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«PERSONAL INFORMATION Year of Birth: 1983 Country of Citizenship: India Marital Status: Married EDUCATION M.S. and Ph.D., Mechanical Engineering and ...»

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SUBHRAJIT BHATTACHARYA

Postdoctoral Researcher

Department of Mathematics, University of Pennsylvania

Room 3C7, 209 South 33rd Street, Philadelphia, PA 19104.

phone: (001) 267-252-6638 • e-mail: subhrabh@math.upenn.edu • web: http://hans.math.upenn.edu/∼subhrabh/

PERSONAL INFORMATION

Year of Birth: 1983

Country of Citizenship: India

Marital Status: Married

EDUCATION

M.S. and Ph.D., Mechanical Engineering and Applied Mechanics (January 2012) University of Pennsylvania, USA.

Ph.D. dissertation title: Topological and Geometric Techniques in Graph Search-Based Robot Planning.

Ph.D. supervisors: Prof. Vijay Kumar and Prof. Maxim Likhachev.

B.Tech., Mechanical Engineering (June 2006) Indian Institute of Technology, Kharagpur, India.

ACADEMIC AND PROFESSIONAL EXPERIENCE

Postdoctoral Researcher, Department of Mathematics (February 2012 – present) University of Pennsylvania, USA.

Supervisors: Prof. Vijay Kumar and Prof. Robert Ghrist.

RESEARCH INTERESTS

Topological Motion Planning (application of topological techniques to solving problems in robot motion planning, coverage, sensor networks and control theory).

SELECTED LIST OF AWARDS

1. Best Paper Award at the seventh Robotics: Science and Systems (RSS), University of Southern California, Los Angeles. (June 2011)

2. MSC Simulation Software Award at the 2008 ASME International Design Engineering Technical Conferences (IDETC), New York City, NY. (August 2008)

3. Departmental Fellowship award for Graduate studies at the Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania. (Summer, 2006)

4. Best Paper Award (students’) at Second World Congress on Lateral Computing, 2005, Bangalore. (Dec, 2005)

PUBLICATIONS

Journal Publications

1. Rattanachai Ramaithitima, Michael Whitzer, Subhrajit Bhattacharya and Vijay Kumar, “Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots”, IEEE Robotics and Automation Letters (RA-L), [Accepted. To appear.]

2. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, “Persistent Homology for Path Planning in Uncertain Environments”, IEEE Transactions on Robotics (T-RO), 31(3):578-590, April, 2015. DOI: 10.1109/TRO.2015.2412051.

3. Subhrajit Bhattacharya, Soonkyum Kim, Hordur Heidarsson, Gaurav Sukhatme and Vijay Kumar, “A Topolog- ical Approach to using cables to separate and manipulate sets of objects”, International Journal of Robotics Research (IJRR), 34(6):799–815, April, 2015. DOI: 10.1177/0278364914562236.

1 SUBHRAJIT BHATTACHARYA JANUARY 20, 2016

4. Subhrajit Bhattacharya and Mihail Pivtoraiko, “A Classification of Configuration Spaces of Planar Robot Arms for a Continuous Inverse Kinematics Problem”, Acta Applicandae Mathematicae, 139(1):133-166, October 2015, Springer Netherlands. DOI: 10.1007/s10440-014-9973-1.

5. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, “Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary”. International Journal of Robotics Research (IJRR), 33(1):113-137, October 2013, SAGE Publishers. DOI: 10.1177/0278364913507324.

6. Subhrajit Bhattacharya, David Lipsky, Robert Ghrist and Vijay Kumar, “Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics”, Annals of Mathematics and Artificial Intelligence (AMAI), 67(3-4):251-281, March 2013, Springer. DOI: 10.1007/s10472-013-9357-7.

7. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, “Topological Constraints in Search-based Robot Path Planning”, Autonomous Robots, 33(3):273-290, October 2012, Springer Netherlands. DOI: 10.1007/s10514Subhrajit Bhattacharya, Siddharth Talapatra, “Robot Motion Planning Using Neural Networks: A Modified Theory”, International Journal of Lateral Computing, Vol.2, No.1, December 2005, ISSN 0973-208X, 9-13.

Peer-reviewed Conference Publications

1. Rattanachai Ramaithitima, Michael Whitzer, Subhrajit Bhattacharya and Vijay Kumar, “Automated Creation of Topological Maps in Unknown Environments Using a Swarm of Resource-Constrained Robots”, In Proceedings

of IEEE International Conference on Robotics and Automation (ICRA), May 2016. [Acceptance rate for 2014:

34.7% (818 papers out of 2357 submissions)] [Accepted. To appear.]

2. Subhrajit Bhattacharya and Robert Ghrist, “Path Homotopy Invariants and their Application to Optimal Trajectory Planning”, In Proceedings of IMA Conference on Mathematics of Robotics (IMAMR), St Anne’s College, University of Oxford, September 9-11, 2015.

3. Rattanachai Ramaithitima, Mickey Whitzer, Subhrajit Bhattacharya and Vijay Kumar, “Sensor Coverage of Unknown Environments by Robot Swarms Using Limited Local Sensing”, In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May 2015. [Acceptance rate for 2014: 41% (933 papers out of 2275 submissions)]

4. Vijay Govindarajan, Subhrajit Bhattacharya and Vijay Kumar, “Human-Robot Collaborative Topological Exploration for Search and Rescue Applications”, In International Symposium on Distributed Autonomous Robotic Systems (DARS), November 2014. [Nominated for Best Paper Award.]





5. Chanyoung Jun, Subhrajit Bhattacharya and Robert Ghrist, “Pursuit-Evasion Game for Normal Distributions”, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2014. [Acceptance rate for 2014: 47% (755 papers out of 1616 submissions)]

6. Soonkyum Kim, Subhrajit Bhattacharya and Vijay Kumar, “Path Planning for a Tethered Mobile Robot”, In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May 2014. [Acceptance rate for 2014: 48% (1001 papers out of 2085 submissions)]

7. Soonkyum Kim, Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, “Topological Exploration of Unknown and Partially Known Environments”, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Tokyo, Japan, November 3-7, 2013. [Acceptance rate for 2013: 43% (903 papers out of 2089 submissions)]

8. Soonkyum Kim, Subhrajit Bhattacharya and Vijay Kumar, “Dynamic Simulation of Autonomous Boats for Cooperative Skimming and Cleanup”, In Proceedings of the ASME 2013 International Design Engineering Technical Conferences (IDETC), Portland, USA, August 4-7, 2013.

9. Soonkyum Kim, Subhrajit Bhattacharya, Hordur Heidarsson, Gaurav Sukhatme and Vijay Kumar, “A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects”. In Proceedings of the Robotics:

Science and System (RSS), Syndey, Australia, June 24-28, 2013. [Acceptance rate for 2013: 30% (55 papers out of 183 submissions)] 2 SUBHRAJIT BHATTACHARYA JANUARY 20, 2016

10. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar, “Optimal Trajectory Generation Under Homology Class Constraints”, In 51st IEEE Conference on Decision and Control. 10-13 Dec., 2012.

11. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar, “Trajectory Planning for Systems with Homotopy Class Constraints”. In 13th International Symposium on Advances in Robot Kinematics (ARK), Innsbruck, Austria, June 2012, Springer, Netherlands, pages 83-90.

12. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, “Multi-Robot Coverage and Exploration in NonEuclidean Metric Spaces”, In Proceedings of The Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR). 13-15 June, 2012.

13. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, “Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D” (Original title: Identifying Homotopy Classes of Trajectories for Robot Exploration and Path Planning) [Winner of Best Paper Award], In Proceedings of Robotics: Science and Systems. 27-30 June, 2011. [Acceptance rate for 2011: 25% (45 papers out of 183 submissions)]

14. Subhrajit Bhattacharya, Hordur Heidarsson, Gaurav S. Sukhatme and Vijay Kumar, “Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup”, In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 9-13 May, 2011. [Acceptance rate for 2011: 49% (982 papers out of 2004 submissions)]

15. Subhrajit Bhattacharya, Nathan Michael and Vijay Kumar, “Distributed Coverage and Exploration in Unknown Non-Convex Environments”, In Proceedings of 10th International Symposium on Distributed Autonomous Robotics Systems. 1-3 Nov 2010, Springer.

16. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, “Search-based Path Planning with Homotopy Class Constraints”, In Proceedings of The Third Annual Symposium on Combinatorial Search, [non-archival].

Atlanta, Georgia, 8-10 July, 2010.

17. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, “Search-based Path Planning with Homotopy Class Constraints”. In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, 11-15 July, 2010.

18. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, “Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning”. In Proceedings of Robotics: Science and Systems.

Zaragoza, Spain, 27-30 June 2010, MIT Press. [Acceptance rate for 2010: 25% (39 papers out of 154 submissions)]

19. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, “Multi-agent Path Planning with Multiple Tasks and Distance Constraints”. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May 2010. [Acceptance rate for 2010: 41% (847 papers out of 2062 submissions)]

20. Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev and Daniel D.

Lee, “Search-based planning for a legged robot over rough terrain”. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pages 2380-2387, 12-17 May 2009. [Acceptance rate for 2009: 43% (699 papers out of 1624 submissions)]

21. Subhrajit Bhattacharya, Sachin Chitta, Vijay Kumar and Daniel Lee, “Optimization of a Planer Quadruped Dynamic Leap” [Winner of MSC Simulation Software Award], In Proceedings of 2008 ASME International Design Engineering Technical Conferences (IDETC), New York City, NY, 3-6 August, 2008.

22. Subhrajit Bhattacharya, “A Study on Effect of Stiffener Geometry on the Modal Frequencies of a Rotating Disk with Radial Stiffeners using FEM and Analytical Methods”, Proceedings of Ninth International Conference on Recent Advances in Structural Dynamics, University of Southampton on July 2006.

–  –  –

Selected Preprints and Articles Under Review

1. Subhrajit Bhattacharya, “A General Continuous Inverse Kinematics Algorithm for a Planar Robot Arm”, Electronic Pre-print, September, 2013-14. [Complete publication in Acta Applicandae Mathematicae, September 2014, Springer Netherlands.]

2. Subhrajit Bhattacharya and Mihail Pivtoraiko, “A Classification of Configuration Spaces of Planar Robot Arms with Application to a Continuous Inverse Kinematics Problem”, Electronic preprint, September 2013.

arXiv:1309.7960 [math.DG].

3. Subhrajit Bhattacharya, David Lipsky, Robert Ghrist and Vijay Kumar, “Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics”, Electronic preprint, Aug 2012, arXiv:1208.0573 [math.AT].

4. Subhrajit Bhattacharya, Robert Ghrist and Vijay Kumar, “Relationship Between Gradient of Distance Functions and Tangents to Geodesics”, Electronic preprint, 2012. [Complete publication in International Journal of Robotics Research (IJRR), 33(1):113-137, October 2013, SAGE Publishers.]

TEACHING EXPERIENCEInstructor

1. Math 114: Calculus II; Spring 2016.

2. Math 170: Ideas in Mathematics; Fall 2015. Instructor. Description: Undergraduate-level course on topics in mathematics including sets theory, logic, topology, graph theory, geometry, and their applications.

3. Math 170: Ideas in Mathematics; Fall 2014. Instructor.

4. MEAM 899: Introduction to Topology and Differential Geometry for Application to Robotics; Fall 2014. Instructor. Description: Graduate-level independent study for first and second year graduate students pursuing research in Robotics.

5. Engineering Pre-freshman Program on Mathematics; Summer 2014. Co-instructed with Dr. Robert Ghrist and Dr. Vidit Nanda. Description: Math 103 level undergraduate calculus course for incoming first year undergraduate students.

6. MEAM 899: Independent study on Topics in Robotics; Fall 2012. Co-instructed with Dr. Koushil Sreenath and Steven Gray. Description: Graduate-level independent study for first and second year graduate students pursuing research in Robotics. Was responsible for lectures on “Configuration Spaces and Topology”.

Teaching Assistant 1. “Calculus: Single Variable”; Summer 2014. Coursera massive open online course (MOOC) instructed by Prof.

Robert Ghrist.

2. “Calculus: Single Variable”; Spring 2014. Coursera massive open online course (MOOC) instructed by Prof.

Robert Ghrist.

3. MEAM 535: Advanced Dynamics; Fall 2010. Graduate level course instructed by Prof. Vijay Kumar and Prof.

Michael A. Carchidi.

4. CSE 390: Robotics and Automation; Fall 2008. Graduate & undergraduate level course instructed by Prof.

Jonathan Fiene and Prof. Jianbo Shi.

5. MEAM 211: Engineering Mechanics: Dynamics; Spring 2008. Undergraduate level course instructed by Prof.

Michael A. Carchidi and Prof. Jonathan Fiene.

–  –  –

Students Supervised/Assisted

1. Spring 2014 – present, University of Pennsylvania: Helped two graduate students in research projects related to coverage and exploration using robot swarms, and a project involving formation control for aerial vehicles.



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