Dr. Swaroop Darbha

ContactInformation

ProfessorDepartment of Mechanical EngineeringTexas A&M UniversityMS 3123College Station, TX 77843-3123, USA

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Fax: +1-979-862-3989Office: +1-979-862-2238E-mail: dswaroop@tamu.eduURL: www1.mengr.tamu.edu/SCAOL/

ResearchInterests

Advanced Vehicle Control and Safety Systems: Modeling, Control and Diagnostics ofVehicular Subsystems; Connected, Autonomous and Semi-Autonomous Ground Vehi-cles: Automatic Vehicle and Lane Following Systems - String Stability and InformationFlow, Effect on Traffic Flow Dynamics and Safety; Transportation Systems - Model-ing, Effects of Information Infusion at different levels on Safety and Resilience; ControlSystem Theory relevant to Transportation Systems - Decentralized and Fixed StructureControl for Large Scale Systems; Unmanned Vehicles - Routing and Autonomy enablingDecision-making under Uncertainty, Human-in-the-Loop Systems.

Education University of California, Berkeley, CA.

Ph.D., Mechanical Engineering, December 1994.

• Dissertation Title: String Stability of Interconnected Systems: An application toplatooning in Automated Highway Systems.

• Adviser: Professor Karl Hedrick.• Thesis Committee Members: Professors Masayoshi Tomizuka, Shankar Sastry

and Pravin Varaiya.• Area of Study: Control Systems.

M.S., Mechanical Engineering, May 1992.

• Thesis Title: Modeling the Longitudinal dynamics of a vehicle for control in anAutomated Highway System.

• Adviser: Professor Karl Hedrick.• Area of Study: Control Systems.

Indian Institute of Technology - Madras, Chennai, India.

B.Tech., Mechanical Engineering, August 1989.

• Thesis Title: Finite Element Analysis of the solidification process in metal castingapplications.

• Adviser: Professor K. N. Seetharamu.

AcademicAppointments

Professor September 2009 to present.Department of Mechanical Engineering, Texas A&M University.

Associate Professor September 2003 - August 2009.Department of Mechanical Engineering, Texas A&M University.

Assistant Professor January 1997 - August 2003.Department of Mechanical Engineering, Texas A&M University.

Associate Research Engineer September 2003-present.Translink Laboratory, Texas Transportation Institute, Texas A&M University.

Postdoctoral Researcher April 1995 to December 1996.California PATH, Institute for Transportation Studies, UC Berkeley.− Supervisor: Professor Pravin Varaiya, EECS Department, UC Berkeley.

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SummerAppointments

Visiting Summer Faculty Researcher May 2009 - August 2009.Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, OH.

Visiting Summer Faculty Researcher May 2008 - August 2008.Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, OH.

Visiting Scientist January 1, 2006 - December 1, 2006.Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, OH.

ASEE/AFOSR Summer Faculty Fellow May 2005 - August 2005.Air Force Research Laboratory, Eglin Air Force Base, Eglin, FL.

Consultant May 2004 - July 2004.United Technologies Research Center, E. Hartford, CT.

Visiting Summer Faculty Researcher May 2009 - August 2009.Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, OH.

ASEE/AFOSR Summer Faculty Fellow May 2000 - August 2000.Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, OH.

General Engineer June 1998 - August 1998.Volpe National Transportation Center, Cambridge, MA.

EditorialBoardMembership

Associate Editor, IEEE Transactions on Intelligent Transportation Systems, January2004 - December 2009.

Associate Editor, Differential Equations and Nonlinear Mechanics, May 2005 - De-cember 2010.

Associate Editor, ASME Journal of Dynamic Systems, Measurement and Control,January 2009 - December 2013.

Associate Editor, Conference Editorial Board, ASME Dynamic Systems and ControlConference, 2008 - 2010.

Awards andHonors

• Semi-plenary speaker at the 2012 ASME Dynamic Systems and Control Con-ference presenting the paper: “Sub-Optimal Stationary Policies For A Class ofStochastic Optimization Problems Arising in Robotic Surveillance Applications,” co-authored by M. Park, K. Krishnamoorty, S. Darbha, P. P. Khargonekar, P. Chandlerand M. Pachter.

• Fellow, ASME 2010.• Dwight Look College of Engineering Faculty Fellow, Texas A&M University,

October 2009.• Distinguished Achievement Award (College Level) of the Association of Former

Students of Texas A&M University, October 2009.• Tenneco Oil Exploration & Production Award for Meritorious Teaching

of Engineering (College Level), Texas A&M University, October 2009.• Peggy L. and Charles L. Brittan Teaching Award for Outstanding Under-

graduate Teaching, Department of Mechanical Engineering, October 2006.• Finalist, Best Poster Paper Award at the 2005 World Congress of Interna-

tional Federation of Automatic Control for the paper: “Synthesis of Fixed StructureControllers for Discrete-time Systems Using Linear Programming,” co-authored byWaqar Malik, S. Darbha and S. P. Bhattacharyya.

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• A. P. State Special Merit Scholarship and Telugu Vignana ParitoshikamAwards from 1985 to 1989 for being ranked in the top ten (tenth) among approxi-mately 200,000 students in the 1985 Intermediate Examination held in the state ofAndhra Pradesh, India.

• Ranked 12 out of more than 100,000 students in the Engineering and Medical Com-mon Entrance Test held in Andhra Pradesh, India in 1985; Ranked 379 out of morethan 100,000 students in the Joint Entrance Examination of the Indian Institutes ofTechnology in 1985.

RefereedJournalPublications

1. D. Swaroop, J. K. Hedrick, C. C. Chien, P. A. Ioannou, “A comparison of spacingand headway control laws for automatically controlled vehicles,” Vehicle SystemDynamics, Vol. 23, no. 8, pp. 597-625, November 1994.

2. J. K. Hedrick, D. Swaroop, “Dynamic Coupling in vehicles under automatic con-trol,” Supplement to Vehicle System Dynamics, Vol. 23, pp. 209-220, Swets &Zeitlinger, Lisse, 1994.

3. D. Swaroop, J. K. Hedrick, “String Stability of interconnected systems,” IEEETransactions on Automatic Control, Vol. 41, no. 3, pp. 349-357, March 1996.

4. D. Swaroop, R. Huandra, “Intelligent cruise control system design based on a trafficflow specification,” Vehicle System Dynamics, Vol. 30, no. 5, pp. 319-344,November 1998.

5. D. Swaroop, S. M. Yoon, “Design of an Integrated lateral and longitudinal con-troller for an emergency lane change maneuver,” International Journal of VehicleDesign, Vol. 21, no. 2/3 (Special Invited Isssue), pp. 161-174, 1999.

6. D. Swaroop, J. K. Hedrick, “String stability with a constant spacing platooningstrategy in Automated Vehicle Following systems,” ASME Journal of DynamicSystems, Measurement and Control, Vo. 121, pp. 462-470, September 1999.

7. Swaroop Darbha, K. R. Rajagopal, “Intelligent Cruise Control Systems and TrafficFlow Stability,” Transportation Research Journal, Vol. C., no.7, pp. 329-52,December 1999.

8. D. Swaroop, J. K. Hedrick, P. P. Yip, J. C. Gerdes, “Dynamic Surface Control ofNonlinear Systems,” IEEE Transactions on Automatic Control, Vol. 41, no. 10,pp. 1893-99, October 2000.

9. D. Swaroop, J. K. Hedrick, S. B. Choi, “Direct Adaptive Longitudinal Control ofVehicle Platoons,” IEEE Transactions on Vehicular Technology, Vol. 50, no.1,pp. 150-61, January 2001.

10. Swaroop Darbha, K. R. Rajagopal, “Aggregation of a class of linear, interconnectedDynamical Systems,” Systems and Control Letters, Vol. 43, Issue 5, pp. 387-401,August 2001.

11. Swaroop Darbha, K. R. Rajagopal, “Aggregation of a class of nonlinear, inter-connected dynamical systems,” Mathematical Problems in Engineering: Theory,Methods and Applications, Vol. 7, pp. 379-392, 2001.

12. Swaroop Darbha, “A note about the stability of a string of LTI systems,” ASMEJournal of Dynamic Systems, Measurement and Control, Vol. 124, no. 3, pp.472-475, September 2002.

13. Swaroop Darbha, S. P. Bhattacharyya, “Controller Synthesis for a Sign InvariantImpulse Response in discrete-time systems,” IEEE Transactions on AutomaticControl, Vol. 47, no. 8, pp. 1346-1351, August 2002.

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14. Zhili Zhao, Jayesh Ametha, Swaroop Darbha and A. L. N. Reddy, “A methodfor estimating non-responsive traffic at a router,” ACM Performance EvaluationReview, Vol. 30, no. 2, pp. 274-275, 2002.

15. Swaroop Darbha, “On the synthesis of controllers for achieving a non-negativeimpulse response in continuous-time LTI systems,” Automatica, Volume 39, Issue1, pp. 159-165, January 2003.

16. Shamanth Shankar, Swaroop Darbha and Aniruddha Datta, “Design of decen-tralized fault detection algorithms for a collection of interacting LTI systems,”Mathematical Problems in Engineering: Theory, Methods and Applications, Vol.8, no. 3, pp. 233-248, December 2002.

17. Swaroop Darbha and K. R. Rajagopal, “Limit of a collection of dynamical systems:An Application to modeling the flow of traffic,” Mathematical Modeling andMethods in Applied Sciences, Vol. 12, no. 10, pp. 1381-1399, October 2002.

18. Swaroop Darbha and S. P. Bhattacharyya, “On the synthesis of compensators toachieve a non-overshooting step response,” IEEE Transactions on AutomaticControl, vol. 48, no.5, pp. 797-799, May 2003.

19. C. S. Shankar Ram, Swaroop Darbha, and K. R. Rajagopal, “Modeling the pneu-matic subsystem of a S-Cam Air Brake System,” ASME Journal of DynamicSystems, Measurement and Control, Vol. 126, Issue 1, pp. 36-46, March 2004.

20. Zhili Zhao, Swaroop Darbha and A. L. N. Reddy, “A Method for estimating theproportion of non-responsive traffic at a router,” IEEE/ACM Transactions onNetworking, Vol. 12, no. 4, pp. 708-718, August 2004.

21. Saikrishna Yadlapalli, Swaroop Darbha and K. R. Rajagopal, “Information Flowand its relation to the stability of motion of vehicles in a rigid formation,” IEEETransactions on Automatic Control, vol. 51, no. 8, pp. 1315-1319, August 2006.

22. Chris Bowlin, Shankar C. Subramanian, Swaroop Darbha and K. R. Rajagopal, “Acontrol algorithm for regulating pressure in an air brake chamber of a truck, IEEJournal of Intelligent Transportation Systems, Vol. 153, no.1, pp. 21-32, March2006.

23. Shankar C. Subramanian, Swaroop Darbha and K. R. Rajagopal, “A PreliminaryDiagnostic System for Air Brakes in Trucks,” IEEE Transactions on IntelligentTransportation Systems, vol. 7, no.3, pp. 360-376, September 2006.

24. Sivakumar Rathinam, Raja Sengupta and Swaroop Darbha, “A Resource Alloca-tion Algorithm for Multiple Vehicles with Non-holonomic Constraints,” IEEETransactions on Automation Science and Engineering, Vol. 4, no.1, pp. 98-104,January 2007.

25. Shankar, V. N., Shankar Coimbatore, Swaroop Darbha and K. R. Rajagopal, “De-velopment and experimental corroboration of a mathematical model of a relayvalve of an air brake system,” Nonlinear Analysis: Hybrid Systems, Vol. 1, no.3, pp. 430-442, September 2007.

26. Waqar Malik, Sivakumar Rathinam and Swaroop Darbha, “A constant factor ap-proximation algorithm for a generalized multi-depot, multiple travelling salesmenproblem,” Operations Research Letters, Vol. 35, no. 6, pp. 747-753, November2007.

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27. Meir Pachter, Phillip Chandler and Swaroop Darbha, “Optimal MAV Operationsin an Uncertain Environment,” International Journal of Robust and NonlinearControl, vol. 18, no.2, pp. 248-262, February 2008.

28. Vipin Tyagi, Swaroop Darbha and K. R. Rajagopal, “A dynamical systems ap-proach based on averaging to model the macroscopic flow of traffic,” NonlinearAnalysis: Hybrid Systems, Vol. 2, no. 2, pp. 590-612, June 2008.

29. Waqar Malik, Swaroop Darbha and S. P. Bhattacharyya, “On the boundedness ofthe set of stabilizing controllers,” International Journal of Robust and NonlinearControl, vol. 18, no. 7, pp. 782-795, 2008.

30. Waqar Malik, Swaroop Darbha and S. P. Bhattacharyya, “A Linear ProgrammingApproach to the Synthesis of Fixed Structure Controllers,” IEEE Transactionson Automatic Control, Vol. 54, no. 6, pp. 1341-1352, 2008.

31. S. Darbha, K. R. Rajagopal and V. Tyagi, “A Review of Mathematical Models forthe flow of traffic and some recent results,” Nonlinear Analysis: Theory, Methods& Applications, Vol. 69, No. 3, pp. 950-970, August 2008.

32. Waqar Malik, Sincheon Kang, Swaroop Darbha and S. P. Bhattacharyya, “Ap-proximation of the set of absolute stabilizing linear controllers for Lure typesystems,” IET Control Theory and Applications, Vol. 2, no. 10, pp. 895-905,October 2008.

33. Shankar Coimbatore, Swaroop Darbha and K. R. Rajagopal, “A Parameter Esti-mation Scheme for a Class of Sequential Hybrid Systems,”Nonlinear Analysis:Hybrid Systems, Vol.2, no. 4, pp. 1113-1124, November 2008.

34. S. Darbha and K. R. Rajagopal, “Unsteady motions of degrading or aging linearizedelastic solids,” International Journal of Non-Linear Mechanics, Vol. 44, no. 5,pp. 478-485, June 2009.

35. V. Tyagi, S. Darbha, and K. R. Rajagopal, “A review of the mathematical modelsfor traffic flow,” International Journal of Advances in Engineering Sciences andApplied Mathematics, Vol. 1, no. 1, pp. 53-68, July 2009.

36. Saikrishna Yadlapalli, Waqar Malik, Swaroop Darbha and Meir Pachter, “A Lagrangian-based algorithm for a Multiple Depot, Multiple Traveling Salesmen Problem,”Nonlinear Analysis: Real World Applications, Vol. 10, no. 4, pp. 1990-1999,August 2009.

37. D. Lim, B.P. Rasmussen and S. Darbha, “Selecting PID Control Gains for Non-linear HVAC Systems,” Journal of Heating, Ventilation, Air Conditioning andRefrigeration Research, vol. 15, no. 6, pp. 991-1020, November 2009.

38. S. Darbha, K. Nakshatrala and K. R. Rajagopal, “On the vibrations of lumped pa-rameter systems governed by differential-algebraic equations,” Journal of FranklinInstitute, Vol. 347, no. 1, p.87-101, February 2010 .

39. S. Darbha and P. R. Pagilla, “Limitations of Employing Undirected InformationFlow Graphs for the Maintenance of Rigid Formations for Heterogeneous Vehi-cles,” Special Issue in Honor of Professor K. R. Rajagopal, International Journalof Engineering Sciences, vol. 48, no. 11, pp. 1164-78, 2010.

40. P. Oberlin, S. Rathinam and S. Darbha, “Today’s Traveling Salesman Problem,”IEEE Robotics and Automation Magazine, vol. 17, no. 4, pp.70-77, December2010.

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41. S. Ramamritham, S. Dhar, S. Darbha and K. R. Rajagopal, “Development of analgorithm for detecting leaks and estimating pushrod stroke in a truck brakesystem,” Vehicle System Dynamics Journal, Vol. 49, no. 8, pp. 1267-1282,August 2011.

42. S. Dhar, S. Darbha, K. R. Rajagopal, “ Identification and Estimation of ParametersDefining a Class of Hybrid Systems,” Nonlinear Analysis: Hybrid Systems, Vol.5, no. 3, pp. 446-456, August 2011.

43. R. Doshi, S. Yadlapalli, S. Rathinam, and S. Darbha, “Approximation algorithmsand heuristics for a 2-depot Heterogeneous Hamiltonian Path Problem,” Inter-national Journal of Robust Nonlinear Control, Vol. 21, no. 12, pp. 1434-1451,August 2011.

44. K. Krishnamoorthy, M. Pachter, S. Darbha and P. Chandler, “Approximate Dy-namic Programming with State Aggregation applied to UAV perimeter control,”International Journal of Robust and Nonlinear Control, Vol. 21, no. 12, pp.1396-1409, August 2011.

45. S. Yadlapalli, S. Rathinam and S. Darbha, “A 3-Approximation algorithm for a twodepot, heterogeneous traveling salesmen problem,” Optimization Letters, Vol. 6,no. 1, pp. 141-152, 2012.

46. K. Obermeyer, P. Oberlin and S. Darbha, “Sampling-Based Roadmap Methodsfor a Visual Reconnaissance UAV,” AIAA Journal of Guidance, Control andDynamics, Vol. 35, no. 2, pp. 619-631, March-April, 2012.

47. S. Darbha and W. Choi, “A methodology for Assessing the Benefits of Coordinationon Safety of Vehicles,” ITS Journal, Vol. 16, no. 2, pp. 70-81, 2012.

48. K. Krishnamoorthy, P. R. Chandler, M. Pachter and S. Darbha, “Optimization ofPerimeter Patrol Operations Using Unmanned Aerial Vehicles,” AIAA Journalof Guidance, Control and Dynamics, Vol. 35, no. 2, pp. 434-441, March-April2012.

49. S. Darbha, S. Dhar and K. R. Rajagopal, “Estimation of Pushrod Stroke in anAir Brake System with Parametric Uncertainty,” SAE Technical Paper, DOI:10. 4271/2011-01-0751, April 2011.

50. H. Nagarajan, S. Rathinam, S. Darbha and K. R. Rajagopal, “Algorithms forsynthesizing mechanical systems with maximal natural frequencies” NonlinearAnalysis: Real World Applications, Vol. 13, no. 5, pp 2154-2162, October 2012.

51. Waqar Malik, Swaroop Darbha and S. P. Bhattacharyya, “Approximation of theset of stabilizing controllers guaranteeing transient performance,” Asian Journalof Control, DOI: 10.1002/asjc.484, published online 22 March 2012.

52. M. Park, K. Krishnamoorthy, S. Darbha, P. Chandler and M. Pachter, “State par-titioning based linear program for stochastic dynamic programs: An invarianceproperty,” Operations Research Letters, Vol. 40, no. 6, November 2012.

53. K. Kalyanam, M. Park, S. Darbha, P. Chandler, M. Pachter, “A Lower BoundingLinear Program for the Perimeter Patrol Optimization Problem” AIAA Journalof Guidance, Dynamics and Control, vol. 37, no. 2, pp. 558-565, 2014, doi:http://arc.aiaa.org/doi/abs/10.2514/1.60487.

54. Swaroop Darbha and K. R. Rajagopal, “A methodology to assess the safety of au-tomatically controlled vehicles,” International Journal of Advanced EngineeringSciences and Applied Mathematics, Vol. 5, Issue 2-3, pp. 87-93, September 2013.

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55. Gupta Manyam, Siva Rathinam and Swaroop Darbha, “Lower Bounds for a Ve-hicle Routing Problem with Motion Constraints,” accepted for publication inInternational Journal for Robotics and Automation, August 2014.

56. Harsha Nagarajan, Siva Rathinam and Swaroop Darbha, “Synthesizing robust com-munication networks for Unmanned Aerial Vehicles with resource constraints,”accepted for publication in ASME Journal of Dynamic Systems, Measurementand Control, September 2014.

57. P. Raul, Gupta Manyam, P. R. Pagilla, and Swaroop Darbha, “Output Regulationof Nonlinear Systems with Application to Roll-to-Roll Manufacturing Systems,”accepted for publication in IEEE/ASME Transactions on Mechatronics, October2014.

58. M. Park, K. Kalyanam, S. Darbha, P. Khargonekar, P. Chandler, and M. Pachter,“Performance Guarantee of an Approximate Dynamic Programming Policy forRobotic Surveillance,” accepted for publication in IEEE Transactions on Au-tomation Science and Engineering, October 2014.

Refereed BookChapters

1. P. Chandler, M. Pachter, K. Nygard, Swaroop Darbha, “Cooperative control fortarget classification,” Cooperative Control and Optimization, Kluwer 2000.

2. Saikrishna Yadlapalli, Swaroop Darbha and K. R. Rajagopal, “Information flowand its relation to the stability of digitally controlled motion of vehicles in arigid formation,” Vol. 588 of Lecture Notes in Economics and MathematicalSystems, pp. 351-368, Springer, April 2007.

3. Sivakumar Rathinam, Raja Sengupta and Swaroop Darbha, “Resource allocationalgorithms for multiple vehicles,”Vol. 588 of Lecture Notes in Economics andMathematical Systems, pp. 255-268, Springer, April 2007.

4. M. Pachter, P. R. Chandler and Swaroop Darbha, “Optimal control of an ATRModule Equipped MAV/Human Operator team,” Cooperative Control, EdwinElgar Publishers, Eds. Pardalos, Murphey, Grundel and Prokopyev, 2007.

5. Meir Pachter, Swaroop Darbha and Phillip Chandler, “Optimal Sequential Inspec-tions with loitering,” Advances in Cooperative Control and Optimization, Edi-tors: Michael Hirsch, Don Grundel, Rob Murphey and Panos Pardalos, SpringerLecture Notes, 2007.

6. Saikrishna Yadlapalli, Waqar Malik, Sivakumar Rathinam and Swaroop Darbha,“A Lagrangian-based algorithm for a combinatorial motion planning problem,”Advances in Cooperative Control and Optimization, Editors: Michael Hirsch,Don Grundel, Rob Murphey and Panos Pardalos, Springer Lecture Notes, 2007.

7. W. A. Malik, S. Rajagopal, S. Darbha and K. R. Rajagopal, “Maximizing thealgebraic connectivity of a graph subject to a constraint on the maximum num-ber of edges,” invited book chapter in honor of Professor A. V. Balakrishnan,Cambridge University Press, June 2011.

8. W. A. Malik, S. Darbha and S. P. Bhattacharyya, “Synthesis fo Fixed Struc-ture Controllers for Discrete-time Systems,” Numerical Linear Algebra in Sig-nals, Systems and Control, Lecture Notes in Electrical Engineering, eds: P. VanDooren et. al., Vol. 80, pp. 367-385, 2011.

9. H. Nagarajan, S. Rathinam, S. Darbha and K. R. Rajagopal, “Algorithms for Find-ing Diameter-constrained Graphs with Maximum Algebraic Connectivity,” Dy-namics of Information Systems: Mathematical Foundations, eds. Panos Pardalosand Alexy Sorokin, pp. 121-136, 2012.

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10. K. Krishnamoorthy, M. Park, S. Darbha, M. Pachter and P. Chandler, “Approx-imate Dynamic Programming Applied to UAV Perimeter Patrol,” Recent Ad-vances in Research on Unmanned Aerial Vehicles, Lecture Notes in Control andInformation Sciences, Vol. 444, pp. 119-146, 2013.

Selected PeerReviewedConferencePublications

1. J. K. Hedrick, D. H. McMahon, V. K. Narendran, D. Swaroop, “LongitudinalVehicle Controller Design for IVHS,” Proceedings of the American Control Con-ference, pp. 3107-3112, June 1991.

2. P. P. Yip, J. K. Hedrick, D. Swaroop, “The use of linear filtering to simplify inte-grator backstepping control of nonlinear systems,” Proceedings of the 1996 IEEEInternational Workshop on Variable Structure Systems, pp.211-215, December1996.

3. W. Choi, Swaroop Darbha, “Assessing the benefits of coordination in automaticallycontrolled vehicles,” Proceedings of the IEEE Intelligent Transportation SystemsConference, pp. 70-75, August 2001.

4. Swaroop Darbha, K. R. Rajagopal, “A review of constant time headway policy forautomatic vehicle following,” Proceedings of the IEEE Intelligent TransportationSystems Conference, pp. 65-69, August 2001.

5. J. Ametha, S. Turner, Swaroop Darbha, “Formulation of a new methodology toidentify erroneous paired loop detectors,” Proceedings of the IEEE IntelligentTransportation Systems Conference, pp. 591-596, August 2001.

6. Phillip Chandler, Meir Pachter, Swaroop Darbha, Jeffery Fowler, Jason Howlett,Steven Rasmussen, Corey Schumacher, and Kendall Nygard, ”Complexity inUAV Cooperative Control,” Proceedings of the 2002 American Control Confer-ence, Anchorage, Alaska, May, 2002.

7. Swaroop Darbha and S. P. Bhattacharyya, “Synthesis of a non-overshooting stepresponse in discrete time systems,” Proceedings of the Mathematical Theory ofNetworks and Systems held at Leuven, Belgium, July 2004.

8. Woosuk Choi, Swaroop Darbha and S. P. Bhattacharyya, “A recursive method forthe reduction of the order of stabilizing controllers,” Proceedings of the 2004IEEE Conference on Control Applications, Taiwan, September 2004.

9. Saikrishna Yadlapalli, Swaroop Darbha and K. R. Rajagopal, “Information Flowand its relation to the stability of motion of vehicles in a rigid formation,” Pro-ceedings of the American Control Conference held at Portland, Oregon, June2005.

10. Waqar Malik, Swaroop Darbha and S. P. Bhattacharyya, “Synthesis of fixed struc-ture controllers for discrete time systems using linear programming,” Proceedingsof the IFAC World Congress, Prague, July 2005.

11. Vipin Tyagi, Harshad Sane and Swaroop Darbha, “An extremum seeking algorithmfor optimizing the energy consumption in building systems,” Proceedings of theAmerican Control Conference, June 2006.

12. Waqar Malik, Sincheon Kang, Swaroop Darbha and S. P. Bhattacharyya, “Syn-thesis of fixed order controllers based on frequency response data of the plant.”Proceedings of the IFAC ROCOND Conference, Toulouse, France, July 2006.

22. W. Malik, S. Rathinam, S. Darbha and D. Jeffcoat, “Combinatorial Motion plan-ning of Reeds-Shepp vehicles,” Proceedings of the IEEE Conference on Decisionand Control, December 2006.

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13. Saikrishna Yadlapalli, Waqar Malik, Sivakumar Rathinam and Swaroop Darbha,“A Lagrangian-Based Algorithm for an Asymmetric Multiple Depot, MultipleTravelling Salesmen Problem, Proceedings of the Conference on Decision andControl, pp. 5979-5984, December 2007.

14. Swaroop Darbha and K. R. Rajagopal, “A review of mathematical models for theflow of traffic,” Proceedings of the Indo-US Workshop on Recent Advances inTransportation Engineering, January 2007.

15. Saikrishna Yadlapalli, Waqar Malik and Swaroop Darbha, “Routing a collection ofvehicles starting from different depots,” Proceedings of the Indo-US Workshopon Recent Advances in Transportation Engineering, January 2007.

16. L. Xiao, S. Darbha and F. Gao, “ Stability of string of Adaptive Cruise ConrolledVehicles with parasitic delays and lags,” Proceedings of the 11th InternationalIEEE Conference on Intelligent Transportation Systems, pp. 1101-1106, 2008.

17. W. A. Malik, S. Darbha, and S. P. Bhattacharyya, “On controlling the transientresponse of a discrete-time LTI system,” Proceedings of the American ControlConference, pp. 3142-3147, June 2009.

18. S. Yadlapalli, S. Rathinam and S. Darbha, “An approximation algorithm for a2-depot, heterogeneous vehicle routing problem,” Proceedings of the AmericanControl Conference, pp. 1730-1735, June 2009.

19. P. Oberlin, S. Rathinam and S. Darbha, “Precedence Constrained Motion planningfor a Dubins’ vehicle,” Proceedings of the 2009 ASME Dynamic Systems andControl Conference, Los Angeles, CA, October 2009.

20. K. Kalyanam, M. Pachter, S. Darbha and P. Chandler, “Approximate Value Itera-tion with State Aggregation applied to Perimeter Patrol,” AIAA Conference onGuidance, Navigation and Control, August 2010.

21. N. Mohsenizadeh, S. Darbha and S. P. Bhattacharyya, “Fixed Structure ControllerSynthesis Using Groebner Bases and Sign-Definite Decomposition,” In Proc. of18th IFAC World Congress, Milan, Italy, 2011.

22. S. Dhar, S. Darbha and K. R. Rajagopal, “Development of Diagnostic Algorithmsfor an Air Brake System: Theory and Implementation,” Proceedings of theASME Dynamic Systems and Control Conference, October 2011.

23. N. Mohsenizadeh, S. Darbha and S. P. Bhattacharyya, “Synthesis of Digital PIDControllers for Discrete-Time Systems with Guaranteed Non-Overshooting Tran-sient Response,” Proceedings of ASME Dynamic Systems, Measurement andControl Conference, October 2011.

24. N. Mohsenizadeh, S. Darbha and S. P. Bhattacharyya, “Synthesis of Digital PIDControllers for Continuous-Time Systems with Guaranteed Non-OvershootingTransient Response,” Proceedings of IEEE Conference on Decision and Control,December 2011.

25. K. Krishnamoorthy, M. Park, S. Darbha, M. Pachter and P. Chandler, “Boundingprocedures for stochastic dynamic programs with application to the perimeterpatrol problem,” Proceedings of the American Control Conference, pp. 5874-5880, 2012.

26. M. S. N. Gupta, S. Darbha, K. R. Rajagopal, “Output Regulation of Nonlinear Sys-tems via Differential-Algebraic Equations,” Proceedings of the ASME DynamicSystems and Control Conference, 2012.

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27. M. Park, K. Krishnamoorthy, S. Darbha, P. P. Khargonekar, M. Pachter and P.Chandler, “Sub-optimal Stationary Policies for a Class of Stochastic Optimiza-tion Problems Arising in Robotic Surveillance Applications,” Proceedings of theASME Dynamic Systems and Control Conference, 2012.

28. H. Nagarajan, S. Rathinam and S. Darbha, “Synthesizing Robust CommunicationNetworks for Unmanned Aerial Vehicles with Resource Constraints,” Proceedingsof the ASME Dynamic Systems and Control Conference, 2012.

29. Krishnamoorthy Kalyanam, Swaroop Darbha, Pramod P. Khargonekar, David W.Casbeer, Phillip R. Chandler, Meir Pachter, “Optimal minimax pursuit of evaderon a Manhattan grid,” Proceedings of the American Control Conference, 2013.

30. Shyam Konduri, P. R. Pagilla and S. Darbha, “Vehicle formation using directedinformation flow graphs,” Proceedings of the American Control Conference, 2013.

31. M. Park, K. Kalyanam, S. Darbha, P. P. Khargonekar, P. R. Chandler and M.Pachter, “Performance Guarantees of a Sub-Optimal Policy for a Robotic Surveil-lance Application,” Proceedings of the IFAC Workshop on Unmanned Aerial Ve-hicles, Compiegne, France, November 2013.

32. M. S. N. Gupta, S. Rathinam, and S. Darbha,“Computation of Lower Bounds fora Multiple Depot, Multiple Vehicle Routing Problem with Motion Constraints,”Proceedings of the IEEE Conference on Decision and Control, 2013.

33. K. Kalyanam,S. Darbha, P. P. Khargonekar, M. Pachter, and P. R. Chandler, “Op-timal Cooperative Pursuit on a Manhattan Grid,” Proceedings of AIAA Guid-ance, Navigation and Control Conference, DOI: 10.2514/6.2013-4633, August2013.

Selected Talks 1. “Intelligent Cruise Control Systems and Traffic Flow Stability,” Volpe NationalTransportation Center, Cambridge, MA, June1998.

2. “Intelligent Cruise Control Systems and Traffic Flow Stability,” Ford ScientificResearch Laboratory, Dearborn, MI, August 1998.

3. “Intelligent Cruise Control Systems and Traffic Flow Stability,” Department ofMechanical Engineering at University of California, Berkeley, March 1999.

4. “Aggregation of Dynamical Systems,” Department of Electrical Engineering at theUniversity of Texas, Dallas, April 1999.

5. “Issues in the design of cooperative classification and attack algorithms for a col-lection of UAVs,” Air Force Research Laboratory, July 2000.

6. “Issues in the design of cooperative classification and attack algorithms for a collec-tion of UAVs,” Honeywell Research and Technology Center, Minneapolis, Novem-ber 2000.

7. “Issues in the design of automatic vehicle following systems,” Department of Me-chanical Engineering, University of Houston, March 2001.

8. “Traffic flow modeling via aggregation,” NSF Workshop on Engineering Trans-portation Industry, Arlington, VA, August 2001.

9. “Cooperative control of LOCAAS vehicles,” Lockheed Martin Aerospace Company,September 2001.

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10. “A non-continuum modeling of the flow of traffic via aggregation,” Center forAdvanced Transportation Technologies, University of Southern California, April2002.

11. “String Stability and its application to aggregation, decentralized control and esti-mation,” Jet Propulsion Laboratory, Pasadena, CA, April 2002.

12. “Cooperative Path Planning Algorithms,” Robotics and Artificial Intelligence Sem-inar Series, Department of Computer Science, Texas A&M University, CollegeStation, November 2002.

13. “An overview of cooperative control research at Texas A&M University,” LockheedMartin Aerospace Company, January 2003.

14. “Synthesis of fixed order controllers,” Department of Aerospace Engineering, Pur-due University, October 2003.

15. “Development of a diagnostic system for air brakes in trucks,” National Fluid PowerAssociation, Indianapolis, October 2003.

16. “Synthesis of fixed structure controllers,” United Technologies Research Center,January 2004.

17. “Modeling the flow of traffic,” Symposium in honor of Professor K. R. Rajagopal,Society of Engineering Science (SES) meeting in Lincoln, Nebraska, November2004.

18. “Combinatorial Motion Planning of Reeds-Shepp Vehicles,” Center for Collabora-tive Control of Unmanned Vehicles, University of California at Berkeley, Novem-ber 2005.

19. “Information Flow and its relation to stability of motion of vehicles in a rigidformation,” Department of Electrical and Computer Engineering, University ofToronto, April 2006.

20. “Stochastic Optimal Controller for COUNTER project,” Air Force Research Lab-oratory, Wright Patterson AFB, September 2006.

21. “Development of a spatially discrete model for the flow of traffic,” Indo-US Work-shop on Recent Advances in Transportation Engineering, January 2007.

22. “Multiple Depot Vehicle Routing,” Indo-US Workshop on Recent Advances inTransportation Engineering, January 2007.

23. “Combinatorial Motion Planning of Unmanned Vehicles,” Center for CollaborativeControl of Unmanned Vehicles, University of California at Berkeley, March 2007.

24. “Fixed Order Controller synthesis via Linear Programming,” IMA-TAMU SummerSchool and Workshop on Applicable Algebraic Geometry, Texas A&M University,College Station, August 2007.

25. “Combinatorial Motion Planning for a collection of Unmanned Vehicles,” ICECONConference, National Institute of Technology, Trichy, India, December 2007.

26. “Routing of a collection of Unmanned Vehicles,” Air Vehicles Directorate of theAir Force Research Laboratory at Dayton, August 2008.

27. “Alert Processing,” Center for Excellence in Control Science and Engineering, AirVehicles Directorate, Air Force Research Laboratory, Dayton on August 2008.

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28. “Linear Programming Approximations for Stochastic Dynamic Programming,” Cen-ter for Excellence in Control Science and Engineering, Air Vehicles Directorate,Air Force Research Laboratory, Dayton, August 2009.

29. “String Stability in Automated Vehicle Following Systems,” Maseeh Collogquium,Department of Mathematics and Statistics, Portland State University, November2009.

30. “Performance Guarantee of a Suboptimal Policy for Multi-Robot Perimeter Surveil-lance,” Automatic Control Laboratory, ETH Zurich, May 2014.

31. “String Stability of Automatic Vehicle Following Systems,” Department of Engi-neering Design, Indian Institute of Technology - Madras, July 2014.

32. “Performance Guarantee of a Suboptimal Policy for Multi-Robot Perimeter Surveil-lance,” Department of Electrical and Electronic Engineering, Nanyang Techno-logical University, Singapore, October 2014.

33. “Routing Algorithms for a heterogeneous collection of UAVs,” Department of Elec-trical and Electronic Engineering, National University of Singapore, October2014.

Grants External Grants:

1. Toyota Economic Loss Settlement Safety Research: Technical Proposal, P. I. Dr.Robert Wunderlich (TTI), co-PIs from MEEN: Drs. Swaroop Darbha and RezaLangari, $300,000 (prorated for Dr. Darbha), January 2014-December 2016.

2. “Development of a Monitoring System Using UAVs for Forest Management,”PI: Dr. Swaroop Darbha, co-PIs: Drs. K. R. Rajagopal, S. Rathinam and S.Popescu, National Science Foundation - Interdisciplinary Research Ini-tiative, $424,984, July 2010- June 2014.

3. “Combinatorial Motion Planning Algorithms for a Heterogeneous Collection ofUnmanned Vehicles,” PI: Dr. Swaroop Darbha, co-PIs: Drs. S. Rathinam andK. R. Rajagopal, Air Force Office of Scientific Research, $269,794, July2010-July 2013.

4. “Diagnostic Algorithms for Air Brakes in Trucks: Theory and Experiment,” Re-search Experience for Undergraduates, PI: Dr. Swaroop Darbha, co-PI: Dr. K.R. Rajagopal, National Science Foundation, $4,800, September 2009- August2011.

5. “Multi-depot vehicle routing with applications to paratransit,” University Trans-portation Center for Mobility, PI: Dr. Swaroop Darbha, co-PI: Dr. L. Quadri-foglio, $80,000, September 2009-August 31, 2010.

6. “Development of a diagnostic system for air brake systems in trucks,” PI: Dr.Swaroop Darbha, co-PI: Dr. K. R. Rajagopal, Sponsor: Safety IDEA programof the Transportation Research Board, $80,000, April 2007 - September2008.

7. “Coordinated Motion Planning and Control of Multiple Unmanned Vehicles,” PI:Dr. Swaroop Darbha, co-PI: Dr. K. R. Rajagopal, Air Force Research Labo-ratory, Eglin AFB, $20,000, , September 2006 - August 2007.

8. “Diagnostic Algorithms for Air Brakes in Trucks: Theory and Experiments,” PI:Dr. Swaroop Darbha, co-PIs: Dr. K. R. Rajagopal and Mr. Patrick McNally ofMeritor-WABCO, GOALI Program of the National Science Foundation,$241,000, September 2006 - August 2010.

9. “A Fault Diagnostic System for Air Brakes Used in Commercial Vehicles,” PI:Dr. Swaroop Darbha, co-PI: Dr. K. R. Rajagopal, Commercialization and IPdevelopment program, Texas Transportation Institute, $8,000, September2005 - August 2006.

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10. “Developing a diagnostic system for air brake systems used by commercial vehi-cles,” PI: Dr. Swaroop Darbha, co-PI: Dr. K. R. Rajagopal, Southwest Uni-versity Transportation Center, Texas Transportation Institute, $25,000,September 2004 - December 2005.

11. “Traffic flow models for dynamic incident prediction,” PI: Dr. Kevin Balke, oneof the co-PIs: Dr. Swaroop Darbha, Texas Department of Transporta-tion,$390,000, (PI’s share:$70,000), September 2004- August 2006,

12. “Development of vehicle dynamic algorithms for the TTI’s Driving Simulator,”neither a PI nor co-PI, Center for Transportation Safety, Texas Trans-portation Institute, Student Support: $20,000, September 2003- August 2004.

13. “Development of a non-continuum model of the flow of traffic and its applicationto trip-time prediction,” PI: Dr. Swaroop Darbha and co-PI: K. R. Rajagopal,National Science Foundation, $198,000, January 2003 - December 2006.

14. “Development of Information-technology based Advanced Safety and InspectionSystems for Air Brakes in Commercial Vehicles,” PI: Dr. Swaroop Darbha, co-PI: Dr. K. R. Rajagopal, National Science Foundation/USDOT Initiativeon Information and Communication Systems for Surface Transporta-tion,$85,000, January 2002 - December 2002.

15. “Traffic Flow Modeling,” Translink Laboratory, Texas Transportation In-stitute, Support for a graduate student under Dr. Darbha’s supervision, $35,000,September 2001 - September 2002.

16. “Issues in Acquisition, Processing and Use of Information to enhance the per-formance of transportation systems,” PI: Dr. Swaroop Darbha, co-PI: Dr. K.R. Rajagopal, National Science Foundation/USDOT Initiative on Engi-neering Transportation Industry, $63,079.53, September 2000 - December2001.

17. Donation of brake components and software from Allied Signal Truck BrakeSystems Inc., Elyria, OH, $1,500.

18. “Brake Monitoring,” PI: Dr. Swaroop Darbha, Honeywell Bendix Commer-cial Vehicle Systems (Allied Signal Truck Brake Systems Inc.), $20,000, January2000 - December 2000.

19. “Error detection in inductive traffic loop sensors,” Translink Laboratory, TexasTransportation Institute, Support for a graduate student under Dr. Darbha’ssupervision, $29,000, September 1998 - August 2000.

20. “Advanced Vehicle Safety and Inspection Systems,” PI: Dr. Swaroop Darbha,Southwest University Transportation Center, $9,736, September 1998 - De-cember 1999.

21. “Emergency Maneuvers in Automated Highway Systems,” PI: Dr. S. ShankarSastry, Co-PIs: Dr. Swaroop Darbha and Dr. Nancy Lynch, California PATH,$333,000 (Dr. Darbha’s share: $68,946), January 1998 - December 2000.

22. “Implementation of Vehicle Models into Smart AHS”, PI: Dr. Swaroop Darbha,California PATH, $8,113 (originally for $49,523; sponsor lost funding), May1997 - February 1998.

Internal Grants:

1. “Development of a diagnostic system for air brakes of a heavy duty vehicle,” PI:Dr. Swaroop Darbha, Faculty Mini-grant Program, $1,500, January 2000 -December 2000.

2. “Meaningful macroscopic aggregates for large scale systems,” PI: Dr. SwaroopDarbha, Co-PIs: Dr. Ralph B. Balyeat, Department of Finance and Dr. K. R.Rajagopal, Interdisciplinary Research Program, $16,666, May 2000 - April2001.

3. “HAIL: Highly Available Infrastructure Laboratory,” PI: Dr. A. L. N. Reddy, De-partment of Electrical Engineering, co-PIs: Dr. Swaroop Darbha, Department of

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Mechanical Engineering, Dr. Riccardo Bettati, Department of Computer Science,and Dr. Marina Vanucci, Department of Statistics, Telecommunications andInformatics Task Force (TITF), $450,000 (PI’s share: $80,000), September2002 - August 2005.

Summer and Other Support:

1. “Evaluation of ACC algorithms in mixed traffic,” Volpe National Transporta-tion Center, US Department of Transportation, $12,000, June 1998 - August1998.

2. “Development of Algorithms for assigning Dubins’ vehicles to targets,” ASEE/AFOSR Summer Faculty Fellowship Program, Wright-Patterson AFB, $12,000,June 2000 - August 2000.

3. “Issues in Coordination of Multiple Unmanned Air Vehicles,” Air Force Re-search Laboratory through the IPA Program, PI: Dr. Swaroop Darbha, $30,000,June 2001 - August 2001.

4. “Strategies for optimal energy management of chillers,” United TechnologiesResearch Center, Hartford, CT, $50,000, May 2004 - July 2004.

5. “Combinatorial Motion Planning of Unmanned Vehicles,” ASEE/AFOSR Sum-mer Faculty Fellowship Program, Eglin AFB, $20,000, June 2005 - August2005.

6. “Cooperative Control of Unmanned Vehicles,” PI: Dr. Swaroop Darbha, IPAProgram, Air Force Research Laboratory, Wright Patterson AFB, $130,000,January 2006 - December 2006.

7. “Operator-aided Perimeter Surveillance,” AFRL Summer Faculty Fellowship Pro-gram, Air Force Research Laboratory, $47,000, June 2008 - August 2008.

8. “Tracking intruders on a Manhattan grid with a UAV,” AFRL Summer FacultyFellowship Program, Air Force Research Laboratory, $42,000, June 2009 -August 2009.

StudentAdvising

Saikrishnakanth Hari.M. S. (ongoing). Thesis topic: Development of an algorithm for detecting faults in apassenger vehicle, May 2016 (expected).

Satyanaraya G. Manyam.Ph. D. (active). Dissertation topic: Routing Vehicles with Motion, Resource andCommunication Constraints: Algorithms and Bounds, May 2015 (expected).

Myoungkuk Park.Ph. D. Dissertation topic: Performance Guarantee of a Sub-optimal policy and itsapplication to a perimeter surveillance problem, May 2014.Current Job: Research Engineer, Samsung Corporation, Seoul, South Korea.

Harsha Nagarajan.Ph. D. Dissertation topic: Algorithms for maximization of Algebraic Connectivitysubject to Resource Constraints, May 2014.Current Job: Post-doctoral Researcher, Center for Nonlinear Studies, Los AlamosNational Laboratory, New Mexico.

Navid Mohsenizadeh.Ph. D. Dissertation topic: Approximating the set of Fixed Structure Controllersguaranteeing Transient Response, May 2014.Current Job: Associate Research Scientist at Center for Bioinformatics and GenomicSystems Engineering (CBGSE), Texas A&M University, College Station, TX.

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Saikrishna Yadlapalli.M. S. Thesis: On the Information Flow required for the Scalability of the Stability ofMotion of Approximately Rigid Formation, 2006.Ph. D. Dissertation: Combinatorial Path Planning for a System of Multiple Un-manned Vehicles, 2010.Current Job: Functional Architect, Pricing and Revenue Management Services, JDASoftware India Pvt. Ltd., Hyderabad, India.

Sandeep Dhar.Ph. D. Dissertation: Development of Diagnostic Algorithms for Air Brakes in Trucks,2010.Current Job: Researcher at GE R&D Laboratories, Bangalore, India.

Waqar Malik.Ph. D. Dissertation: A New Computational Approach to the Synthesis of Fixed Or-der Controllers, 2007.Current Job: Post-doctoral Researcher, NASA Ames (Air Traffic Management Divi-sion), CA.

Vipin Tyagi.Ph. D. Dissertation: A Non-Continuum Approach to obtain a Macroscopic Model forthe Flow of Traffic, 2007.Current Job: Quantitative Trader at Managed Futures Start0up, Hosuton, TX.

Shankar Coimbatore.M. S. Thesis: Modeling the Pneumatic Subsystem of a S-cam Air Brake System, 2004.Ph. D. Dissertation: A Diagnostic System for Air Brakes in Trucks, 2006.Current Job: Assistant Professor in the Department of Engineering Design, IITMadras, Chennai, India.

Sincheon Kang,Ph. D. Dissertation: On the Synthesis of Fixed Order Stabilizing Controllers, 2005.Current Job: Researcher at the Advanced Development Agency of South Korea.

Woosuk Choi.M. S. Thesis: Assessing the Benefits of Coordination on Safety in Automated HighwaySystems, 2000.Ph. D. Dissertation: Synthesis of Fixed Order Controllers, 2003.Current Job: Senior Research, Next Generation Vehicle Team, Advanced TechnologyCenter, R&D Division for Hyundai Motor Company and Kia Motors Corporation,Seoul.

Zachary Walton.M. S. Thesis: Optimal Perimeter Patrol Using Reinforcement Learning, 2011.Current Job: Field Engineer at Halliburton, OK.

Paul Oberlin,M. S. Thesis: Path Planning Algorithms for Multiple Heterogeneous Vehicles, 2009.Current Job: Applications Engineer at Weatherford Corporation, Houston.

Srivatsan Ramarathnam,M. S. Thesis: A mathematical model for air brake systems in the presence of leaks,2008.

Dongwon Lim.M. S. Thesis: Synthesis of PID controllers from Empirical Data and GuaranteeringPerformance Specifications, 2008.Current Position: Ph. D. student at University of Minnesota, Minneapolis.

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Shankar Vilayannur Natarajan,M. S. Thesis: Modeling the Pneumatic Relay Valve of a S-cam Air Brake System,2006.Current Job: GUI Engineer at Mathworks, Boston.

Christopher Bowlin,M. S. Thesis: A Pressure Control Scheme for Air Brakes in Commercial Vehicles,2005. Current Position: Sr. Aeronautical Engineer, Lockheed Martin Company, FortWorth, TX.

Sudhir Pargaonkar,M. S. Thesis: Distributed Motion Planning Algoriths for a Collection of Vehicles,2003.Current Position: SAP Workflow Analyst at Spectra Energy, Houston, TX.

Sivakumar Rathinam,M. S. Thesis: A Resource Allocation Algorithm for Wide Area Search Munitions,2001.Current Job: Assistant Professor, Department of Mechanical Engineering, TexasA&M University.

Jayesh Ametha.M. S. Thesis: Development and Implementation of Algorithms used in Ground andInternet Traffic Monitoring, 2001.Current Position: Head of Pricing and Program Management, Home Loans, CapitalOne, Dallas, TX.

Shamanth Shankar,M. S. Thesis: Design of Decentralized Detection Filters for a Class of InterconnectedLTI Systems, 2001.Current Position: Strategy & Planning Manager, Forum Energy Technology Inc.,Houston, TX.

Penchala Rao.M. S. Thesis: Modeling of Air Brakes for Diagnostics of Heavy Trucks, 2000.Current Position: Member of Technical Staff, Systems Engineering, Applied MaterialsInc., San Jose, CA.

Shaival Gupta.M. S. Thesis: A New Algorithm for Detecting Erroneous Loop Detector Data, 1999.Current Position: Sr. Staff Software Engineer, E2open, Austin, TX.

Li-wei Hsien.M. S. Thesis: Fault Tolerant Control of Automatically Control Vehicles in Responseto Brake System Fautls, 1998.

Rusli Huandra.M. S. Thesis: Intelligent Cruise Control Design based on a Traffic Flow Specification,1998.

Seok-min Yoon.M. S. Thesis: Automatic Vehicle Following for Emergency Lane Change Manuevers,1998.

Omar Daud.M. S. Thesis: Lateral Control of Articulated Vehicles for Automated Highway Systemsunder Uncertainty in Vehicle Parameters, 1998.Current Job: Engineer, Telematics Communication Group, Motorola Inc., Chicago.

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Cliff Spence.B. S. Honors Thesis: Design of an Experimental Test Bench for an Air Brake System,2001.

Dimitri Doncov,B. S. Honors Thesis: Synthesis of a Motion Plan for a Dubins Robot, December 2005.

TeachingExperience

Graduate Courses Developed:

• Nonlinear Control System Design (MEEN 655):

• Second-level Graduate Course.• Taught: Fall 1999, 2002; Spring 2001, 2004.

• Convex Optimization Methods for Control System Design (MEEN 689):

• Second-level Graduate Course.• Taught Spring 2005.

Other Graduate Courses Taught:

• Mechanics of Robotic Manipulators (MEEN 612):

• Introductory Graduate course in Robotics.• Taught: Fall 2010, 2011, 2012; Spring 2004, 2005, 2007, 2008, 2009.

• Control System Design (MEEN 651):

• Introductory Graduate course in Control Systems.• Taught: Fall 1997, 1998, 2000, 2009.

Undergraduate Core Courses Taught:

• Mechanical Systems II (MEEN 335):

• Junior-Level Course.• Taught: Spring 1998, 1999, 2000, 2001.

• Dynamics and Vibrations (MEEN 363):

• Junior-Level Course.• Taught: Fall 2005, Spring 2012, Fall 2014 (at TAMUQ).

• Mechanical Engineering Design I (MEEN 401):

• First Course in the Senior Capstone Design Sequence.• Studio Instructor: Fall 2010.

• Mechanical Engineering Design II (MEEN 402):

• Second Course in the Senior Capstone Design Sequence.• Studio Instructor: Spring 2003.

• Mechanical Engineering Design I (MEEN 445):

• First Course in the Senior Capstone Design Sequence.• Studio Instructor: Spring 2002.

• Mechanical Engineering Design II (MEEN 446):

• Second Course in the Senior Capstone Design Sequence.• Studio Instructor: Fall 2002.

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Undergraduate Technical Electives Taught:

• Introduction to Robotics (MEEN 408):

• Senior Technical Elective; stacked with MEEN 612 from Spring 2005.• Taught: Spring 2003, 2005, 2007, 2008 and 2009 (TAMU), 2014 and 2015 (at

TAMUQ); Fall 2010, 2011, 2012, 2013.• Introduced Motion Planning for Mobile Robots, Basic Routing and Assignment

Algorithms.• Two projects - one on Adaptive Control of Robotic Manipulators and the other

on Routing Robots with Motion Constraints through a sequence of points witha specified orientation.

• Mechanical Controls (MEEN 411):

• Senior Technical Elective.• Taught: Spring 1997, 1999; Fall 2004.

• Advanced Dynamics and Controls (MEEN 431):

• Required Course for Undergraduate Students interested in the Systems Area.• Taught: Fall 2010, 2011, 2012.• Introduced recently developed techniques for PID control design based on clas-

sical results: Hermite-Biehler Theorem, Proof of Routh-Hurwitz Theorem, D-decomposition and synthesizing sets of PID controllers satisfying stability andperformance criteria based on these methods.

• Automobile Engineering (MEEN 432):

• Technical Elective.• Taught: Spring 2009, 2010, 2011, 2012.• Introduced: (1) Vehicle Dynamic Models - powertrain, tire, longitudinal, lateral

and suspension models; (2) Hydraulic Control Systems - Models of Valves and Ac-tuators for modeling Power Steering, Automatic Transmission and Active/Semi-Active Suspensions.

• Introduced a Class Project: Simulating the dynamic response of an automobilebased on the data from California PATH for engines, torque converter, gear ratiosand gear shift schedules.

• Design of Machine Components and Systems (MEEN 441):

• Technical Elective.• Teaching at TAMUQ in Spring 2015.

• Sound and Vibration (MEEN 459):

• Technical Elective.• Teaching at TAMUQ in Spring 2014.

ProfessionalService

Editorial Service:

• Associate Editor, IEEE Transactions on Intelligent Transportation Systems, January2004 - December 2009.

• Associate Editor, Differential Equations and Nonlinear Mechanics, January 2005 -December 2010.

• Associate Editor, Conference Editorial Board, ASME Dynamic Systems and ControlConference, 2008 - 2010.

• Associate Editor, ASME Journal of Dynamic Systems, Measurement and Control,January 2009 - December 2013.

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Service as a Reviewer for Proposals:

• California PATH Program - 02/96, 02/97, 02/99.

• Panel reviewer for National Science Foundation - 04/02, 02/03, 01/08, 02/09, 02/10and ad-hoc reviewer, 01/12.

• Reviewer for Indiana21 State Fund.

• US-Ukraine Cooperative Research Program.

• Institute for Transportation Studies, University of Minnesota.

External Referee Service:

• Ph. D. Dissertations/Theses from Other Universities:

• Department of Electrical Engineering, University of Toronto, 2005.• Department of Industrial and Systems Engineering, Indian Institute of Technol-

ogy at Kanpur, 2005.• Department of Control and Instrumentation Engineering, National Institute of

Technology at Trichy, India, 2009.• Department of Mechanical Engineering, National Institute of Technology at Waran-

gal, India, 2012.

• Tenure and Promotion:

• Department of Mechanical Engineering, Purdue University, West Lafayette.• Department of Electrical Engineering, Virginia Polytechnic Institute and State

University, Blacksburg.• Depatment of Mechanical and Aerospace Engineering, University of Florida,

Gainesville, FL.• Department of Mechanical Engineering, Texas A&M University at Qatar, Doha,

Qatar.• California PATH program, Institute for Transportation Studies, University of

California at Berkeley, CA

Conference Service:

• Program Committee Membership:

• American Control Conference, 2000.

• 3rd IEEE Intelligent Transportation Systems Conference, October 2000.

• 4th IEEE Intelligent Transportation Systems Conference, October 2001.

• 8th IEEE Intelligent Transportation Systems Conference, October 2005.

• Advanced Vehicular Control Symposium (AVEC), Ann Arbor, MI, August2000.

• IEEE Conference on Control Applications, San Antonio, TX, September2008.

• Co-Organizer for the Tutorial Session: Planning and Control of Unmanned Vehicles,American Control Conference, 2013.

Referee Service:

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• IEEE Transactions on Intelligent Transportation Systems.• Transportation Research C.• IET Transactions on Intelligent Transportation Systems.• Vehicle Dynamics Journal.• ASME Journal of Dynamic Systems, Measurement and Control.• IEEE Transactions on Vehicular Technology.• International Journal of Engineering Science.• Nonlinear Analysis: Theory, Practice and Real World Applications.• IEE Control Theory and Applications.• Systems and Control Letters.• European Journal of Operations Research.• Automatica.• IEEE Transactions on Automatic Control.• IEEE Transactions on Control Systems Technology.• IEEE Transactions on Robotics.• International Journal of Control• Conferences: American Control Conference, ASME IMECE, ASME Dynamic Sys-

tems and Control Conference, IEEE ITS Conference, AVEC, IEEE CCA, IEEECDC.

Other Service: Co-chair, ASME System Theory Panel, 1998-2001.

University Service:

• Departmental Service:

• Member, Qualifying Examination Committee for Controls/Vibrations, Fall 1998to Fall 2005, Fall 2007 to Fall 2009.

• Member, Graduate Studies Committee, Spring 2012 - current.• Member, Graduate Curriculum Review Committee, Spring 2012-current.• Member, Seminar Committee, Fall 2001 to Fall 2005.• Member of the thesis committees of several doctoral students from MEEN and

AEEN.• Member, Faculty Search Committee, Dynamic Systems and Control Position,

2005.• Member, Faculty Search Committee, Thermal Sciences Position, 2005.• Member, Faculty Search Committee, Dynamic Systems and Control Position,

2007, 2008.• Member, Faculty Area SubCommittee (FASC), Department of Mechanical En-

gineering, TAMUQ, Fall 2014-current.

• Other Service:

• Member, College-Level Honors and Awards Committee for Research, Teachingand Service, 2011-2012.

• Faculty Senator, 2011 - 2014.• Faculty Adviser, AID-TAMU, 2001-2011.• Departmental Representative for College-Level Tenure and Promotion

at TAMUQ, 2014.• Member, TAMUQ Dean Search Committee, 2014 - present.

ProfessionalMemberships

Society for Automotive Engineers (SAE), Member.

American Society for Mechanical Engineers (ASME), Fellow. Institute for Electricaland Electronics Engineers (IEEE), Senior Member.• IEEE Control Systems Society.• IEEE Intelligent Transportation Systems Society.

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• IEEE Robotics and Automation Society.

Summary ofCitations • Google citations (as of January 24, 2015): 4043.

• Google H-index: 26.

• i-10 index: 52.

• Google citations URL

• ISI WebofScience citations: 1470

• ISI H-index: 15.

• Average citations per year: 81.67

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Summary ofSelectedContributions

Autonomous Vehicular Formations:

• Platooning:

• Development and experimental corroboration of a string-stable adaptive con-troller for maintaing a constant following distance; this controller was one of thecentral pieces of the longitudinal control system used in the NAHSC mandateddemo on I-15 in San Diego in 1997.

• Metrizing string stability as the rate of attenuation of maximum spacing errorsin a platoon and showing the limitations of not having access to lead vehicleinformation on string stability.

• Introduction of singular and regular perturbation techniques to estimate thetolerable lags in sensing/actuation for maintaining string stability.

• Generalizing the concept of string stability to non-linear interconnected systemsas the problem of scalability of stability.

• Showing the inability of an automatic vehicle following controller to scale basedon a symmetric information flow among vehicles in maintaining a string stableplatoon with constant intervehicular spacing.

• Demonstrating the control effort required for maintaining a constant time head-way h is inversely proportional to h, thereby showing the inability of AdaptiveCruise Control (ACC) Systems to maintain a smaller time headway.

• Demonstrating the effect of inter-vehicular communication in reducing the timeheadway that can be maintained while guaranteeing string stability.

• Demonstrating that the time headway to be employed by an Adaptive CruiseControl (ACC) system must be at least twice the total unmodeled lags in thesystem for assuring string stability.

• Identifying the connection between variable spacing policy employed in an ACCSystem and the Fundamental Traffic Diagram in Transportation Engineering;designing range policies for ACC Systems based on traffic flow specifications.

• Modeling the effect of vehicles equipped with ACC systems on traffic flow be-havior at various levels of their penetration.

• Developing an analytical model for assessing the benefits of safety due to coordi-nated braking among vehicles in a collection of n vehicles using Markov Chains.

• Diagnostic System for Air Brakes in Trucks: Air brake systems are used ina majority of tractor-trailer vehicles, school buses and in trains and faults in an airbrake system constitute a significant factor for accidents. Currently prevalent in-spections for air brake systems are based on detecting leaks and checking the strokeof the pushrod to see if it is out-of-adjustment; leaks affect the maximum brakepressure at the wheels as well as increase the lag in the brake response. An increasein stroke implies an increase in dead-time in the response as well as increased lagowing to an increase in the volume of air to be filled so as to build up pressure. Cur-rent inspections (both pre-trip and enforcement) are time consuming (15-20 minutesout of the 30 minutes for an enforcement inspection), sometimes infrastructure in-tensive, at times inconvenient and inadequate. The goal is to develop model-baseddiagnostic algorithms for a prototype hand-held diagnostic system that will facilitatequick, performance-based inspection of the air brake system, which can be used byfleet operators and truck drivers to conduct pre-trip inspections, and byan inspector to conduct an enforcement inspection. My research group has contributedthe following towards this goal:

• Development and experimental corroboration of a mathematical model for theevolution of pressure transients in a single front brake chamber with and withoutleaks.

• Development and experimental corroboration of a mathematical model of a relayvalve; this is useful for predicting pressure transients in the rear brake chambers.

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• Development and experimental corroboration of leak detection and pushrod strokeestimation algorithms for a single brake chamber. The algorithms assume theavailability of pressure information in the brake cylinders and the treadle valveposition.

• From a basic research point of view, this problem deals with the identificationof parameters affecting transitions in a hybrid system. We developed parameteridentification algorithms for such systems.

• Modeling Transportation Systems: Current models of traffic have the follow-ing limitations: (1) popular models, notably the Lighthill-Whitham-Richards modeland the Prigogene-Herman model, treat traffic as a continuum. Treating traffic as acontinuum is an unreasonable assumption for the following reasons: (a) unlike fluids,which have O(1023) molecules at length scales of interest, traffic consists of O(103)vehicles at length scales of interest, (b) continuum models admit the spurious prop-agation of disturbances due to braking actions from the upstream sections to thedownstream sections, and (c) there is no transparency in dealing with heterogeneityof vehicles in the traffic resulting from the infusion of information at various lev-els advances in communications. Air Traffic Management methods currently employLighthill-Whitham models for ground traffic. My work in this area could be adaptedfor Air Traffic Management purposes. Here are the contributions in this area:

• My research group contributed to the development of a spatially discrete modelthat overcomes these limitations and its corroboration on an existing highway(near Lamar Boulevard on US 183 in Austin, TX).

• From the point of view of large scale systems, this work introduces the concept ofan “average” dynamical system for a collection of interconnected dynamical sys-tems and the role for “collective” stability for computing the average dynamicalsystem.

Control Systems:

• Fixed Order Control: The problem of synthesizing fixed structure controllers forlinear systems is an open problem in the controls literature and it includes the prob-lem of decentralized control. My motivation for the consideration of this problemis the synthesis of automatic vehicular formations when the underlying informationflow graph is specified. The contributions of my research group are in this area areas follows:

• Arbitrarily tight inner and outer approximation of the (semi-algebraic) set ofstabilizing controllers of a given order: This work is appealing for practicingengineers because one can now work with an approximate set of stabilizing con-trollers to satisfy a wide variety of frequency and time domain specifications. Thisis unlike current designs which provide one controller for a specification renderingthe simultaneous satisfaction of multiple specifications difficult. The approxima-tion is constructed as a union of feasible sets of systematically constructed LinearPrograms (LPs) and Semi-Definite Programs (SDPs) that exploit the interlacingproperties of Hurwitz polynomials and employ classical techniques such as theDescartes’ Rule of Signs and its generalization due to Poincare, Markov-Lucakstheorem, and results due to Bernstein and Widder.

• Characterization of minimal order of stabilization/performance: My researchgroup proved the following: A given stabilizing controller is of minimal order ifand only if the set of strictly proper “robustly” stabilizing controllers of the sameorder are bounded; this may be verified using the method for constructing arbi-trarily tight outer approximation to the set of stabilizing controllers developedby my research group.

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Decision-making algorithms for Autonomous Vehicles: Human-Machine sys-tems require a clear decomposition of tasks to be performed by humans and machinesand must provide a clean interface for them to interact. My research group has in-teracted and collaborated with Air Force Research Laboratory at Dayton on differentaspects of Human-Machine systems and associated decision-making algorithms. Specif-ically, the Human-Machine systems that we considered consist of a remotely locatedhuman operator assigned with the task of classification of objects from the data gath-ered by the robotic/unmanned vehicles. Since humans are good at classification ofobjects, the operator serves as a classifier in the surveillance loop, while other taskssuch as the computation of routes for each vehicle (typically required in a few minutes)are automated. Determination of nominal trajectories through a set of objects nomi-nated by an operator involves a generalization of vehicle routing which must also takemotion constraints of the vehicles into account. After any change in the status has beendetected by the operator based on the data gathered and transmitted by the vehiclesto the operator, stochastic control problems arise. The core idea of the stochastic con-trol problem is to enable the vehicles to enhance the performance of the operator asa classifier by gathering and transmitting appropriate information (for example, at acertain aspect angle or at a certain range) to the remotely located operator. The objec-tive of the stochastic control problem is to enable the robotic vehicles to take decisionsautonomously while taking higher level inputs from the operator such as a request torevisit a certain nominated object from a specific aspect angle. Some specific contribu-tions of my research group to both routing and applied stochastic optimal control areas follows:

• Routing multiple vehicles: The basic problem is to determine the optimal paths/tours for a heterogeneous collection of vehicles (possibly with motion constraints)through a set of locations nominated by an operator in near real-time while minimiz-ing a collective objective. The most typical objectives are the total distance traveled(a proxy for total fuel consumed) or the minimum completion time for visiting theset of locations, with the former being more commonly considered. This problemis NP-hard and hence, one may not solve the problem exactly with a polynomialrunning time guarantee. Moreover, there may be additional constraints on the op-eration of the vehicles. My research group addressed this problem in the followingways:

• Approximation algorithms: For a collection of m vehicles starting possibly atdifferent locations, we have developed a 2-approx algorithm if the collection ishomogeneous and a 3

2m-approx algorithm if the collection is heterogeneous.• Heuristics along with bounds on the quality of solutions they produce: We con-

structed different types of heuristics based on LP rounding, Held-Karp’s lowerbound and Lagrangian heuristics, the conversion of a multiple vehicle problem toa single vehicle routing problem (TSP) via the use of Noon-Bean transformationand the eventual solution of single TSP using Lin-Kernighan-Helsgaun heuristic.

• Algorithms for finding sub-optimal solutions for motion-constrained problems:With motion constraints such as a minimum turning radius for each vehicle inthe collection, we provided heuristics that provide both the sequence and theapproach angles for each vehicle. We also furnished a novel way to computelower bound for this mixed-integer nonlinear program by penalizing the motionconstraints and solving the resulting combinatorial problem.

• Approximate Stochastic Dynamic Programming (SDP) for synthesizingsub-optimal decisions: My research group has been collaborating with AFRL,Dayton for the past six years with stochastic optimal control problems involving thefollowing applications: (a) Perimeter Surveillance, (b) Capturing an Evader on aRoad Network with a collection of UAVs, and (c) Optimal Sequential Inspectionsof nominated Objects. All the stochastic control algorithms our research group

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has developed (or contributed significantly to developing) have been experimentallytested by AFRL in the past five years.

The Perimeter Surveillance problem consists of a perimeter of a sensitive zone tobe surveilled by an operator-UAV team and classify incursions into this area as nui-sances or threats with a high-degree of confidence so that future course of actionsand associated resources can be committed. The incursions on the perimeter are de-tected by Unattended Ground Sensors (UGS) which communicate this informationto the operator-UAV team. The incursion process is stochastic with known statistics.The UAVs can dwell at the incursion location trying to gather prosecuting evidencethat enables high-confidence classification at the expense of not attending to servic-ing alerts raised by incursions at other locations on the perimeter. The probabilityof correct classification (characterizing the performance of the operator) increaseswith the duration of time spent by the UAV at the incursion location and decreaseswith the tardiness in servicing an alert. The stochastic optimal control problem isto determine the duration of time spent by a UAV at any incursion location basedon the information that is available to the team.

A significant number of problems in this genre, such as the Perimeter Surveillanceproblem, can be posed as Markov Decision Processes (MDPs) and the solution ofassociated Bellman’s equation has been an issue because of the curse of dimension-ality. There are many ways of overcoming the curse of dimensionality- for example,by partitioning the states and approximating the value function to be a constantover all the states in the partition, or by aggregating information available for feed-back. It is also known that an MDP is solvable as linear program (LP) with thecost function being the probability distribution of the initial state and the feasiblesolutions to the constraints (referred to as Bellman Inequalities) are upper boundsto the value function (for a problem with maximization of expected total discountedpayoff). The method of state partitioning is attractive as it further restricts the fea-sible set with additional equality constraints, which effectively reduces the numberof variables in the LP. This LP is referred to as reduced LP or RLP. My group hascontributed the following:

• With a state-partitioning scheme, we could prove using surrogate duality thatthere is an underlying lower dimensional MDP on partitions that has the samevalue function as the optimal solution of RLP. Furthermore, the optimal solu-tion of RLP is independent of the initial probability distribution of states. Thesame result holds even with Iterated Bellman Inequalities.

• The perimeter surveillance problem has a natural structure for partitioning: thestates may be grouped into a few partitions so that the one-step payoff is thesame for all the states in the same partition and for the same action. Moreover,the number of allowable actions are finite and few in number. These features areexploited that render RLP computationally tractable. Moreover, other featuresof the problem also allow the computation of both upper and lower bounds forthe value function for the problem. Our group synthesized suboptimal policiesbased on the bounds (that are computable) and the suboptimal policy deviatesfrom the optimum by no more than 5% in the decisions as well as in the totalexpected discounted payoff.

This work, a topic of the doctoral dissertation of my student, Mr. Myoungkuk Park,has been received well by the community and I presented a semi-plenary talk on thesame topic at the 2012 ASME Conference on Dynamic Systems and Control.

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