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, Control System Design
Research Areas
- Overview
- Publications
- Research
- Teaching
- Works By Students
- Background
- Contact
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Overview
Publications
selected publications
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academic article
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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.
-
Kumar, D. P., Darbha, S., Manyam, S. G., & Casbeer, D.
(2023).
The Weighted Markov-Dubins Problem. IEEE Robotics and Automation Letters.
8(3), 1563-1570.
-
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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Manyam, S. G., Casbeer, D. W., Darbha, S., Weintraub, I. E., & Kalyanam, K.
(2022).
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility. IEEE Robotics and Automation Letters.
7(4), 10176-10183.
-
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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Swar, S. C., Manickam, S., Casbeer, D., Kalyanam, K., & Darbha, S.
(2022).
Optimal Autonomous Pursuit of an Intruder on a Grid Aided by Local Node and Edge Sensors. Unmanned Systems.
10(01), 93-108.
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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.
-
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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Darbha, S., Konduri, S., & Pagilla, P. R.
(2020).
Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information. 14(6), 589-600.
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Liu, M., Rathinam, S., & Darbha, S.
(2020).
Lateral Control of a Convoy of Autonomous and Connected Vehicles with Limited Preview Information. abs/2011.03587.
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Vegamoor, V. K., Rathinam, S., & Darbha, S.
(2020).
Safety of Connected Vehicle Platoons. abs/2009.00438.
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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.
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Darbha, S., Konduri, S., & Pagilla, P. R.
(2019).
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., Rathinam, S., Darbha, S., Krishnamoorthy, K., Manyam, S. G., & Casbeer, D. W.
(2018).
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle. abs/1808.02545.
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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.
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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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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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Kalyanam, K., Pachter, M., Patzek, M., Rothwell, C., & Darbha, S.
(2016).
Optimal Human-Machine 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.
(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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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.
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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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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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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. Lecture Notes in Control and Information Sciences.
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. Lecture Notes in Control and Information Sciences.
444, 119-146.
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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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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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Darbha, S., & Choi, W.
(2012).
A Methodology for Assessing the Benefits of Coordination on the Safety of Vehicles. 16(2), 70-81.
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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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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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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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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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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: international journal of vehicle mechanics and mobility.
49(8), 1267-1282.
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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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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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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., MartnezPinedo, 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 rprocess nuclei. Monthly Notices of the Royal Astronomical Society.
406(4), 2650-2662.
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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.
347(1), 87-101.
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Darbha, S., Nakshatrala, K. B., & Rajagopal, K. R.
(2010).
On the vibrations of lumped parameter systems governed by differential-algebraic equations. 347, 87-101.
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Lim, D., Rasmussen, B. P., & Swaroop, D.
(2009).
Selecting PID Control Gains for Nonlinear HVAC&R Systems. HVAC and R Research.
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.
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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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Malik, W. A., Kang, S., Darbha, S., & Bhattacharyya, S. P.
(2008).
Synthesis of absolutely stabilising controllers. 2(10), 895-905.
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Darbha, S., Rajagopal, K. R., & Tyagi, V.
(2008).
A review of mathematical models for the flow of traffic and some recent results. Nonlinear Analysis Theory Methods and Applications.
69(3), 950-970.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2008).
A linear programming approach to the synthesis of fixed-structure controllers. 53(6), 1341-1352.
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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.
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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.
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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.
-
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.
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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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Pachter, M., Chandler, P. R., & Swaroop, D.
(2007).
NONLINEAR OPTIMAL CONTROL OF A SEQUENTIAL INSPECTION OPERATION. IFAC-PapersOnLine.
40(12), 804-809.
-
Pachter, M., Darbha, S., & Chandler, P.
(2007).
Sequential inspection using loitering. Lecture Notes in Control and Information Sciences.
369, 281-+.
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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), 21-21.
-
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.
-
Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2004).
On the Synthesis of Fixed Structure Controllers Satisfying given Performance Criteria. IFAC-PapersOnLine.
37(21), 199-204.
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Zhao, Z. L., 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.
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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 nonovershooting step response. 48(5), 797-799.
-
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 (M3AS).
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. 47(8), 1346-1351.
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Shankar, S., Darbha, S., & Datta, A.
(2002).
Design of a decentralized detection of interacting LTI systems. Mathematical Problems in Engineering.
8(3), 233-248.
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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. Proceedings of the ... American Control Conference. American Control Conference.
1-6, 1831-1836.
-
Darbha, S., & Rajagopal, K. R.
(2001).
Aggregation of a class of interconnected, linear dynamical systems. Systems and 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.
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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.
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Swaroop, D., & Rajagopal, K. R.
(1999).
Intelligent Cruise Control Systems and Traffic Flow Behavior. 67, 373-380.
-
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: journal of vehicle engineering, automotive technology and components.
21(2-3), 161-174.
-
Swaroop, D., & Huandra, R.
(1998).
Intelligent Cruise Control System Design based on a Traffic Flow Specification. Vehicle System Dynamics: international journal of vehicle mechanics and mobility.
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.
-
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 VEHICLES. Vehicle System Dynamics: international journal of vehicle mechanics and mobility.
23(8), 597-625.
-
HEDRICK, J. K., & SWAROOP, D.
(1994).
DYNAMIC COUPLING IN VEHICLES UNDER AUTOMATIC-CONTROL. Vehicle System Dynamics: international journal of vehicle mechanics and mobility.
23(sup1), 209-220.
-
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.
-
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).
Taylor & Francis.
-
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.
-
Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
(2011).
Synthesis of Fixed Structure Controllers for Discrete Time Systems. Van Dooren, P., Bhattacharyya, S. P., Chan, R. H., Olshevsky, V., & Routray, A. (Eds.),
Numerical Linear Algebra in Signals, Systems and Control.
(pp. 367-385).
Springer Netherlands.
-
Pachter, M., Chandler, P. R., & Swaroop, D.
(2008).
Optimal Control of an ATR Module - Equipped MAV/Human Operator Team. Pardalos, P. (Eds.),
Cooperative Networks.
(pp. 209-252).
Edward Elgar Publishing.
-
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.
-
Yadlapalli, S. K., Darbha, S., & Rajagopal, K. R.
(2007).
Information Flow Requirements for the Stability of Motion of Vehicles in a Rigid Formation. Grundel, D., Murphey, R., Pardalos, P., & Prokopyev, O. (Eds.),
Cooperative Systems: Control and Optimization.
(pp. 351-367).
Springer Berlin Heidelberg.
-
Rathinam, S., Sengupta, R., & Darbha, S.
(2007).
Path Planning for a Collection of Vehicles With Yaw Rate Constraints. Grundel, D., Murphey, R., Pardalos, P., & Prokopyev, O. (Eds.),
Cooperative Systems: Control and Optimization.
(pp. 255-268).
Springer Berlin Heidelberg.
-
Chandler, P. R., Pachter, M., Nygard, K. E., & Swaroop, D.
(2002).
Cooperative control for target classification. Applied Optimization.
Cooperative Control and Optimization.
(pp. 1-19).
Springer Nature.
-
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).
Taylor & Francis.
-
conference paper
-
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
-
Rasmussen, S. J., Casbeer, D., Bhadoriya, A. S., Darbha, S., & Manyam, S. G.
(2023).
Multi-Agent Task Assignment and Sequencing using Monte Carlo Tree Search and Process Algebra
-
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.
-
Hu, J., Pagilla, P. R., & Darbha, S.
(2021).
A Novel Method for the Localization of Convex Workpieces in Robot Workspace Using Gauss Map. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
2143-2148.
-
Hu, J., Pagilla, P. R., & Darbha, S.
(2021).
The next-best-view for workpiece localization in robot workspace. 1201-1206.
-
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.
-
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
-
Liu, M., Rathinam, S., & Darbha, S.
(2020).
Lateral Control of a Convoy of Vehicles with a Limited Preview Information. Proceedings of SPIE.
66.
-
Montez, C., Darbha, S., Valicka, C., & Staid, A.
(2020).
Routing of an Unmanned Vehicle for Classification. Proceedings of SPIE.
55.
-
Chour, K., Rathinam, S., & Darbha, S.
(2020).
Aerial-Ground Vehicle Path Coordination Algorithms for Monitoring Applications. Proceedings of SPIE.
51.
-
Vegamoor, V., Yan, S., Rathinam, S., & Darbha, S.
(2020).
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings. 1-6.
-
Vegamoor, V. K., Yan, S., Rathinam, S., & Darbha, S.
(2020).
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings. 1-6.
-
Ankem, M. D., & Darbha, S.
(2019).
Effect of Heterogeneity in Time Headway on Error Propagation in Vehicular trings. 2612-2619.
-
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.
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Liu, M., Rathinam, S., & Darbha, S.
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Lateral Control of an Autonomous Car with Limited Preview Information. 3192-3197.
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Reducing Time Headway in Homogeneous CACC Vehicle Platoons in the Presence of Packet Drops. 3159-3164.
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HasanzadeZonuzy, A., Arefizadeh, S., Talebpour, A., Shakkottai, S., & Darbha, S.
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Collaborative Platooning of Automated Vehicles Using Variable Time-Gaps. Proceedings of the ... American Control Conference. American Control Conference.
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Benefits of V2V Communication for Autonomous and Connected Vehicles
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Collaborative Platooning of Automated Vehicles Using Variable Time-Gaps. 6715-6722.
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Effects of V2V Communication on Time Headway for Autonomous Vehicles. Proceedings of the ... American Control Conference. American Control Conference.
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Optimal Configurations to Minimize Disturbance Propagation in Manufacturing Networks. Proceedings of the ... American Control Conference. American Control Conference.
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Park, M., Kalyanam, K., Darbha, S., Khargonekar, P. P., Pachter, M., & Chandler, P. R.
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Performance Guarantee of an Approximate Dynamic Programming Policy for Robotic Surveillance. IEEE Transactions on Automation Science and Engineering.
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Sundar, K., Qin, J., Rathinam, S., Ntaimo, L., Darbha, S., & Valicka, C.
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Algorithms for a Satellite Constellation Scheduling Problem. IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering.
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Hari, S., & Darbha, S.
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ESTIMATION OF LOCATION AND ORIENTATION FROM RANGE MEASUREMENTS. v002t31a005-v002t31a005.
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Konduri, S., Pagilla, P. R., & Darbha, S.
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Reconfiguration of a vehicle formation with ring communication structure. 1862-1867.
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Hari, S., Sundar, K., Rathinam, S., & Darbha, S.
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Scheduling Tasks for Human Operators in Monitoring and Surveillance Applications. IFAC-PapersOnLine.
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Nagarajan, H., Rathinam, S., & Darbha, S.
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On maximizing algebraic connectivity of networks for various engineering applications. 1626-1632.
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Raul, P. R., Manyam, S. G., Pagilla, P. R., & Darbha, S.
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Web Tension Regulation with Partially Known Periodic Disturbances in Roll-to-Roll Manufacturing Systems. 678-683.
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Manyam, S. G., Rathinam, S., Darbha, S., Casbeer, D., & Chandler, P.
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Routing of Two Unmanned Aerial Vehicles with Communication Constraints. 140-148.
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Kalyanam, K., Park, M., Darbha, S., Casbeer, D., Chandler, P., & Pachter, M.
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Lower Bounding Linear Program for the Perimeter Patrol Optimization Problem. Journal of Guidance, Control, and Dynamics.
558-565.
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Manyam, S. G., Rathinam, S., & Darbha, S.
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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.
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Kalyanam, K., Darbha, S., Khargonekar, P., Pachter, M., & Chandler, P. R.
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Optimal Cooperative Pursuit on a Manhattan Grid
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Krishnamoorthy, K., Darbha, S., Khargonekar, P. P., Casbeer, D., Chandler, P., & Pachter, M.
(2013).
Optimal minimax pursuit evasion on a Manhattan grid. Proceedings of the ... American Control Conference. American Control Conference.
3421-3428.
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Konduri, S., Pagilla, P. R., & Darbha, S.
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Vehicle formations using directed information flow graphs. Proceedings of the ... American Control Conference. American Control Conference.
3045-3050.
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Park, M., Kalyanam, K., Darbha, S., Khargonekar, P. P., Chandler, P. R., & Pachter, M.
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Performance Guarantee of a Sub-Optimal Policy for a Robotic Surveillance Application*. IFAC-PapersOnLine.
283-290.
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Mohsenizadeh, N., Darbha, S., Keel, L. H., & Bhattacharyya, S. P.
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Model-Free Synthesis of Fixed Structure Stabilizing Controllers Using the Rate of Change of Phase. IFAC-PapersOnLine.
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Krishnamoorthy, K., Casbeer, D., Chandler, P., Pachter, M., & Darbha, S.
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UAV Search & Capture of a Moving Ground Target Under Delayed Information. IEEE Conference on Decision and Control.
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Manyam, S. G., Rathinam, S., Darbha, S., & Obermeyer, K. J.
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Computation of a Lower Bound for a Vehicle Routing Problem With Motion Constraints. 695-701.
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Manyam, S. G., Darbha, S., & Rajagopal, K. R.
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OUTPUT REGULATION OF A CLASS OF NONLINEAR SYSTEMS USING DIFFERENTIAL-ALGEBRAIC EQUATIONS. 635-643.
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Park, M., Darbha, S., Krishnamoorthy, K., Khargonekar, P. P., Pachter, M., & Chandler, P.
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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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Kalyanam, K., Darbha, S., Park, M., Pachter, M., Chandler, P., & Casbeer, D.
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A Lower Bounding Linear Programming approach to the Perimeter Patrol Stochastic Control Problem
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Krishnamoorthy, K., Park, M., Darbha, S., Pachter, M., & Chandler, P.
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Bounding procedure for stochastic dynamic programs with application to the perimeter patrol problem. Proceedings of the ... American Control Conference. American Control Conference.
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Krishnamoorthy, K., Park, M., Darbha, S., Pachter, M., & Chandler, P. R.
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Bounding procedure for stochastic dynamic programs with application to the perimeter patrol problem. 5874-5880.
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Manyam, S. G., Rathinam, S., Darbha, S., & Obermeyer, K. J.
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COMPUTATION OF A LOWER BOUND FOR A VEHICLE ROUTING PROBLEM WITH MOTION CONSTRAINTS. 687-693.
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Dhar, S., Darbha, S., & Rajagopal, K. R.
(2012).
DEVELOPMENT OF DIAGNOSTIC ALGORITHMS FOR AN AIR BRAKE SYSTEM THEORY AND IMPLEMENTATION. 327-334.
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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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Nagarajan, H., Rathinam, S., Darbha, S., & Rajagopal, K. R.
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Synthesizing robust communication networks for UAVs. Proceedings of the ... American Control Conference. American Control Conference.
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Dhar, S., Darbha, S., & Rajagopal, K. R.
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Development of an estimation scheme for air brakes in trucks
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Dhar, S., darbha, S., & Rajagopal, K. R.
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Estimation of Pushrod Stroke in an Air Brake System with Parametric Uncertainty. SAE Technical Papers.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
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Synthesis of Fixed Structure Controllers for Discrete Time Systems. Lecture Notes in Electrical Engineering.
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Yadlapalli, S., Bae, J., Rathinam, S., & Darbha, S.
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Approximation Algorithms for a Heterogeneous Multiple Depot Hamiltonian Path Problem. Proceedings of the ... American Control Conference. American Control Conference.
2789-2794.
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Krishnamoorthy, K., Pachter, M., Chandler, P., Casbeer, D., & Darbha, S.
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UAV perimeter patrol operations optimization using efficient Dynamic Programming. Proceedings of the ... American Control Conference. American Control Conference.
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Fixed Structure Controller Synthesis Using Groebner Bases and Sign-Definite Decomposition*. IFAC-PapersOnLine.
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State Aggregation based Linear Programming approach to Approximate Dynamic Programming. IEEE Conference on Decision and Control.
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Obermeyer, K., Oberlin, P., & Darbha, S.
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Sampling-Based Roadmap Methods for a Visual Reconnaissance UAV*
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Kalyanam, K., Pachter, M., Darbha, S., & Chandler, P.
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Approximate Dynamic Programming with State Aggregation applied to Perimeter Patrol*
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Oberlin, P., Rathinam, S., & Darbha, S.
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COMBINATORIAL MOTION PLANNING FOR A DUBINS VEHICLE WITH PRECEDENCE CONSTRAINTS. 1627-1634.
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Darbha, S., & Pagilla, P. R.
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LIMITATIONS OF EMPLOYING UNDIRECTED INFORMATION FLOW GRAPHS FOR THE MAINTENANCE OF RIGID VEHICULAR FORMATIONS. 1643-1650.
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On the synthesis of PID gains to reduce vibration on the slender robot manipulator. Proceedings of the IASTED International Conference on Robotics and Applications.
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Chandler, P., Hansen, J., Holsapple, R., Darbha, S., & Pachter, M.
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Optimal Perimeter Patrol Alert Servicing with Poisson Arrival Rate
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Oberlin, P., Rathinam, S., & Darbha, S.
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A Transformation for a Heterogeneous, Multiple Depot, Multiple Traveling Salesman Problem. Proceedings of the ... American Control Conference. American Control Conference.
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Oberlin, P., Rathinam, S., & Darbha, S.
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A Transformation for a Multiple Depot, Multiple Traveling Salesman Problem. Proceedings of the ... American Control Conference. American Control Conference.
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Yadlapalli, S. K., Rathinam, S., & Darbha, S.
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An Approximation algorithm for a 2-Depot, Heterogeneous Vehicle Routing Problem. Proceedings of the ... American Control Conference. American Control Conference.
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Ramarathnam, S., Dhar, S., Darbha, S., & Rajagopal, K. R.
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Development of a model for an air brake system with leaks. Proceedings of the ... American Control Conference. American Control Conference.
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Malik, W. A., Darbha, S., & Bhattacharyya, S. P.
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On the Transient Control of Linear Time Invariant Systems. Proceedings of the ... American Control Conference. American Control Conference.
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Synthesis of Absolutely Stabilizing Controllers. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
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Xiao, L., Darbha, S., & Gao, F.
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Stability of String of Adaptive Cruise Control vehicles with Parasitic Delays and Lags. 1101-+.
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Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.
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A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. IEEE Conference on Decision and Control.
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A Lagrangian-Based Algorithm for a Multiple Depot, Multiple Travelling Salesmen Problem. Proceedings of the ... American Control Conference. American Control Conference.
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On the Boundedness of the Set of Stabilizing Controllers. Proceedings of the ... American Control Conference. American Control Conference.
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Darbha, S., & Rajagopal, K. R.
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A review of mathematical models for the flow of traffic
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Yadlapalli, S., Malik, W., & Darbha, S.
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Routing a collection of vehicles starting from different depots
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Yadlapalli, S. K., Darbha, S., & Rajagopal, K. R.
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Information Flow Requirements for the Stability of Motion of Vehicles in a Rigid Formation. Lecture Notes in Economics and Mathematical Systems.
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On the boundedness of the set of stabilizing controllers. Proceedings of the ... American Control Conference. American Control Conference.
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Path Planning for a Collection of Vehicles With Yaw Rate Constraints. Lecture Notes in Economics and Mathematical Systems.
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Combinatorial motion planning of multiple vehicle systems. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
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Optimal Sequential Inspection. IEEE Conference on Decision and Control.
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Malik, W., Kang, S., Darbha, S., & Bhattacharyya, S. P.
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SYNTHESIS OF FIXED ORDER STABILIZING CONTROLLERS USING FREQUENCY RESPONSE MEASUREMENTS. IFAC-PapersOnLine.
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Malik, W., Kang, S., Darbha, S., & Bhattacharyya, S. P.
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Synthesis of fixed order controllers based on frequency response data of the plant
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An extremum seeking algorithm for determining the set point temperature for condensed water in a cooling tower. 5-pp..
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Pachter, M., Chandler, P. R., & Darbha, S.
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Optimal sequential inspection. Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control.
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An extremum seeking algorithm for determining the set point temperature for condensed water in a cooling tower. Proceedings of the ... American Control Conference. American Control Conference.
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Subramanian, S. C., Darbha, S., & Rajagopal, K. R.
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Diagnosing the air brake system of commercial vehicles. Proceedings of the ... American Control Conference. American Control Conference.
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A recursive algorithm for reducing the order of controller while guaranteeing performance. IEEE Conference on Decision and Control.
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Sai Krishna, Y., Darbha, S., & Rajagopal, K. R.
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Information flow and its relation to the stability of the motion of vehicles in a rigid formation. Proceedings of the ... American Control Conference. American Control Conference.
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A linear programming approach to the synthesis of fixed structure controllers. Proceedings of the ... American Control Conference. American Control Conference.
3942-3949.
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Darbha, S., & Bhattacharyya, S. P.
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Synthesis of a non-overshooting step response in discrete time systems
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A linear programming approach to the synthesis of fixed structure controllers. Proceedings of the ... American Control Conference. American Control Conference.
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Modeling the pneumatic subsystem of a S-cam air brake system. 1416-1421.
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On the Synthesis of Controllers for a Non-Overshooting Step Response. 1493-1495.
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Multi-Agent Assisted Shortest Path Planning using Monte Carlo Tree Search
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The Weighted Markov-Dubins Problem
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Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
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Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility
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Assisted Shortest Path Planning for a Convoy through a Repairable Network
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Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
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Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct & Remote Service Station
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String Stability of Connected Vehicle Platoons under Lossy V2V Communication
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Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings
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Estimation of Location and Orientation for Underwater Vehicles from Range Measurements
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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
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
- MEEN485 Directed Studies 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
- MEEN684 Professional Internshp:in-ab Instructor
- MEEN684 Professional Internshp:in-ba Instructor
- MEEN685 Directed Studies Instructor
- MEEN689 Sptp: Conv Opt Meth For Contr Instructor
- MEEN689 Sptp: Decisions For Auton Veh Instructor
- MEEN691 Research Instructor
Works By Students
chaired theses and dissertations
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Bowlin, Christopher Leland (2007-04). A pressure control scheme for air brakes in commercial vehicles.
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Dhar, Sandeep (2011-10). Development of Diagnostic Algorithms for Air Brakes in Trucks.
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Hari, Sai Krishna Kanth (2016-08). Localization of Vehicles Using Range Measurements.
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Kang, Sin Cheon (2007-04). On the synthesis of fixed order stabilizing controllers.
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Kim, Kyungeun (2013-12). Numerical Methods for Uncertainty Analysis in Dynamical Systems.
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Lim, Dongwon (2009-05). Synthesis of PID controller from empirical data and guaranteeing performance specifications..
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Malik, Waqar Ahmad (2009-05). A new computational approach to the synthesis of fixed order controllers.
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Manyam, Satyanarayana Gupta (2015-04). Routing Vehicles with Motion, Resource and Mission Constraints: Algorithms and Bounds.
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Mohsenizadeh, Daniel N (2014-05). Control Systems: New Approaches to Analysis and Design.
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Nagarajan, Harsha (2014-04). Synthesizing Robust Networks for Engineering Applications with Resource Constraints.
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Oberlin, Paul V. (2010-01). Path Planning Algorithms for Multiple Heterogeneous Vehicles.
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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.
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Rathinam, Sivakumar (2001). A resource allocation algorithm for wide area search ammunitions.
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Ravidas, Amrish Deep (2011-02). An Exact Algorithm and a Local Search Heuristic for a Two Runway Scheduling Problem.
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Tyagi, Vipin (2007-09). A non-continuum approach to obtain a macroscopic model for the flow of traffic.
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Vegamoor, Vamsi Krishna (2018-12). Model Based Longitudinal Control of Heavy Duty Vehicles.
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Vilayannur Natarajan, Shankar (2006-05). Modeling the pneumatic relay valve of an s-cam air brake.
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Yadlapalli, Sai Krishna (2005-08). On the information flow required for the scalability of the stability of motion of approximately rigid formation.
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Yadlapalli, Sai Krishna (2011-02). Combinatorial Path Planning for a System of Multiple Unmanned Vehicles.
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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
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
Contact
first name
- Swaroop
has last name
- Darbha
mailing address
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Texas A&M University
Mechanical Engineering
3123 TAMU
College Station, TX 77843-3123
USA
Other
- s-dvahg@tamu.edu