Publications

Ph.D. Thesis:

B. C. Shah. Planning for Autonomous Operation of Unmanned Surface Vehicles. Ph.D. Thesis. 2016. PDF

Journal Articles:

  • B. C. Shah, and S.K. Gupta. Long Distance Path Planning for Unmanned Surface Vehicles in Complex Marine Environments. IEEE Journal of Oceanic Engineering. (Submitted)
  • S. Shriyam, B. C. Shah, and S.K. Gupta. Decomposition of Collaborative Surveillance Tasks for Execution in Marine Environments by a Team of Unmanned Surface Vehicles. ASME Journal of Mechanisms and Robotics, 10(2):025007-7, 2018. PDF
  • B. C. Shah, P. Švec, I.R. Bertaska, W. Klinger, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S.K. Gupta. Resolution-Adaptive Risk-Aware Trajectory Planning for Surface Vehicles Operating in Congested Civilian Traffic. Autonomous Robots, 40(7): 383-405, 2016. PDF
  • I.R. Bertaska, B. C. Shah, K. von Ellenrieder, P. Svec, W. Klinger, A.J. Sinisterra, M. Dhanak, and S.K. Gupta. Experimental evaluation of automatically-generated behaviors for USV operations. Ocean Engineering, 106:496-514, 2015. PDF
  • P. Švec, A. Thakur, E. Raboin, B.C. Shah and S.K. Gupta. Target Following with Motion Prediction for Unmanned Surface Vehicle Operating in Cluttered Environments. Autonomous Robots, 36(4): 383-405, 2014. PDF

Full Paper Refereed Publications in Conferences and Workshops:

  • A. M. Kabir, B. C. Shah, and S. K. Gupta. Trajectory Planning for Manipulators Operating in Confined Workspaces. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • R. K. Malhan, A. M. Kabir, A. V. Shembekar, B. C. Shah, T. Centea, and S. K. Gupta. Hybrid Cells for Multi-Layer Prepreg Composite Sheet Layup. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • S. Thakar, L. Fang, B. C. Shah, and S. K. Gupta. Towards Time-Optimal Trajectory Planning for Pick-and-Transport Operation with a Mobile Manipulator. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, Aug 2018.
  • R. K. Malhan, A. M. Kabir, Y. Shahapurkar, B. C. Shah, and S.K. Gupta. Integrating Impedance Control and Learning Based Search Scheme for Robotic Assemblies under Uncertainty. ASME Manufacturing Science and Engineering Conference (MSEC), College Station, TX, USA, June 2018.
  • A. M. Kabir, A. V. Shembekar, R. K. Malhan, R. S. Aggarwal, J. D. Langsfeld , B. C. Shah, and S.K. Gupta. Robotic Finishing of Interior Regions of Geometrically Complex Parts. ASME Manufacturing Science and Engineering Conference (MSEC), College Station, TX, USA, June 2018.
  • R. K. Malhan, A. M. Kabir, B. C. Shah, T. Centea, and S. K. Gupta. Automated Prepreg Sheet Placement Using Collaborative Robotics. Society for the Advancement of Material and Process Engineering (SAMPE) Spring Technical Conference and Exhibition, Long Beach, California, USA, May 2018.
  • S. Shriyam, B.C. Shah, and S.K. Gupta. On-line task decomposition for collaborative surveillance of marine environment by a team of unmanned surface vehicles.
    ASME Mechanisms and Robotics Conference, Cleveland, OH, August 2017. PDF
  • B. C. Shah, and S. K. Gupta. Speeding up A* Search on Visibility Graphs Defined Over Quadtrees to Enable Long Distance Path Planning for Unmanned Surface Vehicles. International Conference on Automated Planning and Scheduling (ICAPS’ 16), London, UK, June 12 – 17, 2016. PDF
  • B. C. Shah, P. Švec, A. Thakur, and S.K. Gupta. Path Planning for Unmanned Vehicles Operating in Time-Varying Flow Fields. ICAPS 2016 Workshop on Planning and Robotics (PlanRob), London, UK, June 12 – 17, 2016. PDF
  • B. C. Shah, P. Švec, I. R. Bertaska, W. Klinger, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S. K. Gupta. Trajectory Planning with Adaptive Control Primitives for Autonomous Surface Vehicles Operating in Congested Civilian Traffic.  IEEE/RSJ  International Conference on Intelligent Robots and Systems (IROS ’14), Chicago, IL, USA, September 14-18, 2014. PDF
  • P. Švec, B.C. Shah, I.R. Bertaska, W. Klinger, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S.K. Gupta. Adaptive sampling based COLREGS-compliant obstacle avoidance for autonomous surface vehicles. ICRA 2014 Workshop on Persistent Autonomy for Marine Robotics (PAMR ’14), Hong Kong, China, June 2014. PDF
  • P. Švec, B. C. Shah, I. R. Bertaska, J. Alvarez, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S. K. Gupta. Dynamics-Aware Target Following for an Autonomous Surface Vehicle Operating under COLREGs in Civilian Traffic. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’13), Tokyo, Japan, November 3-7, 2013. PDF
  • I. B. Bertaska, J. Alvarez, A. J. Sinisterra, K. Ellenrieder, M. Dhanak, B. Shah, P. Švec, and S. K. Gupta. Experimental Evaluation of Approach Behavior for Autonomous Surface Vehicles. 6th Annual Dynamic Systems and Control Conference (DSCC ’13), Stanford University, Palo Alto, CA, USA, October 21-23, 2013. PDF
  • P. Švec, A. Thakur, B.C. Shah, and S.K. Gupta. USV trajectory planning for time varying motion goals in an environment with obstacles. ASME Mechanism and Robotics Conference, Chicago, IL, August 2012. PDF

Poster Presentations:

  • B. C. Shah and S. K. Gupta. Path Planning for Unmanned Vehicles Operating in Time-Varying Flow Fields. IEEE International Conference on Robotics and Automation (ICRA ’15), Seattle, WA, May 26-30, 2015.
  • B. C. Shah and S. K. Gupta. Resolution Adaptive Risk-Aware Trajectory Planning for Unmanned Surface Vehicles Operating in Congested Civilian Traffic. Computers and Information in Engineering Conference, Buffalo, NY, 2014.
  • B. C. Shah and S. K. Gupta. Development of Autonomy for Unmanned Surface Vehicles. Performance Metrics for Intelligent Systems (PerMIS) Workshop, College Park, MD, 2012.

Patents:

  • B. C. Shah, P. Švec, and S.K. Gupta. Surface Vehicles Trajectory Planning Systems, Devices and Methods. In Process. ONLINE