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Geesara Prathap Kulathunga

Geesara Prathap Kulathunga
University of Innopolis · Institute of Robotics

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23
Publications
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49
Citations

Publications

Publications (23)
Article
We present an optimization‐based reference trajectory tracking method for quadrotor robots for slow‐speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy with linear quadratic Gaussian in which nonlinear model predictive control (NMPC) is employed for predicti...
Preprint
Full-text available
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our proposed approach comprises two planners: a global planner and a local planner. The global planner refines the in...
Preprint
Full-text available
We present an optimization-based reference trajectory tracking method for quadrotor robots for slow-speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy to Linear Quadratic Gaussian (LQG) in which Nonlinear Model Predictive Control (NMPC) is employed for pred...
Preprint
Full-text available
We present an optimization-based reference trajectory tracking method for quadrotor robots for slow-speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy to Linear Quadratic Gaussian (LQG) in which Nonlinear Model Predictive Control (NMPC) is employed for pred...
Conference Paper
Full-text available
Modern UAVs are incredibly complex systems with numerous tunable knobs such as the battery capacity, camera settings, sampling rate, constraints on the route, etc. The area of theoretical exploration of the optimization problems that arise in such settings is dominated by traditional approaches that use regular nonlinear optimization often enhanced...
Article
Full-text available
Any obstacle-free path planning algorithm, in general, gives a sequence of waypoints that connect start and goal positions by a sequence of straight lines, which does not ensure the smoothness and the dynamic feasibility to maneuver the MAV. Kinodynamic-based motion planning is one of the ways to impose dynamic feasibility in planning. However, kin...
Preprint
Full-text available
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering func...
Preprint
Full-text available
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. It requires to provide the desired trajectory to be followed in the system initialization phase. Subsequently, it starts initializing sub-componen...
Preprint
Full-text available
This paper proposes a novel approach for separating ground plane and non-ground objects on Lidar 3D point cloud as a filter. It is specially designed for real-time applications on unmanned aerial vehicles and works on sparse Lidar point clouds without preliminary mapping. We use this filter as a crucial component of fast obstacle avoidance system f...
Conference Paper
Full-text available
We have continued extending the Apollo software distribution for supporting multi-object tracking followed by the fusion in a real-time manner for a multi-camera setup. Our proposed multi-camera fusion approach includes improvements in the following stages: object detection, data association, filtering and tracking on each camera space, and adding...
Chapter
Full-text available
Recognizing sEMG (Surface Electromyography) signals belonging to a particular action (e.g., lateral arm raise) automatically is a challenging task as EMG signals themselves have a lot of variations even for the same action due to several factors. To overcome this issue, there should be a proper separation which indicates similar patterns repetitive...
Article
We have continued extending the Apollo software distribution for supporting multi-object tracking followed by the fusion in a real-time manner for a multi-camera setup. Our proposed multi-camera fusion approach includes improvements in the following stages: object detection, data association, filtering and tracking on each camera space, and adding...
Article
Full-text available
Recognizing sEMG (Surface Electromyogra-phy) signals belonging to a particular action (e.g., lateral arm raise) automatically is a challenging task as EMG signals themselves have a lot of variation even for the same action due to several factors. To overcome this issue, there should be a proper separation which indicates similar patterns repetitive...
Preprint
Full-text available
Building detection from satellite multispectral imagery data is being a fundamental but a challenging problem mainly because it requires correct recovery of building footprints from high-resolution images. In this work, we propose a deep learning approach for building detection by applying numerous enhancements throughout the process. Initial datas...
Preprint
Full-text available
Human heartbeat can be measured using several different ways appropriately based on the patient condition which includes contact base such as measured by using instruments and non-contact base such as computer vision assisted techniques. Non-contact based approached are getting popular due to those techniques are capable of mitigating some of the l...
Conference Paper
Full-text available
Human heartbeat can be measured using several different ways appropriately based on the patient condition which includes contact base such as measured by using instruments and non-contact base such as computer vision assisted techniques. Non-contact based approached are getting popular due to those techniques are capable of mitigating some of the l...
Conference Paper
Full-text available
Building detection from satellite multi-spectral imagery data is being a fundamental but a challenging problem mainly because it requires correct recovery of building footprints from high-resolution images. In this work, we propose a deep learning approach for building detection by applying numerous enhancements throughout the process. Initial data...

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