Research publications

Learning-based planning of autonomous systems

• Decoupled data-based approach for learning to control nonlinear dynamical systems, R. Wang, Karthikeya S Parunandi , D. Yu, D. Kalathil, S. Chakravorty, published in IEEE Transactions on Automatic Control, 2022
• On the Search for Feedback in Reinforcement Learning, R. Wang, Karthikeya S. Parunandi, A. Sharma, R. Goyal and S. Chakravorty, published in 60th IEEE Conference on Decision and Control (CDC), 2021
• D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR, Karthikeya S Parunandi, Aayushman Sharma, Suman Chakravorty, Dileep Kalathil, arXiv pre-print, 2020

Model-based planning of autonomous systems

• T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach, K. S. Parunandi and S. Chakravorty, published both in IEEE Robotics and Automation Letters and the proceedings of IEEE/RSJ IROS, 2019, Macau, China

Robust pose-graph SLAM of mobile robots

• Robust Pose-Graph SLAM Using Absolute Orientation Sensing , S. Agarwal, K. S. Parunandi and S. Chakravorty, published both in IEEE Robotics and Automation Letters and the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada

Technical Reports

• Perturbation Feedback Approaches in Stochastic Optimal Control (Master’s thesis)
• Autonomous Quadcopters for Smart Surveillance (Bachelor’s thesis)