1. Randomized Methods for High-dimensional Dynamic Optimization problems
In this work, we consider randomized methods to solve dynamic optimization problems, specifically two-player, zero-sum games of large-sizes. We provide a procedure along with probabilistic guarantees for security of a player against an adversary who is employing the same randomized procedure. The procedure is applied to efficiently solve a hide-and-seek game which is known to exhibit exponential complexity. Recently, we extended the methodology and the results to dynamic games.

Related (recent) publications

C3. A. Borri, S. D. Bopardikar, J. P. Hespanha, and M. D. Di Benedetto. Hide-and-Seek with Directional Sensing. Submitted to the International Federation of Automatic Control World Congress, Milan, Italy, Aug. 2011. Note: To appear.

C2. S. D. Bopardikar, and J. P. Hespanha. Randomized Solutions for Partial-Information Dynamic Zero-Sum Games. In American Control Conference, San Francisco, CA, USA,  June 2011. [PDF]

C1. S. D. Bopardikar, A. Borri, J. P. Hespanha, M. Prandini, and M. D. Di Benedetto. Randomized Sampling for Large Zero-Sum Games. In proceedings of the 2010 IEEE Conference on Decision and Control, Atlanta, GA, USA. [PDF]
 

2. Localization via Dynamic Vehicle Routing
 In this work, we consider a dynamic environment in which events occur sequentially as per some spatio-temporal process. The goal is to determine where to locate one or many mobile vehicles so as to efficiently localize the events. Specifically, we have considered scenarios involving mobile events and recent works involve static event localization using a sparse sensor network. In these works, we design novel motion plans for the vehicles and compare their performance with respect to fundamental limits to the problem in certain parameter regimes.

Related (recent) publications

J2. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Vehicle Placement to Intercept Moving Targets, Automatica, 2011. Note: To appear. [PDF]

J1. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing for translating demands: Stability analysis and receding-horizon policies, IEEE Transactions on Automatic Control, 55(11), 2010. [PDF]

C2. J. T. Isaacs, S. D. Bopardikar, and J. P. Hespanha. Dynamic Vehicle Routing over a Sparse Sensor Network. To be presented at the INFORMS' 2011, Charlotte, USA.

C1. S. L. Smith, S. D. Bopardikar, and F. Bullo. A Dynamic Boundary Guarding problem with Translating Targets. In proceedings of the 2009 IEEE Conference on Decision and Control, Shanghai, China.

3. Motion Planning under Physical Constraints
 In this work, we consider motion planning scenarios in which one or many agents seek to achieve a certain task under various physical constraints such as sensing, motion and energy constraints. Specific examples of such a task considered in my works is pursuit of a mobile agent (evader) by a group of mobile pursuers wherein constraints such as limited range sensing and non-holonomic motion were considered, and more recently, rendezvous of multiple agents under limited energy constraints have been considered. In these works, we design novel motion plans that provide guarantees on successful completion of the task.

Related (recent) publications

C1. H. Jaleel, S. D. Bopardikar, and M. Egerstedt. Towards Power-aware Rendezvous. Submitted to the 2011 IEEE Conference on Decision and Control, Orlando, FL, USA. Note: To appear.

J2. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A cooperative Homicidal Chauffeur game. Automatica, 45(7): 1771-1777, 2009.[PDF]

J1. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. On Discrete-Time Pursuit-evasion Games with Sensing Limitations. IEEE Transactions on Robotics, 24(6): 1429-1439, 2008. [PDF]

 
4. Design of an Above-Knee Prosthetic Device

In this work, we addressed the mechanical design knee prosthetic device that could be used by above-knee amputees. There were two aspects - a novel design and prototype that incorporated certain key natural gait features that were missing in contemporary devices, and a passive control system to match the gait dynamics.

Related publication

C1. S. D. Bopardikar and B. Seth. Design of an artificial leg mechanism for above-knee amputees. In proceedings of the 12^th National Conference on Machines and Mechanisms, 16-17 December, 2005, Guwahati, India, Pages 350-356. [Extended Abstract]  

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