skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

Explore Research Products in the PAR
It may take a few hours for recently added research products to appear in PAR search results.


  • Home
  • Search Results
  • Page 1 of 1

Search for: All records

Creators/Authors contains: "Bhatnagar, Shriya"

Note: When clicking on a Digital Object Identifier (DOI) number, you will be taken to an external site maintained by the publisher. Some full text articles may not yet be available without a charge during the embargo (administrative interval).
What is a DOI Number?

Some links on this page may take you to non-federal websites. Their policies may differ from this site.

  1. ; ; ; (, Reshaping Particle Configurations by Collisions with Rigid Objects)
    This paper investigates motion planning for one or more robot(s) that attempt to harvest agents from a moving swarm. Generating motion paths that maximize the number of agents harvested differs from many traditional coverage problems because the agents move. This movement allows previously cleared areas to become recontaminated. We assume that the swarm agents prefer certain regions over others, and that we can represent the swarm by a Markov Process that encodes the agents' preferred regions and their speed of motion. We exploit this model to design and simulate robotic coverage paths that maximize the number of agents harvested by a fleet of robots in a given time budget. 
    more » « less
    Full Text Available 
  2. ; ; ; ; ; (, 2018 IEEE International Conference on Robotics and Automation (ICRA))
    This paper introduces techniques for mosquito population surveys in the field using electrified screens (bug zappers) mounted to a UAV. Instrumentation on the UAV logs the UAV path and the GPS location, altitude, and time of each mosquito elimination. Hardware experiments with a UAV equipped with an electrified screen provide real-time measurements of (former) mosquito locations and mosquito-free volumes. Planning a trajectory for the UAV that maximizes the number of mosquito kills is related to the Traveling Salesman Problem, the Lawn Mower Problem and, most closely, Milling with Turn Cost. We reduce this problem to considering variants of covering a grid graph with minimum turn cost, corresponding to optimized energy consumption. We describe an exact method based on Integer Programming that is able to compute provably optimal instances with over 1,500 pixels. These solutions are then implemented on the UAV. 
    more » « less
    Full Text Available