Publications

Journal articles published

  1. B. S. Cooper and R. V. Cowlagi. Multiresolution path-planning with waiting strategies in spatiotemporally-varying threat fields. PLoS ONE. Under minor revisions. [Submitted draft]
  2. R. V. Cowlagi, J. P. Sperry, and J. C. Griffin. Unmanned aerial vehicle trajectory optimization for executing  intelligent tasks. Journal of Guidance, Control, and Dynamics, in press. [Preprint draft]
  3. R. V. Cowlagi. Hierarchical trajectory optimization in hybrid dynamical systems. Automatica, 77:112–119, March 2017. [Preprint draft]
  4. R. V. Cowlagi and Z. Zhang. Route guidance for satisfying temporal logic specifications on aircraft motion. Journal of Guidance, Control, and Dynamics, 40(2):390–401, February 2017, special issue Computational Guidance & Control. [Preprint draft]
  5. R. V. Cowlagi and J. H Saleh. Coordinabilty and consistency: Application of systems theory in accident prevention and system safety. Journal of Loss Prevention in the Process Industries, 33:200–212, January 2015. [Preprint draft]
  6. R. V. Cowlagi and P. Tsiotras. Curvature-bounded traversability analysis for motion planning of mobile robots. IEEE Transactions on Robotics, 30(4):1011–1019, 2014. [Preprint draft]
  7. R. V. Cowlagi and J. H. Saleh. Coordinability and consistency in accident causation and prevention: Formal system-theoretic concepts for safety in multilevel systems. Risk Analysis, 33(3):420–433, 2013. [Preprint draft]
  8. R. V. Cowlagi and P. Tsiotras. Multi-resolution motion planning for autonomous agents via wavelet-based cell decompositions. IEEE Transactions on Systems, Man and Cybernetics: Part B – Cybernetics, 42(5):1455–1469, 2012. [Preprint draft]
  9. R. V. Cowlagi and P. Tsiotras. Hierarchical motion planning with dynamical feasibility guarantees for mobile robotic vehicles. IEEE Transactions on Robotics, 28(2):379 – 395, 2012. [Preprint draft]
  10. J. H. Saleh, K. Marais, E. Bakolas, and R. V. Cowlagi. Highlights from the literature on accident causation and system safety: Review of major ideas, recent contributions, and challenges. Reliability Engineering and System Safety, 95(11):1105–1116, 2011.

Journal articles under review

  1. B. S. Cooper and R. V. Cowlagi. Interactive planning and sensing in uncertain spatiotemporal threat fields.
  2. Z. Zhang and R. V. Cowlagi. Sampling-based algorithms for optimal motion-planning with LTL specifications. [Submitted draft]
  3. R. Du and R. V. Cowlagi. Interactive sensing and path-planning with incremental 3D path repair for a quadrotor UAV in cluttered and partially known environments. [Submitted draft]

Peer-reviewed conference papers

  1. N. Kanthasamy, R. V. Cowlagi, and A. M. Wyglinski. State Estimation for Mitigating Positioning Errors in V2V Networks Employing Dual Beamforming. Submitted to the 2018 Connected and Autonomous Vehicles Symposium, Chicago, IL,USA.
  2. N. Kanthasamy, R. Du, K. S. Gill, A. M. Wyglinski, and R. V. Cowlagi. Assessment of Positioning Errors on V2V Networks Employing Dual Beamforming. Submitted to the 2018 IEEE 88th Vehicular Technology Conference: VTC 2018-Fall, 27–30 August 2018, Chicago, USA.
  3.  B. S. Cooper and R. V. Cowlagi. Interactive planning and sensing in uncertain environments with task-driven sensor placement. To appear in Proceedings of the 2018 American Control Conference, Milwaukee, WI, USA, June 2018. [Preprint]
  4.  J. Fang, Z. Zhang, and R. V. Cowlagi. Decentralized route-planning for mobile vehicles with nonholonomic constraints to satisfy LTL specifications. Proceedings of the Guidance, Navigation, and Control Conference, AIAA SciTech 2018, Orlando, FL, USA, January 2018. [Preprint]
  5. Z. Zhang and R. V. Cowlagi. A fast sampling-based algorithm for optimal motion-planning with linear temporal logic specifications. Proceedings of the Guidance, Navigation, and Control Conference, AIAA SciTech 2018, Orlando, FL, USA, January 2018. [Preprint]
  6. R. Du and R. V. Cowlagi. Interactive sensing and path-planning with incremental 3D path repair for a quadrotor UAV in cluttered and partially known  environments. In Proceedings of the 56th IEEE Conference on Decision & Control, Melbourne, Australia, December 2017. [Preprint]
  7. Z. Zhang and R. V. Cowlagi. Motion-planning with global temporal logic specifications for multiple nonholonomic robotic vehicles. In Proceedings of the 2016 American Control Conference, Boston, MA, USA, 2016. [Preprint]
  8. R. V. Cowlagi and Z. Zhang. Motion-planning with temporal logic specifications for a nonholonomic vehicle kinematic model. In Proceedings of the 2016 American Control Conference, Boston, MA, USA, 2016. [Preprint]
  9. R. V. Cowlagi and J. P. Sperry. Unifying artificial intelligence and trajectory optimization for UAV guidance. In Proceedings of the Guidance, Navigation, and Control Conference, AIAA Scitech 2016, number AIAA-2016-0381, San Diego, CA, USA, January 4 – 8 2016.
  10. D. Cyr, P. Guarino, J. I. Hitchen, R. Morar, J. P. Sperry, R. V. Cowlagi, D.J. Olinger, and D. J. Nyren. Stabilization of helicopter sling loads with passive and active control surfaces. In Proceedings of the 54th AIAA Aerospace Sciences Meeting, AIAA SciTech 2016, number AIAA-2016-2031, San Diego, CA, USA, January 4 – 8 2016. [Preprint]
  11. R. V. Cowlagi. Hierarchical hybrid control with classical planning and trajectory optimization. In Proceedings of the 5th Conference on Analysis and Design of Hybrid Systems ADHS ’15, Atlanta, GA, USA, October 14– 16 2015.
  12. Z. Zhang and R. V. Cowlagi. Incremental path repair in hierarchical motion-planning with dynamic feasibility guarantees for mobile robotic vehicles. In Proceedings of the European Control Conference ECC’15, Linz, Austria, July 15 – 17 2015.
  13. R. V. Cowlagi. Multiresolution aircraft guidance in a spatiotemporally-varying threat field. In Proceedings of the Guidance, Navigation, and Control Conference, AIAA SciTech 2015, number AIAA 2015-1078, Kissimmee, FL, USA, January 5 – 9 2015. [Preprint]
  14. R. V. Cowlagi. Multiresolution path-planning with traversal costs based on time-varying spatial fields. In Proceedings of the 53rd IEEE Conference on Decision & Control, pages 3745–3750, Los Angeles, CA, USA, December 15–17 2014.
  15. R. V. Cowlagi and D. N. Kordonowy. Geometric abstractions of vehicle dynamical models for intelligent autonomous motion. In Proceedings of the 2014 American Control Conference, pages 4840–4845, Portland, OR., June 4 – 6 2014.
  16. J. H. Jeon, R. V. Cowlagi, S. C. Peters, S. Karaman, E. Frazzoli, P. Tsiotras, and K. Iagnemma. Optimal motion planning with the half-car dynamical model for autonomous high-speed driving. In Proceedings of the 2013 American Control Conference, Washington, DC, USA, 17 – 19 Jun 2013.
  17. R. V. Cowlagi and P. Tsiotras. Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation, pages 4003–4008, St. Paul, MN, USA, 14–18 May 2012.
  18. R. V. Cowlagi and P. Tsiotras. Multi-resolution h-cost motion planning: A new framework for hierarchical motion planning for autonomous mobile vehicles. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots & Systems IROS 2011, pages 3501–3506, San Francisco, CA, USA, 25–30 Sep 2011.
  19. R. V. Cowlagi and P. Tsiotras. Multi-resolution path planning: Theoretical analysis, efficient implementation, and extensions for dynamic environments. In Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, GA, 15 – 17 Dec 2010.
  20. R. V. Cowlagi and J. H. Saleh. Coordinability and Consistency in Accident Causation and System Safety: Towards a Formal Foundation of Safety in Sociotechnical and Multilevel Systems, pages 1836–1844. Taylor & Francis, London, United Kingdom, 2010.
  21. R. V. Cowlagi and P. Tsiotras. On the existence and synthesis of curvature-bounded paths inside nonuniform rectangular channels. In Proceedings of the 2010 American Control Conference, pages 5382 – 5387, Baltimore, MD, USA, 30 Jun – 2 Jul 2010.
  22. R. V. Cowlagi and P. Tsiotras. Kinematic feasibility guarantees in geometric path planning using history-based transition costs over cell decompositions. In Proceedings of the 2010 American Control Conference, pages 5388 – 5393, Baltimore, MD, USA, 30 Jun – 2 Jul 2010.
  23. R. V. Cowlagi and P. Tsiotras. Shortest distance problems in graphs using history-dependent transition costs with application to kinodynamic path planning. In Proceedings of the 2009 American Control Conference, pages 414 – 419, St. Louis, MO, USA, 9 – 12 Jun 2009.
  24. R. V. Cowlagi and P. Tsiotras. Multiresolution path planning with wavelets: A local replanning approach. In Proceedings of the 2008 American Control Conference, pages 1220–1225, Seattle,WA, USA, 11–13 Jun 2008.
  25. R. V. Cowlagi and P. Tsiotras. Beyond quadtrees: Cell decompositions for path planning using the wavelet transform. In Proceedings of the 46th IEEE Conference on Decision and Control, pages 1392–1397, New Orleans, LA, 12–14 Dec 2007.
  26. S. P. Bhat and R. V. Cowlagi. Semi-global practical stability of periodic time-varying systems via averaging: A Lyapunov approach. In Proceedings of the 45th IEEE Conference on Decision and Control, pages 361–365, San Diego, CA, USA, 13 – 15 Dec 2006.

Non-peer-reviewed conference papers

  1. B. S. Cooper and R. V. Cowlagi. Dynamic sensor-actor interactions for path-planning in a threat field. In Proceedings of the 1st International Conference on InfoSymbiotics / DDDAS, Hartford, CT, USA, August 2016.
  2. R. V. Cowlagi, J. T. Chambers, and N. Baltadjiev. Route-planning for real-time safety-assured autonomous aircraft. In Proceedings of the AIAA AVIATION 2016: Multidisciplinary Design Optimization, number AIAA-2016-4128,Washington, DC, June 2016. [Preprint]
  3. J. Chambers, N. Baltadjiev, and R. V. Cowlagi. Real-time safety-assured autonomous aircraft. In Proceedings of AIAA AVIATION 2016: Multidisciplinary Design Optimization, number AIAA-2016- 4129. Washington, DC, June 2016.
  4. D. N. Kordonowy, J. T. Chambers, and R. V. Cowlagi. Contingency management for condition-aware unmanned aerial vehicles. In Proceedings of the AIAA Infotech@Aerospace 2013 Conference, Boston, MA, USA, 19 – 22 Aug 2013.
  5. D. Allaire, J. Chambers, R. V. Cowlagi, D. Kordonowy, M. Lecerf, L. Mainini, F. Ulker, and K.Willcox. An Offline/Online DDDAS Capability for Self-Aware Aerospace Vehicles, volume 18, pages 1959 – 1968. Elsevier, 2013. 2013 International Conference on Computational Science.
  6. F. Alibay, V. Desaraju, R. V. Cowlagi, J. E. Duda, A. W. Johnson, and J. A. Hoffman. Multi-vehicle lunar operations simulation using SEXTANT. In Proceedings of the AIAA Space 2012 Conference & Exposition, Pasadena, CA, USA, Sep 2012.
  7. P. Tsiotras and R. V. Cowlagi. Achieving increased mobility and autonomy for ground vehicles over rough terrain. In Proceedings of the 26th Army Science Conference, Orlando, FL, USA, 6–8 Dec 2008.

Theses and dissertations

  1. R. V. Cowlagi, Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles. PhD thesis, Georgia Institute of Technology, 2011.

Major qualifying project reports