems: An Application To Platooning In Automated Highway Systems
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Hedrick, J. K., Garg, V., Gerdes, J. C., Maciuca, D. B., & Swaroop, D.
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Longitudinal Control Development For IVHS Fully Automated And Semi-automated Systems: Phase II
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Swaroop, D., & Yoon, S. M.
(1999).
The Design of a Controller for a Following Vehicle in an Emergency Lane Change Maneuver
Research
principal investigator on
- Development of a Diagnostic System for Air Brakes in Autonomous and Connected Trucks awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2019 - 2021
- Dwight David Eisenhower Transportation Fellowship Program (DDETFP) Graduate Fellowship awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2019 - 2020
- Dwight David Eisenhower Transportation Fellowship Program (DDETFP) Graduate Fellowship awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2019
- Dwight David Eisenhower Transportation Fellowship Program Graduate Fellowship - Tyler Stephen Marr awarded by United States Department of Transportation - (Washington D.C., District of Columbia, United States) 2018
awards and honors
- Tenneco Award for Meritorious Teaching of Engineering, conferred by Texas A&M University - (College Station, Texas, United States), 2009
- Dwight Look College of Engineering Faculty Fellow, conferred by Texas A&M University - (College Station, Texas, United States), 2009
- Association of Former Students College-Level Teaching Distinguished Achievement Award, The, conferred by Texas A&M University - (College Station, Texas, United States), 2008
Teaching
teaching activities
- MEEN221 Statics & Particle Dynam Instructor
- MEEN357 Engr Analysis For Mech Instructor
- MEEN364 Dynamic Syst And Control Instructor
- MEEN408 Mech Robotic Manipulators Instructor
- MEEN431 Adv Syst Dynamic & Cntrl Instructor
- MEEN432 Automotive Engr Instructor
- MEEN612 Mech Of Robot Manip Instructor
- MEEN651 Control System Design Instructor
- MEEN655 Design Of Non Lin Con Sy Instructor
- MEEN684 Professional Internship Instructor
- MEEN684 Professional Internship Instructor
- MEEN685 Directed Studies Instructor
- MEEN689 Sptp: Conv Opt Meth For Contr Instructor
- MEEN691 Research Instructor
Works By Students
chaired theses and dissertations
-
Bowlin, Christopher Leland (2005-12). A pressure control scheme for air brakes in commercial vehicles.
-
Dhar, Sandeep (2010-08). Development of Diagnostic Algorithms for Air Brakes in Trucks.
-
Hari, Sai Krishna Kanth (2016-08). Localization of Vehicles Using Range Measurements.
-
Kang, Sin Cheon (2005-12). On the synthesis of fixed order stabilizing controllers.
-
Kim, Kyungeun (2013-12). Numerical Methods for Uncertainty Analysis in Dynamical Systems.
-
Lim, Dongwon (2008-05). Synthesis of PID controller from empirical data and guaranteeing performance specifications..
-
Malik, Waqar Ahmad (2007-12). A new computational approach to the synthesis of fixed order controllers.
-
Manyam, Satyanarayana Gupta (2015-05). Routing Vehicles with Motion, Resource and Mission Constraints: Algorithms and Bounds.
-
Mohsenizadeh, Daniel N (2014-05). Control Systems: New Approaches to Analysis and Design.
-
Nagarajan, Harsha (2014-05). Synthesizing Robust Networks for Engineering Applications with Resource Constraints.
-
Oberlin, Paul V. (2009-05). Path Planning Algorithms for Multiple Heterogeneous Vehicles.
-
Park, Myoungkuk (2014-05). Performance Guarantee of a Sub-Optimal Policy for a Discrete Markov Decision Process and Its Application to a Robotic Surveillance Problem.
-
Rathinam, Sivakumar (2001). A resource allocation algorithm for wide area search ammunitions.
-
Ravidas, Amrish Deep (2010-12). An Exact Algorithm and a Local Search Heuristic for a Two Runway Scheduling Problem.
-
Tyagi, Vipin (2003-05). A non-continuum approach to obtain a macroscopic model for the flow of traffic.
-
Vegamoor, Vamsi Krishna (2018-12). Model Based Longitudinal Control of Heavy Duty Vehicles.
-
Vilayannur Natarajan, Shankar (2006-05). Modeling the pneumatic relay valve of an s-cam air brake.
-
Yadlapalli, Sai Krishna (2006-05). On the information flow required for the scalability of the stability of motion of approximately rigid formation.
-
Yadlapalli, Sai Krishna (2010-12). Combinatorial Path Planning for a System of Multiple Unmanned Vehicles.
-
Yu, Hongtao (2016-12). A Detection and Mitigation System for Unintended Acceleration: An Integrated Hybrid Data-driven and Model-based Approach.
Background
education and training
- Ph.D., University of California, Berkeley - (Berkeley, California, United States) 1994
- M.S. in Mechanical Engineering, University of California, Berkeley - (Berkeley, California, United States) 1992
- B.T. in Mechanical Engineering, Indian Institute of Technology Madras - (Chennai, Tamil Nadu, India) 1989
Contact
first name
- Swaroop
has last name
- Darbha
mailing address
-
Texas A&M University
Mechanical Engineering
3123 TAMU
College Station, TX 77843-3123
USA
Other
- s-dvahg@tamu.edu