Sivakumar Rathinam
Texas A&M University
204 Papers
806 Citations
Sivakumar Rathinam is an academic researcher from Texas A&M University. The author has contributed to research in topics: Computer science & Travelling salesman problem. The author has an hindex of 25, co-authored 163 publications. Previous affiliations of Sivakumar Rathinam include Ames Research Center & Carnegie Mellon University.
Chat about Author
Papers
Lateral control of a convoy of vehicles with a limited preview information
Mengke Liu,Sivakumar Rathinam,Swaroop Darbha +2 more
- 19 May 2020
TL;DR: In this paper, the authors propose a method to synthesize a lateral controller by using preview GPS data from the lead and immediately preceding vehicles to construct a target trajectory for the ego vehicle to track.
1
•Posted Content
Safety of Connected Vehicle Platoons.
Vamsi Vegamoor,Sivakumar Rathinam,Swaroop Darbha +2 more
- 28 Aug 2020
TL;DR: This paper re-examines the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the lead vehicle's input and provides a sufficient condition for minimum string stable headway for platoons experiencing burst-noise packet losses.
1
Road Descriptors for Fast Global Localization on Rural Roads Using OpenStreetMap
Stephen Ninan,Sivakumar Rathinam +1 more
- 15 Sep 2023
TL;DR: This work proposes road descriptors along with an initialization technique for localization that allows for fast global pose estimation and shows that the proposed method can narrow down the pose to within 50 cm of the ground truth significantly faster than the state-of-the-art methods.
1
G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates
TL;DR: In this article , a new bounding technique called Gate* (G*) is introduced to provide optimality guarantees to the shortest path problem in the presence of obstacles, which relaxes the obstacle avoidance constraints but allows a path to travel through some restricted sets of configurations called gates, informed by the obstacles.
1
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions
Nikhil Chandak,Kenny Chour,Sivakumar Rathinam,R. Ravi +3 more
- 09 May 2022
TL;DR: This work interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to de-velop a new approach for solving a Multi-Goal Path Finding problem in high dimensional spaces with an asymptotic, 2-approximation guarantee for MGPF.