Sundaram Suresh

Sundaram Suresh
Indian Institute of Science | IISC · Department of Aerospace Engineering

PhD

About

32
Publications
1,481
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17
Citations
Additional affiliations
January 2010 - October 2021
Nanyang Technological University
Position
  • Professor (Associate)

Publications

Publications (32)
Article
Learning continually from a stream of training data or tasks with an ability to learn the unseen classes using a zero-shot learning framework is gaining attention in the literature. It is referred to as continual zero-shot learning (CZSL). Existing CZSL requires clear task-boundary information during training which is not practically feasible. This...
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To ensure the safety and efficiency of its maneuvers, an Autonomous Vehicle (AV) should anticipate the future intentions of surrounding vehicles using its sensor information. If an AV can predict its surrounding vehicles' future trajectories, it can make safe and efficient manoeuvre decisions. In this paper, we present such a Deep Spatio-Temporal C...
Article
Protein secondary structure (SS) prediction is a classic problem of computational biology and is widely used in structural characterization and to infer homology. While most SS predictors have been trained on thousands of sequences, a previous approach had developed a compact model of training proteins that used a C<\b>- A<\b>lpha, C- B<\b>eta S<\b...
Article
This paper presents a coupled, neural network-aided longitudinal cruise and lateral path-tracking controller for an autonomous vehicle with model uncertainties and experiencing unknown external disturbances. Using a feedback error learning mechanism, an inverse vehicle dynamics learning scheme utilizing an adaptive Radial Basis Function (RBF) neura...
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In this paper, the problem of coordinated transportation of heavy payload by a team of UAVs in a cluttered environment is addressed. The payload is modeled as a rigid body and is assumed to track a pre-computed global flight trajectory from a start point to a goal point. Due to the presence of local dynamic obstacles in the environment, the UAVs mu...
Article
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In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flying UAV and capture it efficiently in the presence of disturbances, with minimal energy usage. It is a...
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The autonomous operation of small quadcopters moving at high speed in an unknown cluttered environment is a challenging task. Current works in the literature formulate it as a Sense-And-Avoid (SAA) problem and address it by either developing new sensing capabilities or small form-factor processors. However, the SAA, with the high-speed operation, r...
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In this paper, a novel confidence conditioned knowledge distillation (CCKD) scheme for transferring the knowledge from a teacher model to a student model is proposed. Existing state-of-the-art methods employ fixed loss functions for this purpose and ignore the different levels of information that need to be transferred for different samples. In add...
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This paper presents an online evolving neural network-based inverse dynamics learning controller for an autonomous vehicle's longitudinal and lateral control under model uncertainties and disturbances. The inverse dynamics of the vehicle are approximated using a feedback error learning mechanism that utilizes a dynamic Radial Basis Function neural...
Preprint
Methods proposed in the literature for zero-shot learning (ZSL) are typically suitable for offline learning and cannot continually learn from sequential streaming data. The sequential data comes in the form of tasks during training. Recently, a few attempts have been made to handle this issue and develop continual ZSL (CZSL) methods. However, these...
Preprint
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Prognostication of vehicle trajectories in unknown environments is intrinsically a challenging and difficult problem to solve. The behavior of such vehicles is highly influenced by surrounding traffic, road conditions, and rogue participants present in the environment. Moreover, the presence of pedestrians, traffic lights, stop signs, etc., makes i...
Preprint
Full-text available
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flying UAV and capture it efficiently in the presence of disturbances, with minimal energy usage. It is a...
Preprint
Full-text available
Grabbing a manoeuvring target using drones is a challenging problem. This paper presents the design, development, and prototyping of a novel aerial manipulator for target interception. It is a single Degree of Freedom (DoF) manipulator with passive basket-type end-effector. The proposed design is energy efficient, light weight and suitable for aeri...
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This paper provides a new solution approach to a multi-player perimeter defense game, in which the intruders' team tries to enter the territory, and a team of defenders protects the territory by capturing intruders on the perimeter of the territory. The objective of the defenders is to detect and capture the intruders before the intruders enter the...
Preprint
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Existing methods for distillation use the conventional training approach where all samples participate equally in the process and are thus highly inefficient in terms of data utilization. In this paper, a novel data-efficient approach to transfer the knowledge from a teacher model to a student model is presented. Here, the teacher model uses self-r...
Preprint
Zero-shot learning is a new paradigm to classify objects from classes that are not available at training time. Zero-shot learning (ZSL) methods have attracted considerable attention in recent years because of their ability to classify unseen/novel class examples. Most of the existing approaches on ZSL works when all the samples from seen classes ar...
Preprint
Recently, many researchers have attempted to improve deep learning-based object detection models, both in terms of accuracy and operational speeds. However, frequently, there is a trade-off between speed and accuracy of such models, which encumbers their use in practical applications such as autonomous navigation. In this paper, we explore a meta-c...
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This paper addresses the problem of restricted airspace protection from invaders using the cooperative multi-UAV system. The objective is to detect and capture the invaders cooperatively by a team of homogeneous UAVs (called evaders)before invaders enter the restricted airspace. The problem of restricted airspace protection problem is formulated as...
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With a growing interest in autonomous vehicles' operation, there is an equally increasing need for efficient anticipatory gesture recognition systems for human-vehicle interaction. Existing gesture-recognition algorithms have been primarily restricted to historical data. In this paper, we propose a novel context and gap aware pose prediction framew...
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Recently, zero-shot learning (ZSL) emerged as an exciting topic and attracted a lot of attention. ZSL aims to classify unseen classes by transferring the knowledge from seen classes to unseen classes based on the class description. Despite showing promising performance, ZSL approaches assume that the training samples from all seen classes are avail...
Preprint
In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each actuator has two control inputs; the first input changes the propeller blades collective pitch (also called vari...
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This paper formulates an application of reinforcement learning for an evader in a confinement escape problem. An evader's objective is to attempt escaping a confinement region patrolled by multiple defenders, with minimum use of energy. Meanwhile, the defenders aim to reach and capture the evader without any communication between them. The problem...
Article
This work is a preliminary investigation on target manoeuvre estimation in real-time from the available measurements of noisy position data from tracking radar using an artificial neural network (ANN). Recently, simulation study of target manoeuvre estimation in real-time from the same position alone measurement using extended Kalman filter has bee...

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