K R Guruprasad

(PhD, IISc Bangalore)
Associate Professor, Department of Mechanical Engineering


Research Interests
 

Education

  • Ph.D. | Aerospace Engineering, Indian Institute of Science (2009)
    Thesis title: Multi-agent search using Voronoi partition Advisor: Prof Debasish Ghose
  • M.Sc (Engg) (thesis) | Mechanical Engineering, Indian Institute of Science, Bangalore, India (1996)
    Thesis: Model Reference Learning Control using Adaptive Network-based Fuzzy Inference System (ANFIS)
  • B.E | Mechanical Engineering, Mangalore University (Karnataka Reginal Engineering College/National Institute of Technology Karnataka, Surathkal) (1993)

Website(s)

CV

+ - Research Interests Click to collapse

  • Robotics and Autonomous systems: Motion planning: Single and multi-robotic point to point motion planning, coverage path planning, robotic exploration and mapping.

  • UAV/Drones: Single and multi-UAV motion planning and control, multi-UAV search and rescue

  • Multi-robotic/Agent systems: Deployment, cooperative and distributed control, emergent behavior

  • Mobile manipulation: UAV mounted manipulator control for applications such as autonomous inspection and minor repair of large structures.

  • Artificial Intelligence: Artificial Neural Networks, Fuzzy logic and Fuzzy logic control, Intelligent control, Reactive or Behavior-based systems, Group behavior and Distributed systems, Distributed decision making; distributed/behavior-based systems/intelligence, swarm intelligence; emergent behavior

  • Robotics – Mechanics and control: Manipulator control, Distributed control, control of lower-body and whole-body exoskeletons.

  • Voronoi partition: Generalization, distributed algorithms, application to multi-robot/UAV applications and facility location/locational optimization problems.

+ - Publications Click to collapse

Books:

Journal (Refereed – SCI/Scopus indexed)

  • Vishnu G Nair and K.R Guruprasad, “2D-VPC: An efficient coverage algorithm for multiple autonomous vehicles”, International Journal of Control, Automation, and Systems, 19(8), pp. 2891-2901, August 2021 DOI: https://doi.org/10.1007/s12555-020-0389-6.

  • Jeane M D’Souza, Venkat Varun Velpula, and K.R Guruprasad, “On effectiveness of camera as an UAV mounted search sensor,” International Journal of Control, Automation, and Systems, 19(7), pp 2557–2568 (2021). https://doi.org/10.1007/s12555-020-0373-1

  • Soumya S. and K.R Guruprasad, “Distributed nonlinear control of planar serial-link manipulators”, International Journal of Control, Automation, and Systems, 19(2) (2021) pp. 850-863, http://dx.doi.org/10.1007/s12555-020-0031-7

  • K.R. Guruprasad and T.D Ranjitha, “CPC algorithm: Exact area coverage by a mobile robot using approximate cellular decomposition”, Robotica, vol 39, pp. 1141–1162, 2021 DOI: https://doi.org/10.1017/S026357472000096X

  • Soumya S. and K.R. Guruprasad, “Multi-agent system inspired distributed control of a serial-link robot”, Journal of Automation, Mobile Robotics, and Intelligent System, vol 14, no 1, pp. 29-38, 2020. DOI: https://doi.org/10.14313/JAMRIS/1-2020/4

  • Vishnu G Nair and K.R Guruprasad, “MR-SimExCoverage: Multi-robot simultaneous exploration and coverage,” Computers and Electrical Engineering, vol 95, 2020. DOI: https://doi.org/10.1016/j.compeleceng.2020.106680

  • Vishnu G Nair and K.R Guruprasad, “Geodesic-VPC: spatial partitioning for multi-robot coverage problem”, International Journal of Robotics and Automation, vol 35, issue 3, 2020, pp. 189-198. DOI https://doi.org/10.2316/J.2020.206-0303

  • Vishnu G Nair and K.R Guruprasad, “GM-VPC: An algorithm for multi-robot coverage of known spaces using generalized Voronoi partition”, Robotica, vol 38, issue 5, May 2020, pp. 845-860.

  • Jeane M D’Souza, K.R. Guruprasad, and Akshar Padman, “A realistic simulation platform for multi-quadcopter search using downward facing cameras”, Computers and Electrical Engineering, vol 74, pp. 184-195, March, 2019.

  • S Soumya and K.R Guruprasad, “Model-based Manipulator Control and the Computational Cost”, Journal of Advanced Research in Dynamical and Control Systems, vol 10, issue 12, pp. 319-326, 2018. [Scopus]

  • Dasgupta, J. Baca, K.R. Guruprasad, A. Munoz-Melendez, J. Jumadinova, The COMRADE System for Multi-Robot Autonomous Landmine Detection in Post-Conflict Regions, Journal of Robotics, vol 2015, February 2015.

  • K.R. Guruprasad, Effectiveness-Based Voronoi Partition: A new tool for solving a class of location optimization problems, Optimization Letters, vol 7, Issue 8, December 2013, pp 1733-1743.

  • K.R. Guruprasad and D. Ghose, Performance of a Class of Multi-Robot Deploy and Search Strategies based on Centroidal Voronoi Configurations, International Journal of Systems Science, vol 44, issue 4, 2013, pp. 680-699.

  • K.R. Guruprasad and D. Ghose, Heterogeneous Locational Optimization using Generalized Voronoi Partition, International Journal of Control, vol 86, issue 6, 2013, pp. 977-993.

  • K.R. Guruprasad and D. Ghose, Automated multi-agent search using centroidal Voronoi configuration, IEEE Transactions on Automation Science and Engineering, vol. 8, issue 2, April 2011, pp. 420-423.

+ - Awards & Honors Click to collapse

  • Best presentation: K.R Guruprasad, Multi-Agent Search using Sensors with Heterogeneous Capabilities, Presented in the Doctoral Symposium, IISc-IBM Research Third Operations Research and Data Analytics Workshop, March 2008.

  • Best paper award finalist - K. Hungerford, P. Dasgupta, and K.R. Guruprasad, A Repartitioning Algorithm to Guarantee Complete, Non-overlapping Planar Coverage with Multiple Robots, Distributed Autonomous Robots and Systems (DARS) 2014.

 

+ - Contact Information Click to collapse

Office

Diamond Jubilee Academic Complex 503H-H,
Department of Mechanical Engineering
IIT Kanpur,
Kanpur 208016

Phone: 0512-259-2328 (O)

Email: krgprao[AT]iitk.ac.in

   
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