# overview
My research focuses on ameliorating the triple curses of NONLINEARITY, DIMENSIONALITY and UNCERTAINTY in estimation and control problems, with applications to Mobile Robotics, Morphing Aircraft and Distributed Parameter Systems.

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
Simultaneous Localization And Mapping (slam)

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
Partially Observable Markov Decision Process (pomdp)

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# educationAndTraining[].organization.label
Indian Institute of Technology Madras - (Chennai, Tamil Nadu, India)

# educationAndTraining[].organization.label
University of Michigan-Ann Arbor - (Ann Arbor, Michigan, United States)

# publications[].label
Hierarchical Motion Planning under Uncertainty

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Worst case and mean squared performance of imaging systems: A feature-based approach

# publications[].label
Near-Minimum Fuel Trajectories for Multi Spacecraft Interferometric Imaging Systems in Near-Earth Orbit

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A Computationally Optimal Randomized Proper Orthogonal Decomposition Technique

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
R-FISST and the Data Association Problem with applications to Space Situational Awareness

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
A frequentist approach to mapping under uncertainty

# publications[].label
Hierarchical motion planning under uncertainty

# publications[].label
A Nonlinear Filter based on Fokker Planck Equation and MCMC Measurement Updates

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A multi-resolution approach for steady state uncertainty determination in nonlinear dynamical systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Information Space Receding Horizon Control for Multi-Agent Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An autoregressive (AR) model based stochastic unknown input realization and filtering technique

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An Unscented Kalman-Particle Hybrid Filter for Space Object Tracking

# publications[].label
Information Space Receding Horizon Control

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Model and Data Based Approaches to the Control of Tensegrity Robots

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Graph-based Stochastic Control with Constraints: A Unified Approach with Perfect and Imperfect Measurements

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
The partition of unity finite element approach with hp-refinement for the stationary Fokker-Planck equation

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
A Model-Based Hierarchical Approach to Control Design for Morphing Dynamics

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
A Homotopic Approach to Domain Determination and Solution Refinement for the Fokker-Planck Equation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Nonlinear Filter Based on the Fokker-Planck Equation

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
On the Probabilistic Completeness of the Sampling-based Feedback Motion Planners in Belief Space

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Robust Air-Traffic Control Using Ground-Delays and Rerouting of Flights

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Two-stage controller algorithm for multi-spacecraft interferometric imaging maneuvers for spiral coverage with time varying target-system relative position

# publications[].label
The Partition of Unity Finite Element Approach to the Stationary Fokker-Planck Equation

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Sampling-based Nonholonomic Motion Planning in Belief Space via Dynamic Feedback Linearization-based FIRM

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A Hierarchical Control Approach to Morphing Dynamics

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
A homotopic approach to domain determination and solution refinement for the stationary Fokker-Planck equation

# publications[].label
A randomized balanced proper orthogonal decomposition technique

# publications[].label
Information space sensor tasking for Space Situational Awareness

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A RANDOMIZED SAMPLING BASED APPROACH TO MULTI-OBJECT TRACKING WITH COMPARISON TO HOMHT

# publications[].label
A Nonlinear Filter Based on Fokker-Planck Equation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A homotopic approach to domain determination and solution refinement for the Fokker-Planck equation

# publications[].label
Information space receding horizon control.

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
FIRM: Feedback controller-based Information-state Roadmap - A framework for motion planning under uncertainty -

# publications[].label
Generalized Sampling based Motion Planners with Application to Nonholonomic Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A Randomized Sampling based Approach to Multi-Object Tracking

# publications[].label
Information Space Receding Horizon Control for Multisensor Tasking Problems.

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Decoupled Data-Based Approach for Learning to Control Nonlinear Dynamical Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Hierarchical Control and Planning for Advanced Morphing Systems

# publications[].label
A semianalytic meshless approach to the transient Fokker-Planck equation

# publications[].label
Two-Stage Controller Algorithm for Multi-Spacecraft Interferometric Imaging Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Worst Case and Mean Squared Performance of Imaging Systems: A Feature-Based Approach

# publications[].label
Motion planning under uncertainty: Application to an unmanned helicopter

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Near-minimum fuel trajectories for multi spacecraft interferometric imaging systems in near-earth orbit

# publications[].label
Intelligent exploration of unknown environments with vision like sensors

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Two-stage controller algorithm for Multi-spacecraft Interferometric Imaging Maneuvers for Spiral Coverage with time varying target-system relative position

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Adaptive Sampling for Generalized Sampling Based Motion Planners

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Stochastic optimization for sensor allocation using AEGIS-FISST

# publications[].label
An iterative proper orthogonal decomposition (I-POD) technique with application to the filtering of partial differential equations

# publications[].label
A methodology for intelligent path planning

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Efficient recursive distributed state estimation of hidden Markov models over unreliable networks

# publications[].label
Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation Over Unreliable Networks

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Computational Nonlinear Stochastic Control Based on the Fokker-Planck-Kolmogorov Equation

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Modeling of Image Formation in Multi-Spacecraft Interferometric Imaging Systems

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Mean Squared and Worst Case performance of multiple spacecraft interferometric imaging systems : A Feature Based Approach

# publications[].publisher
SPIE, the international society for optics and photonics

# publications[].label
SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A semianalytic meshless approach to the Fokker-Planck equation with application to hybrid systems

# publications[].label
A randomized proper orthogonal decomposition technique

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Unifying Consensus and Covariance Intersection for Decentralized State Estimation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Motion planning in uncertain environments with vision-like sensors

# publications[].label
A Hybrid Bayesian-Frequentist Approach to SLAM

# publications[].label
Modeling of image formation in multi-spacecraft interferometric imaging systems

# publications[].label
On the fuel optimality of maneuvers for multi-spacecraft interferometric imaging systems

# publications[].label
Fuel-efficient interferometric imaging maneuvers in near-Earth orbit

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Simultaneous Localization and Mapping in Dense Environments

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Fuel optimal maneuvers for multispacecraft interferometric imaging systems

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
Worst case dynamic programming and its application to deterministic systems

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
A Semianalytic Meshless Approach to the Fokker-Planck Equation with Application to Hybrid Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
ON THE CURSE OF DIMENSIONALITY IN THE FOKKER-PLANCK EQUATION

# publications[].label
A stochastic unknown input realization and filtering technique

# publications[].label
Motion planning in an uncertain environment: Application to an unmanned helicopter

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An Iterative Proper Orthogonal Decomposition (I-POD) Technique with Application to the Filtering of Partial Differential Equations

# publications[].label
Simultaneous planning localization and mapping: A hybrid Bayesian/frequentist approach

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Design of minimum time maneuvers for multispacecraft interferometric imaging systems

# publications[].publisher
SPIE, the international society for optics and photonics

# publications[].label
Multi-agent Generalized Probabilistic RoadMaps : MAGPRM

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Design of minimum time maneuvers for multi-spacecraft interferometric imaging systems

# publications[].label
Adaptive sampling for generalized probabilistic roadmaps

# publications[].publisher
American Institute of Aeronautics and Astronautics (AIAA)

# publications[].label
FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements

# publications[].label
Fuel optimal spiral maneuvers for multispacecraft interferometric imaging systems in deep space

# publications[].label
A UKF-PF BASED HYBRID ESTIMATION SCHEME FOR SPACE OBJECT TRACKING

# publications[].label
Periodic-Node Graph-Based Framework for Stochastic Control of Small Aerial Vehicles

# publications[].label
Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A GPU-based Implementation of a Sensor Tasking Methodology

# publications[].label
A homotopic galerkin approach to the solution of the Fokker-Planck-Kolmogorov equation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Multi-Object Tracking with Multiple Birth, Death, and Spawn Scenarios Using A Randomized Hypothesis Generation Technique (RFISST)

# publications[].label
FIRM: Feedback Controller-Based Information-State Roadmap - A Framework for Motion Planning Under Uncertainty

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Robust Pose-Graph SLAM Using Absolute Orientation Sensing

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A Randomly Perturbed Iterative Proper Orthogonal Decomposition (RI-POD) Technique for Filtering Distributed Parameter Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# researcherOn[].label
An Integrated Approach to the Space Situational Awareness Problem

# researcherOn[].awardedBy.label
United States Air Force - (Arlington, Virginia, United States)

# researcherOn[].awardedBy.preferredLabel
DOD-Air Force-Office of Scientific Research

# researcherOn[].label
RI: Small: Sampling Based Feedback Motion Planners

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
CDS&E: Optimal Control of Material Microstructure Evolution Via Massively Parallel Computing

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
I-Corps: Accurate GPS-free Navigation and Localization

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
FFATA: Sensing for Information Driven Exploration Systems (SIDES)

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
C1160: An Integrated Approach to Space Situational Awareness , dated 03 Aug 2015 and revised 28 APR 2016

# researcherOn[].awardedBy.label
United States Air Force - (Arlington, Virginia, United States)

# researcherOn[].awardedBy.preferredLabel
DOD-Air Force-Office of Scientific Research

# researcherOn[].label
NRI: A Model based Approach to Distributed Adaptive Sampling of Spatio-Temporally varying  Fields

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# streetAddress
Texas A&M University; Aerospace Engineering; 3141 TAMU

# etdChairOf[].label
Ramirez Riberos, Jaime Luis (2006-10). Design of fuel optimal maneuvers for multi-spacecraft interferometric imaging systems. Master's Thesis.

# etdChairOf[].label
Sajjanshetty, Kiran (2012-10). Disturbance Model Identification and Model Free Synthesis of Controllers for Multivariable Systems. Master's Thesis.

# etdChairOf[].label
Faber, Weston Ryan (2018-05). Multiple Space Object Tracking Using A Randomized Hypothesis Generation Technique. Doctoral Dissertation.

# etdChairOf[].label
Davis, Joshua Daniel (2006-10). Motion planning under uncertainty: application to an unmanned helicopter. Master's Thesis.

# etdChairOf[].label
Saha, Roshmik (2011-10). On Consistent Mapping in Distributed Environments using Mobile Sensors. Doctoral Dissertation.

# etdChairOf[].label
Aghamohammadi, Aliakbar (2014-05). Feedback-based Information Roadmap (FIRM): Graph-based Estimation and Control of Robotic Systems Under Uncertainty. Doctoral Dissertation.

# etdChairOf[].label
Kumar, Sandip (2012-02). Generalized Sampling-Based Feedback Motion Planners. Doctoral Dissertation.

# etdChairOf[].label
Ruiz Brito, Luis A. (2010-07). Control of a 3DOF Birotor Helicopter Using Robust Control Methods. Master's Thesis.

# etdChairOf[].label
Agarwal, Saurav (2018-03). Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy. Doctoral Dissertation.

# etdChairOf[].label
Yu, Dan (2016-11). State Estimation of Spatio-Temporal Phenomena. Doctoral Dissertation.

# etdChairOf[].label
Kumar, Mrinal (2011-02). Design and Analysis of Stochastic Dynamical Systems with Fokker-Planck Equation. Doctoral Dissertation.