Ramviyas Parasuraman

Ramviyas Parasuraman
University of Georgia | UGA · School of Computing

PhD in Robotics and Automation
Director of the Heterogeneous Robotics Research Lab (HeRoLab) at the University of Georgia

About

70
Publications
18,482
Reads
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582
Citations
Citations since 2017
55 Research Items
540 Citations
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2017201820192020202120222023020406080100120
2017201820192020202120222023020406080100120
2017201820192020202120222023020406080100120
Introduction
I'm an Assistant Professor at the School of Computing, in the University of Georgia (UGA). My general research focus is Robotics and Multi-Robot Systems. Research interests: Networked Multi-Robot Systems; Intelligent Teleoperation; Robot Communications; Robotics in Nuclear Applications; Search and Rescue Robotics; Human-Robot interfaces; Machine Learning of Wireless Signals.
Additional affiliations
August 2018 - present
University of Georgia
Position
  • Professor (Assistant)
Description
  • Specialization on Robotics
August 2018 - present
University of Georgia
Position
  • Professor (Assistant)
Description
  • I currently teach the course "Introduction to Robotics" at UGA.
October 2016 - July 2018
Purdue University
Position
  • PostDoc Position
Education
September 2011 - October 2014
Universidad Politécnica de Madrid
Field of study
  • Robotics and Automation
January 2010 - April 2010
École Polytechnique Fédérale de Lausanne
Field of study
  • Signal Processing
August 2008 - May 2010
Indian Institute of Technology Delhi
Field of study
  • Instrument Technology

Publications

Publications (70)
Article
Multirobot rendezvous control and coordination strategies have garnered significant interest in recent years because of their potential applications in decentralized tasks. In this paper, we introduce a coordinate-free rendezvous control strategy to enable multiple robots to gather at different locations (dynamic leader robots) by tracking their hi...
Preprint
Full-text available
Many species in nature demonstrate symbiotic relationships leading to emergent behaviors through cooperation, which are sometimes beyond the scope of the partnerships within the same species. These symbiotic relationships are classified as mutualism, commensalism, and parasitism based on the benefit levels involved. While these partnerships are ubi...
Preprint
Full-text available
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We specifically propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the performance of the system in terms of the group utilit...
Article
Mobile robots rely on wireless networks for sharing sensor data from remote missions. The robot’s spatial network quality will vary considerably across a given mission environment and network access point (AP) location, which are often unknown apriori. Therefore, predicting these spatial variations becomes essential and challenging, especially in d...
Conference Paper
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does not have access to GPS signals, such as in an environmentally controlled, indoor, or underground environment, fi...
Conference Paper
Underlying relationships among multiagent systems (MAS) in hazardous scenarios can be represented as game-theoretic models. In adversarial environments, the adversaries can be intentional or unintentional based on their needs and motivations. Agents will adopt suitable decision-making strategies to maximize their current needs and minimize their ex...
Preprint
Achieving knowledge sharing within an artificial swarm system could lead to significant development in autonomous multiagent and robotic systems research and realize collective intelligence. However, this is difficult to achieve since there is no generic framework to transfer skills between agents other than a query-response-based approach. Moreove...
Preprint
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of not only motion but also sensing, computing, communication, and power management modules with multiple options...
Preprint
Resource-constrained mobile robots that lack the capability to be completely autonomous can rely on a human or AI supervisor acting at a remote site (e.g., control station or cloud) for their control. Such a supervised autonomy or cloud-based control of a robot poses high networking and computing capabilities requirements at both sites, which are n...
Preprint
Full-text available
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative localization problem as a factor graph problem to solve through graph optimization. Here, the optimization objecti...
Preprint
Full-text available
Multi-Robot and Multi-Agent Systems demonstrate collective (swarm) intelligence through systematic and distributed integration of local behaviors in a group. Agents sharing knowledge about the mission and environment can enhance performance at individual and mission levels. However, this is difficult to achieve, partly due to the lack of a generic...
Preprint
Full-text available
Adopting reasonable strategies is challenging but crucial for an intelligent agent with limited resources working in hazardous, unstructured, and dynamic environments to improve the system utility, decrease the overall cost, and increase mission success probability. Deep Reinforcement Learning (DRL) helps organize agents' behaviors and actions base...
Preprint
Full-text available
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does not have access to GPS signals, such as in an environmentally controlled, indoor, or underground environment, fi...
Preprint
Underlying relationships among multiagent systems (MAS) in hazardous scenarios can be represented as game-theoretic models. In adversarial environments, the adversaries can be intentional or unintentional based on their needs and motivations. Agents will adopt suitable decision-making strategies to maximize their current needs and minimize their ex...
Preprint
Full-text available
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities may fail. We propose a method for estimating the location of a mobile robot in relation to static wireless senso...
Preprint
Full-text available
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based o...
Article
Resource-constrained mobile robots that lack the capability to be completely autonomous can rely on a human or artificial intelligence (AI) supervisor acting at a remote site (e.g., control station or cloud) for their control. Such a supervised autonomy or cloud-based control of a robot poses high networking and computing capabilities requirements...
Preprint
Full-text available
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive. Real-world situations in which robots perform tasks continuously while staying alive (survivability) and maximizing p...
Preprint
Adaptive information sampling approaches enable efficient selection of mobile robot's waypoints through which accurate sensing and mapping of a physical process, such as the radiation or field intensity, can be obtained. This paper analyzes the role of exploration and exploitation in such information-theoretic spatial sampling of the environmental...
Preprint
Full-text available
This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS) middleware. We analyze the bidirectional network performance of mobile robots and connected vehicles through an experim...
Preprint
Full-text available
Cooperation in multi-agent and multi-robot systems can help agents build various formations, shapes, and patterns presenting corresponding functions and purposes adapting to different situations. Relationship between agents such as their spatial proximity and functional similarities could play a crucial role in cooperation between agents. Trust lev...
Preprint
Full-text available
Localization of autonomous vehicles in unknown and unstructured GPS-denied environments is still a relevant and major research challenge in the field of Robotics. Applications of such research can be found in search and rescue missions and connected vehicles, where multiple robots need an efficient solution for simultaneous localization through mul...
Poster
Full-text available
Adaptation to increasing levels of autonomy-from manual teleoperation to complete automation is of particular interest to Field Robotics and Human-Robot Interaction community. Towards that line of research, we introduce and investigate a novel bilaterally teleoperation control strategy for a robot to the robot system. A bilateral teleoperation sche...
Preprint
Research in multi-robot and swarm systems has seen significant interest in cooperation and coordination of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to cooperate, share their information, and make a suitable plan according to the specific scenario. Ins...
Preprint
Adversarial Robotics is a burgeoning research area in Swarms and Multi-Agent Systems. It mainly focuses on agents working on dangerous, hazardous, and risky environments, which will prevent robots to achieve their tasks smoothly. In Adversarial Environments, the adversaries can be intentional and unintentional based on their needs and motivation. A...
Article
Full-text available
Amputees with prosthetic hands face challenges accomplishing ordinary tasks in daily life. An optimal set of materials, design layouts, and assembly schemes is presented for the construction of stretchable sensor circuits on an easy-to-wear rubber glove, allowing for the seamless integration with arbitrary prosthetic hands. A wristwatch unit provid...
Preprint
Recently, research in multi-robot and swarm systems has seen significant interest in cooperation and coordination of agents in complex and dynamic environments. To adapt to dynamic environments effectively and maximize the utility of the group, robots need to cooperate, share their information and make a suitable plan according to the specific scen...
Preprint
Multi-Robot System and Swarms are intelligent systems in which a large number of robots are coordinated in a distributed and decentralized way. Each robot may have homogeneous or heterogeneous capabilities and can be programmed with several fundamental control laws adapting to the environment. Through different kinds of relationships built using th...
Preprint
Active perception by robots of surrounding objects and environmental elements may involve contacting and recognizing material types such as glass, metal, plastic, or wood. This perception is especially beneficial for mobile robots exploring unknown environments, and can increase a robot's autonomy and enhance its capability for interaction with obj...
Article
Rendezvous control of multiple robots without losing network connectivity has important implications in multi-robot system including formation control, coordinated task assignments, and cooperative robotic missions. This paper introduces a new coordinate-free, bearing-based algorithm to enable rendezvous of distributed mobile robots at any designat...
Article
The Robot Operating System (ROS) is a popular and widely used software framework for building robotics systems. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform relies on for connecting the so-called ROS nodes presents several issues regarding limited-bandwid...
Article
Full-text available
The technology behind robotics has rapidly advanced to a level enabling humans and robots to interact in everyday aspects of life. [...]
Article
This paper introduces Wisture, a new online machine learning solution for recognizing touch-less hand gestures on a smartphone (mobile device). Wisture relies on the standard Wi-Fi Received Signal Strength (RSS) measurements, Long Short-Term Memory (LSTM) Recurrent Neural Network (RNN) learning method, thresholding filters, and a traffic induction...
Conference Paper
In multi-robot applications, consensus control and coordination are vital and potentially repetitive tasks. To circumvent practical limitations such as a global localization system, researchers have focused on bearing-based consensus controllers, but most assumed that measurements from sensors (e.g. vision) are noise-free. In this paper, we propose...
Conference Paper
Full-text available
This paper proposes a new Kalman filter based online framework to estimate the spatial wireless connectivity in terms of received signal strength (RSS), which is composed of path loss and the shadow fading variance of a wireless channel in autonomous vehicles. The path loss is estimated using a localized least squares method and the shadowing effec...
Preprint
Full-text available
Multi-robot rendezvous control and coordination strategies have garnered significant interest in recent years because of their potential applications in decentralized tasks. In this paper, we introduce a coordinate-free rendezvous control strategy to enable multiple robots to gather at different locations (dynamic leader robots) by tracking their h...
Article
Full-text available
Definition of an accurate system model for Automated Planner (AP) is often impractical, especially for real-world problems. Conversely, off-the-shelf planners fail to scale up and are domain dependent. These drawbacks are inherited from conventional transition systems such as Finite State Machines (FSMs) that describes the action-plan execution gen...
Conference Paper
Full-text available
We propose a novel mobile robot teleoperation interface that demonstrates the applicability of robot-aided remote telepresence system with a virtual reality (VR) device in a virtual tour scenario. To improve the realism and provide an intuitive replica of the remote environment at the user interface, we implemented a system that automatically moves...
Data
The dataset is an extensive collection of labeled high-frequency Wi-Fi Radio Signal Strength (RSS) measurements corresponding to multiple hand gestures made near a smartphone under different spatial and data traffic scenarios. We open source the software code and an Android app (Winiff) to create this dataset, which is available at Github (https://...
Article
Full-text available
A reliable wireless connection between the operator and the teleoperated unmanned ground vehicle (UGV) is critical in many urban search and rescue (USAR) missions. Unfortunately, as was seen in, for example, the Fukushima nuclear disaster, the networks available in areas where USAR missions take place are often severely limited in range and coverag...
Article
In this paper, we present a directional antenna-based leader-follower robotic relay system capable of building end-to-end communication in complicated and dynamically changing environments. The proposed system consists of multiple networked robots - one is a mobile end node and the others are leaders or followers acting as radio relays. Every follo...
Conference Paper
Full-text available
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission ris...
Preprint
Full-text available
This paper introduces Wisture, a new online machine learning solution for recognizing touch-less dynamic hand gestures on a smartphone. Wisture relies on the standard Wi-Fi Received Signal Strength (RSS) using a Long Short-Term Memory (LSTM) Recurrent Neural Network (RNN), thresholding filters and traffic induction. Unlike other Wi-Fi based gesture...
Preprint
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform reli...
Poster
Autonomous and teleoperated mobile robots require a stable wireless connectivity with the control station to exchange valuable information. Due to the nature of field robotic missions such as harsh environments and lengthy long range deployments, communication loss may happen and may compromise the mission outcomes. Such lost robots are either aban...
Poster
The Robot Operating System (ROS) is a widely accepted framework for developing and sharing robot software and hardware interfaces. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform relies on for connecting the so-called ROS nodes, presents several issues in te...
Data
This dataset contains the RSS (Radio Signal Strength) data collected with a mobile robot in two environments: indoor (KTH) and outdoor (Dortmund). RSSI metric was used to collect the RSS data in terms of dBm. The mobile robot location was recorded using its odometry (dead reckoning).
Conference Paper
Full-text available
Teleoperated Unmanned Ground Vehicles (UGVs) are expected to play an important role in future search and rescue operations. In such tasks, two factors are crucial for a successful mission completion: operator situational awareness and robust network connectivity between operator and UGV. In this paper, we address both these factors by extending a n...
Technical Report
Full-text available
A mobile robot deployed for remote inspection, surveying or rescue missions can fail due to various possibilities and can be hardware or software related. These failure scenarios necessitate manual recovery (self-rescue) of the robot from the environment. It would bring unforeseen challenges to recover the mobile robot if the environment where it w...
Article
Full-text available
The reliability of wireless communication in a network of mobile wireless robot nodes depends on the received radio signal strength (RSS). When the robot nodes are deployed in hostile environments with ionizing radiations (such as in some scientific facilities), there is a possibility that some electronic components may fail randomly (due to radiat...
Thesis
Full-text available
This thesis offers novel methods and demonstrates their use to predict energy autonomy and wireless communication range, optimize robots position to improve communication quality and enhance communication range and wireless network qualities of mobile robots for use in applications in hostile environmental characteristics such as scientific facilit...
Conference Paper
Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at sh...
Conference Paper
Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at sh...
Conference Paper
Having reliable wireless communication in a network of mobile robots is an ongoing challenge, especially when the mobile robots are given tasks in hostile or harmful environments such as radiation environments in scientific facilities, tunnels with large metallic components and complicated geometries as found at CERN. In this paper, we propose a de...
Conference Paper
Wireless teleoperation of field robots for maintenance, inspection and rescue missions is often performed in environments with low wireless connectivity, caused by signal losses from the environment and distance from the wireless transmitters. Various studies from the literature have addressed these problems with time-delay robust control systems a...
Article
Full-text available
Understanding the radio signal transmission characteristics in the environment where the telerobotic application is sought is a key part of achieving a reliable wireless communication link between a telerobot and a control station. In this paper, wireless communication requirements and a case study of a typical telerobotic application in an undergr...
Conference Paper
In hostile environments at CERN and other similar scientific facilities, having a reliable mobile robot system is essential for successful execution of robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs out of energy. Because of environmental constraints, such mobile robots are usually battery...
Thesis
Full-text available
Loss of Mobility is a common handicap to senior citizens. It denies them the ease of movement they would like to have like outdoor visits, movement in hospitals, social outgoings, but more seriously in the day to day in-house routine functions necessary for living etc. Trying to overcome this handicap by means of servant or domestic help and simple...
Thesis
Full-text available
A system generating compacted physical layouts from MOS transistor netlists has been developed. It uses a novel Genetic Algorithm for optimizing placement and routing of standard cells to simultaneously maximize diffusion sharing and minimize the wiring area. Its key features are the support for unrestricted circuit structures, transistor sizing vi...
Conference Paper
Full-text available
This proposal aims at solving one of the long prevailing problems in the Indian Railways. This simple method of continuous monitoring and assessment of the condition of the rail tracks can prevent major disasters and save precious human lives. Our method is capable of alerting the train in case of any dislocations in the track or change in strength...

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Projects

Projects (3)
Project
In this project, we focus on building a general Cooperative Heterogeneous self-adaptive and self-upgrade Multi-Agents/Robot System. This framework with corresponding distributed algorithms for communications between robots and negotiation and agreement protocols through a novel priority mechanism following Maslow’s law. It also combines individual decision level, in this part we provide the new network called "GUT" helping agent making decision and dynamically adapte the current situation. In the learning level, it will use various learning methods let individual agent self-upgrade.
Project
KTH is a partner in the EU-FP7 project TRADR. Using a proven-in-practice user-centric design methodology, TRADR develops technology for human-robot teams to assist in disaster response efforts, over multiple missions: The novel challenge is how to make experience persistent.
Archived project