Recent Visitors

Dr. Arvind Raman, Purdue University

Dr. Sachin Goyal, Mechanical Engineering, University of Michigan

Prof. Brian Mann, Mechanical & Aerospace Engineering, University of Missouri

Robert J. Webster III, Ph.D. Candidate in Mechanical Engineering, Johns Hopkins University

Prof. Scott David Kelly, Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign

Dr. S. C Saxena, Director, IIT Roorkee

Jan 2007-Professor Devendra P. Garg honored in New Delhi, India, by being presented the Hind Rattan (Jewel of India)
Award by the Non-Resident Indians (NRI) Welfare Society of India.

Oct 2006 - Acquired 8 Khepera II robots from K-team corp.

Fall 2006 - Abhishek receives his MS degree in Mechanical Engineering

Fall 2005 - Abhishek joins the RAMA Lab as a MS student and Research assistant

Jan 2005 - Brian Dieckmann joins the RAMA Lab as Pratt Undergraduate Fellow

Nov 2004 - Dr. Manish Kumar presented three jointly coauthored research papers at the 2004 IMECE in Anaheim, CA

Nov 2004 - Dr. Manish Kumar joined the RAMA Lab as a Post doctoral Associate

Oct 2004 - Dr. Garg received the Scientific Research and Leadership Award at the 2004 Heritage India Festival

Sept 2004 - Dr. Garg delivered invited lectures on robotics at the Indian Institute of Technology/Roorkee and Indian Institute of Technology/ Delhi, India

Aug 2004 - Ram Parimi recieved his M.S. degree in Mechanical Engineering

July 2004 - Paul Nesline is the new webmaster for the RAMA LAB

June 2004 - Dr. Prem Vrat, Director of Indian Institute of Technology Roorkee visits the lab

June 2004 - Dr. Masayoshi Tomizuka, Director of the Dynamic Systems and Control Program at NSF visits the lab

Summer 2004 - Nsi Obotetukudo from Case Western Reserve University joined the RAMA Lab for 10 weeks under the NSF/REU Program

Summer 2004 - Adam Schmelzer joined the RAMA Lab as Research Assistant

May 2004 - Manish Kumar received his Ph.D. degree in Mechanical Engineering

May 2004 - Congratulations to Brian Schaaf and Chris Dillenbeck on their graduation with BSE degrees

April 2004 - William Chandler Salinger joins the lab as an Intern for four weeks

April 2004 - Ram Parami presented "Intelligent Control for Mobile Robot Navigation" in the Graduate Seminar Series

Publications
Research conducted at Duke University's RAMA Lab has been extensively discussed at prestigious conferences and published in national and worldwide scientific research journals. The following publications describe the work done in the recent past.

 

Young, R. and Garg, D.: Potential Function Control of Distributed Multi-agent Systems, Submitted for publication in the Journal of Robotics, March 2011.

Fricke, G., Rogers, B., and Garg, D.: On the Stability ofSwarm Consensus Under Noisy Control, Submitted to the ASME Dynamic Systems and Control Conference 2011.

Rogers, B., Fricke, G., and Garg, D.: Aggregation and Rendezvous in an Unbounded Domain without a Shared Coordinate System, Submitted to the IEEE Conference on Decision and Control 2011.

Young, R., and Garg, D.: Modeling, Simulation, and Characterization of Distributed Multi-Agent Systems, Proceedings of the 2nd International Multi-Conference on Complexity, Informatics, and Cybernetics (IMCIC 2011), March 27-30, 2011, Orlando, FL.

Zhang, G., Fricke, G., and Garg, D.: Spill Detection and Perimeter Surveillance via Distributed Swarming Agents, Accepted for publication in the IEEE/ASME Transactions on Mechatronics, December 2010.

Milutinovic, D. and Garg, D.: Kalman Smoother Based Force Localization and Mapping Using Intravital Video Microscopy, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Series G, Vol. 132, No.6, November 2010, pp. 061503-1 to 061503-8.

Fricke, G., Caccavale, A. and Garg, D.: Mobile Sensor Frame Mapping via Vision and Laser Scan Matching, Proceedings of the 3rd International Symposium on Resilient Control Systems, Idaho Falls, ID, August 10-12, 2010, pp. 43-46.

Milutinovic, D. and Garg, D.: Parameters and Driving Force Estimation of Cell Motility via Expectation-Maximization (EM) Approach, Paper Number DSCC2010-4152, Proceedings of the 2010 Dynamic Systems and Control Conference, Boston, MA, September 13-15, 2010.

Zhang, G., Garg, D., and Fricke, G: Hazardous Spill Perimeter Detection and Monitoring via Multiple Autonomous Mobile Robotic Agents, Paper Number DSCC2010- 4160, Proceedings of the 2010 Dynamic System and Control Conference, Boston, MA, September, 13-15, 2010.

Fricke, G., Zhang, G., Caccavale, A., Li, W., and Garg, D.: An Intelligent Sensing Network of Distributed Swarming Agents for Perimeter Detection and Surveillance, Paper Number DSCC2010- 4256, Proceedings of the 2010 Dynamic Systems and Control Conference, Boston, MA, September 13-15, 2010.

Milutinovic, D. and Garg, D.: A Sampling Approach to Modeling and Control of a Large-Size Robot Population, Paper Number DSCC2010-4121, Proceedings of the 2010 Dynamic Systems and Control Conference, Boston, MA, September 13-15, 2010.

Fricke, G. and Garg, D.: Discrimination and Tracking of Individual Agents in a Swarm of Robots, Proceedings of the 2010 American Control Conference, Baltimore, MD, June 30-July 02, 2010, pp. 2742 – 2747.

Kumar, M., Garg, D., and Kumar, V.: Segregation of Heterogeneous Units in a Swarm of Robotic Agents, IEEE Transactions on Automatic Control, Vol. 55, No.3, March 2010, pp.743-748.

Fricke, G., Milutinovic, D., and Garg, D.: Robotic Pose Estimation via an Adaptive Kalman Filter Using State-Varying Noise, Proceedings of 14th IASTED International Conference on Robotics and Applications, Boston, MA, November 2-4, 2009, pp. 289-295.

Fricke, G., Garg, D., and Milutinovic, D.: Sensing and Estimation on a Modular Testbed for Swarm Robotics, Paper Number DSCC2009-2723, Proceedings of the 2009 Dynamic Systems and Control Conference, Hollywood, CA, October 12-14, 2009.

Milutinovic, D. and Garg, D.: Force Localization and Mapping from Intravital Video Microscopy, Proceedings of the CMPI Symposium on Multi-Scale Modeling of Host/Pathogen Interactions, Pittsburgh, PA, June 23-25, 2009.

Kumar, M., and Garg, D.: Intelligent Sensor Uncertainty Modeling Techniques and Data Fusion, Paper No. 201-1879, International Journal of Control and Intelligent Systems, Vol. 37, No.2, 2009, pp. 67-77.

Zhang, G., and Garg, D.: Mobile Multi-Robot Control in Target Search and Retrieval, Paper Number DSCC2008-2196, Proceedings of the 2008 Dynamic Systems and Control Conference, Ann Arbor, MI, Oct.20-22, 2008, 7p.

Garg, D., and Kumar, M.: Grasping, Manipulation, and Sensing in a Cooperatively Controlled Robotic Manufacturing Workcell, Paper Number ISFA2008 U_112, Proceedings of the 2008 International Symposium on Flexible Automation, Atlanta, GA, June 23-26, 2008, 8p.

Kumar, M., Garg, D., and Kumar, V.: Self-sorting in a Swarm of Heterogeneous Agents, Proceedings of the 2008 American Control Conference, 2008, pp. 117-122.

Kumar, M., Milutinovic, D., and Garg, D.: Role of Stochasticity in Self-Organization of Robotic Swarms, Proceedings of the 2008 American Control Conference, 2008, pp. 123-128.

Milutinovic, D., Kumar, M., and Garg, D.: Stochasticity as a Driving Force in Self-Organization of Robotic Swarms, submitted to IEEE Transactions on Robotics, 2007, 9p.

Garg, D. and Kumar, M.: Neural Controllers, Wiley Encyclopedia of Computer Science and Engineering, (Benjamin Wah, Editor), John Wiley & Sons, Hoboken, N.J., 2008, 11p.

Kumar, M., Garg, D., and Zachery, R.: A Method for Judicious Fusion of Inconsistent Multiple Sensor Data, IEEE Sensors Journal, Vol. 7, No.5, May 2007, pp. 723-733.

Kumar, M., Garg, D., and Zachery, R.: Multiple Mobile Agent Control via Artificial Potential Functions and Random Motion, Paper number IMECE2007- 41521, Proceedings of the 2007 ASME International Mechanical Engineering Congress and Exposition, Seattle, WA, November 10 -16, 2007.


Kumar, M., Garg, D., and Zachery, R.: A Judicious Fusion of Inconsistent Multiple Sensor Data, Accepted to appear in IEEE Transactions on Sensors, 2006, 26p.

Abhishek, A., Kumar, M., and Garg, D.: Grasp Planning for a Two-Fingered Parallel-Jawed Gripper, Paper Number IMECE2006-14654, to appear in the Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Chicago, IL,
November 5 -10, 2006, 9p.

Abhishek, A., Kumar, M., and Garg, D.: Petrinet-Based Modeling and Control of Flexible Manufacturing Systems, Paper Number IMECE2006-14678, to appear in the Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Chicago, IL, November 5 -10, 2006, 9p.

Kumar, M., Garg, D., and Zachery, R.: A Generalized Approach for Inconsistency Detection in Data Fusion from Multiple Sensors, Paper Number WeC20.5, Proceedings of the American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 2078-2083.

Kumar, M., Garg, D., and Zachery, R.: Stochastic Adaptive Sensor modeling and Data Fusion, Paper Number 6174-10, Proceedings of the SPIE Conference on Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, San Diego, California, 26 February – 2 March, 2006, pp. 61740C-1 to 61740C-11.

Garg, D. and Kumar, M.: Neural Controllers, to appear in the Wiley Encyclopedia of Computer Science and Engineering, (Benjamin Wah, Editor), John Wiley & Sons, Hoboken, N.J.,
2006, 10p.

Garg, D. and Anderson, G.: Damping in Smart Structures via Carbon Nanotubes and Other Innovative Technologies, Proceedings of the CANSMART Workshop, Toronto, Canada, October 13-14, 2005, pp. 91-100.

Kumar, M., Garg, D., and Zachery, R.: Multi-Sensor Fusion Strategy to Obtain 3-D Occupancy Profile, Proceeding of the 31st Annual Conference of the IEEE Industrial Electronics, Raleigh, NC, November 6-10, 2005, pp. 2083-2088.

Kumar, M. and Garg, D.: Neuro-Fuzzy Controller Applied to Multiple Robot Cooperative Control, International Journal of Industrial Robot, Vol. 32, No. 3, 2005, pp. 234-239.

Kumar, M., Garg, D. and Zachery, R: Intelligent Sensor Modeling and Data Fusion via Neural Network and Maximum Likelihood Estimation, Paper Number IMECE2005-80972, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Orlando, FL, November 5-11, 2005, 10p.

Kumar, M. and Garg, D.: Sensor-Based Estimation and Control of Forces and Moments in Multiple Cooperative Robots, Journal of Dynamic Systems, Measurement, & Control, Transactions of the ASME, Vol. 26, Issue 2, June 2004, pp. 776-783.

Kumar, M. and Garg, D.: Intelligent Multi-Sensor Fusion Techniques in Flexible Manufacturing, Proceedings of the American Control Conference, Boston, MA, June 30-July 2, 2004, pp. 5375-5380.

Jain, P., Garg, D., and Kumar, M.: Universal Access to Multi-Robotic Workcell via World Wide Web, Paper Number UL_025, Proceedings of the 2004 Japan-USA Symposium on Flexible Automation, Denver, CO, July 19-21, 2004, 7p.

Kumar, M. and Garg, D.: Intelligent Learning and Fuzzy Logic Controllers via Neural Network and Genetic Algorithm, Paper Number UL_029, Proceedings of the 2004 Japan-USA Symposium on Flexible Automation, Denver, CO, July 19-21, 2004, 8p.

Parimi, V. and Garg, D.: Neuro-Fuzzy Logic Control and Markov Decision Process Based Approach for Mobile Robot Navigation, Proceedings of the 7th International Motion and Vibration Conference (MOVIC-04), St. Louis, MO, August 8-11, 2004, 8p.

Kumar, M. and Garg, D.: Three-Dimensional Occupancy Grid with the Use of Vision and Proximity Sensors in a Robotic Workcell, Paper Number IMECE2004-59593, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 14-19, 2004, 8p.

Parimi, V. and Garg, D.: Genetic Q-Fuzzy Based Intelligent Control for Mobile Robot Navigation, Paper Number IMECE2004-60502, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 14-19, 2004, 8p.

Kumar, M. and Garg, D.: Neural-Network-Based Intelligent Learning and Optimization of Fuzzy Logic Controller Parameters, Paper Number IMECE2004-59589, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 14-19, 2004, 8p.

Garg, D. and Kumar, M.: Object Classification Via Stereo Vision Sensing in a Flexible Manufacturing Work Cell, Paper No. M2VIP-034, Proceedings of the 10th IEEE International Conference on Mechatronics and Machine Vision in Practice, Perth, Western Australia, December 9-11, 2003, 11p.

Garg, D. and Gulati, N.: Component Assemblies in a Flexible Workcell via Intelligent Control, Paper No. IMECE2003-42206, Proceedings of the 2003 ASME International Mechanical Engineering Congress & Exposition, Washington, DC, November 16-21, 2003, 8p.

Parami, V., Jain, P. and Garg, D.: Fuzzy Logic Control of a Magnetic Levitation System, Paper No. IMECE2003-43162, Proceedings of the 2003 ASME International Mechanical Engineering Congress & Exposition, Washington, DC, November 16-21, 2003, 6p.

Garg, D. and Kumar, M.: Multiple Cooperating Robot Dynamics and Fuzzy Logic Control for Internal Force Minimization, Paper No. DETC2003/VIB-48508, Proceedings of the 19th ASME Biennial Conference on Mechanical Vibration & Noise, International Design Engineering Technical Conferences & Computers, Chicago, IL, September 2-6, 2003, 8p.

Garg, D. and Kumar, M.: Fuzzy Logic Based Control of Multiple Manipulators in a Flexible Work Cell, Paper No. ISIC03-0232, Proceedings of the International Symposium on Intelligent Control, Houston, TX, October 5-8, 2003, pp. 399-404.

Garg, D. and Kumar, M.: Optimization Techniques Applied to Multiple Manipulators for Path Planning and Torque Minimization, Journal for Engineering Applications of Artificial Intelligence, Vol. 15, 2002, pp. 241-252.

Garg, D. and Kumar, M.: Mulit-Sensor Fusion in a Flexible Workcell Environment, in Mechatronics and Machine Vision: 2002: Current Practice (R. Bradbeer and J. Billingsley, Editors), Research Studies Press, Baldock, England, September 2002, pp. 87-95.

Garg D., Fath, A. and Martinez, A.: Real-Time Open-Platform-Based Control of Cooperating Industrial Robotic Manipulators, Proceedings of the IEEE International Symposium on Intelligent Control, Vancouver, BC, Canada, October 27-30, 2002, pp. 428-433.

Garg, D. and Gulati, N.: Neural Network Based Intelligent Control and PID Control of a Magnetically Levitated System, Paper Number IMECE2002-32075, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, November 17-22, 2002, 8p.

Garg, D. and Jain, P.: Fuzzy Logic Based Control and Optimal Control of a Rotary Inverted Pendulum System, Paper Number IMECE2002-33449, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, November 17-22, 2002, 6p.

Garg, D. and Gulati, N.: Influence of Model Inaccuracies on the Prediction of Dynamic System Performance, Paper Number IMECE2002-32565, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, November 17-22, 2002, 8p.

Garg, D. and Kumar, M.: Camera Calibration and Sensor Fusion in an Automated Flexible Manufacturing Multi-Robot Work Cell, Proceedings of the American Control Conference, Anchorage, Alaska, May 8-10, 2002, 6p.

Garg, D. and Gulati, N.:Temporal Difference Approach to Coordinated Motion Control of Cooperating two Link Robots, Paper Number IMECE2002-33128, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, November 17-22, 2002, 8p.

Garg, D. and Kumar, M.: Genetic Algorithm Based PD Control and Fuzzy Logic Control of a Two Link Robot, Paper Number IMECE2002-33433, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New Orleans, LA, November 17-22, 2002, 8p.

Garg, D. and Kumar, M.: Multi-Sensor Fusion in a Flexible Workcell Environment, Proceedings of the 9th IEEE International Conference on Mechatronics and Machine Vision in Practice, Chang Mai, Thailand, September 10-12, 2002, pp. 142-151.

Garg, D. and Kumar, M.: Optimal Path Planning and Energy Minimization via Genetic Algorithm Applied to Cooperating Robotic Manipulators, Proceedings of the ASME IMECE, Paper No. DSC - 24509, New York, November 11-16, 2001, 9p.

Garg, D. and Poppe, C.: Coordinated Robots in a Flexible Workcell, Proceedings of the IEEE/ASME Conference on Advanced Intelligent Mechatronics, Como, Italy, July 8-12, 2001, pp. 648-653.

Nagchaudhuri, A. and Garg, D.: Adaptive Control and Impedance Control for Dual Robotic Arms Manipulating a Common Heavy Load, Proceedings of the IEEE/ASME Conference on Advanced Intelligent Mechatronics, Como, Italy, July 8-12, 2001, pp. 683-688.

Garg, D.: Research Advances in Intelligent Machines, Chapter IV in Intelligent Machines: Myths and Realities (Clarence de Silva, Editor), CRC Press, Boca Raton, FL, 2000, pp. 111-138.

Garg, D.: Coordinated Control of Multiple Robots, Proceedings of the Japan-USA-Vietnam Workshop on Research and Education in Systems, Computation, and Control Engineering, Ho Chi Minh City, Vietnam, June 2000, pp. 69-84.

Garg, D., Ananthraman, S. and Prabhu, S.: Neural Network Applications, Wiley Encyclopedia of Electrical and Electronic Engineers, (John G. Webster, Editor), Vol. 14, John Wiley, New York, NY, 1999, pp. 255-265.

Prabhu, S. and Garg, D.: Design of a Fuzzy Logic Based Robotics Admittance Controller, Internationial Journal of Intelligent Automation and Soft Computing, Vol. 4, No. 2, 1998, pp. 175-189.

Garg, D.: Developments in Nonlinear Control System Synthesis Research, ASME/DSCD Special Publication, No, DSC-64, November, 1998, pp.519-530.

Prabhu, S. and Garg, D.: Artificial Neural Network Based Robot Control: An Overview, Journal of Intelligent and Robotic Systems, Vol. 15, No. 4, April 1996, pp. 333-365.

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Any questions about Duke Robotics? Email Abhishek