BITS Pilani

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Embedded Systems & Robotics Laboratory

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Embedded Systems & Robotics

Embedded Systems & Robotics Laboratory

The Robotics and Embedded Systems lab is currently involved in work related to design and implementation of different Pattern formation and Terrain exploration algorithms using multiple mobile robots. The algorithms use heterogeneous team of robots and can be used for different types of terrain. The Lab is equipped with robots of different sizes and capabilities besides different sensors which can be used for navigation, obstacle avoidance and map building. The Lab is also involved with work on design and implementation of different real time scheduling algorithms for embedded applications. These algorithms presently work in homogeneous environment and exploit the DVFS capability of processors for saving energy.

Publications

Journal Publications

  • Gautam and S. Mohan, “STATE: Distributed Algorithm for Uniform Circle Formation by Multiple Mobile Robots”, Journal of Intelligent Service Robotics (Springer), vol. 9, no. 4, pp. 347-366. 2016. Indexing: SCI-Expanded.
  • A. Gautam, B. Jha, G. Kumar, J. Murthy, S. Ram and S. Mohan, “FAST: Synchronous Frontier Allocation for Scalable Online Multi-Robot Terrain Coverage”, Journal of Intelligent Robotic Systems (Springer), 2016. Indexing: SCI-Expanded.
  • Digalwar, M., Gahukar, P., Raveendran, B. K. & Mohan, S. (2014). Energy efficient real-time scheduling algorithm for mixed task set on multi-core processors. International Journal of Embedded Systems. (SCOPUS Indexed)

Papers Published In International Conferences Held Abroad

  • A. Gautam, J. K. Murthy, G. Kumar, S. P. A. Ram, B. Jha and S. Mohan, "Cluster, Allocate, Cover: An Efficient Approach for Multi-Robot Coverage," In Proceedings of 2015 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Kowloon, 2015, pp. 197-203. Location: City University, Hong Kong, China. Indexing: Scopus
  • Digalwar, M., Gahukar, P., Mohan, S. & Raveendran, B. K. (2015). STREAM: A Simulation Tool for Energy Efficient Real Time Scheduling and Analysis. Proceedings of International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS) in conjunction with 27th Euromicro Conference on Real Time Systems (ECRTS), Lund, Sweden. July 2015. (Tier I Conference)
  • Digalwar, M., Mohan, S., & Raveendran, B. (2013). Dynamic voltage and frequency scaling scheduling algorithm for mixed task set. Proceedings of 8th IEEE International Conference on Industrial and Information Systems (ICIIS 2013), University of  Peradeniya, Kandy, SriLanka, December 2013, pp. 643-648. (SCOPUS Indexed)

Papers Published In International Conferences Held In India

  • A. Gautam and S. Mohan, "A review of research in multi-robot systems," 2012 IEEE 7th International Conference on Industrial and Information Systems (ICIIS), Chennai, 2012, pp. 1-5. DOI: 10.1109/ICIInfS.2012.6304778. Location: IIT Madras, Chennai, India. Indexing: Scopus
  • A. Gautam, S. Mohan and J. P. Misra, "A practical framework for uniform circle formation by multiple mobile robots," 2012 IEEE 7th International Conference on Industrial and Information Systems (ICIIS), Chennai, 2012, pp. 1-5. DOI: 10.1109/iciinfs.2012.6304765. Location: IIT Madras, Chennai, India. Indexing: Scopus
  • A. Gautam, S. Mohan and V. S. Shekhawat, "A token passing approach for circle formation by multiple mobile robots," Contemporary Computing (IC3), 2013 Sixth International Conference on, Noida, 2013, pp. 522-527. DOI: 10.1109/ic3.2013.6612251. Location: JIIT University, Noida, India. Indexing: Scopus
  • A. Gautam and S. Mohan, "A distributed algorithm for circle formation by multiple mobile robots," In Proceedings of International Conference on Control, Automation, Robotics and Embedded Systems (CARE), Jabalpur, 2013, pp. 1-5. Location: IIITDM, Jabalpur, India. Indexing: Scopus
  • Digalwar, M., Mohan, S., & Raveendran, B. (2013). Energy Aware Real Time Scheduling Algorithm for Mixed Task Set. Proceedings of IEEE International Conference on Advanced Electronic Systems (ICAES 2013), pp. 325-327.
  • Digalwar, M., Gahukar, P., & Mohan, S. (2014). Design and development of a real time scheduling algorithm for mixed task set on multi-core processors. Proceedings of 7th IEEE International Conference on Contemporary Computing (IC3 2014), pp. 265-269. (SCOPUS Indexed)
  • A. Gautam, A. U. Saxena, P. Mall and S. Mohan, "Positioning multiple mobile robots for geometric pattern formation: An empirical analysis," In Proceedings of Contemporary Computing (IC3), 2014 Seventh International Conference on, Noida, 2014, pp. 607-612. Location: JIIT University, Noida, India. Indexing: Scopus
  • A. Gautam, A. Thakur, G. Dhanania, & S. Mohan, “A Distributed Algorithm for Balanced Multi-Robot Task Allocation,” Accepted to be published in proceedings of 2016 IEEE 11th International Conference on Industrial and Information Systems (ICIIS). To be held at IIT Roorkee, India, from 3-4 December 2016.

Sponsored Projects

Project-1

  • Title of the project: Framework for Implementation of Multi-Agent Robotic Systems
  • Name of the funding agency: CAIR, DRDO
  • Funding received: Rs. 9.5 Lakh
  • Project Status: Completed
  • Outcome
    • Designed an algorithm for multi-robot pattern formation
    • Implemented the algorithm on a multi-robot test-bed constructed from scratch in our laboratory

Project-2

  • Title of the project: Multi-agent based Indoor Exploration with Miniature Robots
  • Name of the funding agency: CAIR, DRDO
  • Funding received: Rs. 20 Lakh
  • Project Status: In progress

Contact Us

  • Sudeept Mohan
  • Avinash Gautam
 
Room Number : 6014-B (New Academic Building)

An Institution Deemed to be University estd. vide Sec.3 of the UGC Act,1956 under notification # F.12-23/63.U-2 of Jun 18,1964

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