University of Connecticut University of UC Title Fallback Connecticut

Publications

Book Chapters

  • H. Ravichandar, A. P. Dani, “Intention Inference for Human-Robot Collaboration in Assistive Robotics” in Human Modeling for Bio-Inspired Robotics: Mechanical Engineering in Assistive Technologies, Editors: Jun Ueda and Yuichi Kurita, 2016.
  • A.P. Dani and W. E. Dixon, “Single Camera Structure and Motion Estimation” in Visual Servoing via Advanced Numerical Methods, Edited by G. Chesi and K. Hashimoto, Springer, Lecture Notes in Control and Information Sciences Volume 401, 2010, pp. 209-229.
  • A. P. Dani, Z. Kan, N. Fischer, and W. E. Dixon, “Real-time Structure and Motion Estimation in Dynamic Scenes using a Single Camera” in Robotic Vision: Technologies for Machine Learning and Vision Applications, Edited by Jose Garcia and Miguel Cazorla, IGI Global Publication, 2013.

Journal Papers (Peer Reviewed)

  • H. Ravichandar, A. P. Dani, “Human Intention Inference using E-M algorithm with Online Learning”, IEEE Transactions on Automation Science and Engineering, vol. 14, no. 2, pp. 855-868, April 2017.
  • G. Yao, A. P. Dani, “Gyro-aided Visual Tracking Using Iterative Earth Mover’s Distance”, IEEE Aerospace and Electronic Systems Magazine, 2017, accepted.
  • D. Chwa, A.P. Dani, and W. E. Dixon, “Range and Motion Estimation of a Monocular Camera Using Static and Moving Objects”, IEEE Transactions on Control Systems Technology, vol. 24, no. 4, pp 1174-1183, 2016, DOI: 10.1109/TCST.2015.2508001.
  • A.P. Dani, S.-J. Chung, S. Hutchinson, “Observer for Stochastic Nonlinear Systems via Contraction-Based Incremental Stability”, IEEE Transactions on Automatic Control, vol. 60, no. 3, pp. 700-714, 2015.
  • J. Yang, A. P. Dani, S.-J. Chung, S. Hutchinson, “Vision-based Localization and Robot-Centric Mapping in Riverine Environments”, Journal of Field Robotics, DOI: 10.1002/rob.21606, 2015.
  • N. Fischer, A.P. Dani, N. Sharma, and W.E. Dixon, “Saturated Control of an Uncertain Nonlinear System with Input Delay” Automatica, vol 49, No. 6, pp. 1741-1747, 2013.
  • A.P. Dani, N. Fischer, and W. E. Dixon, “Single Camera Structure and Motion Estimation”, IEEE Transactions on Automatic Control, vol 57, No. 1, pp. 241-246, 2012.
  • A.P. Dani, N. Fischer, Z. Kan, and W. E. Dixon, “Globally Exponentially Convergent Robust Observer for Vision-based Range Estimation”, Mechatronics, Special Issue on Visual Servoing, Vol. 22, No. 4, pp. 381-389, 2012.
  • Z. Kan, A.P. Dani, J.M. Shea, and W. E. Dixon, “Network Connectivity Preserving Formation Stabilization and Obstacle Avoidance via A Decentralized Controller ” IEEE Transactions on Automatic Control, Vol. 57, No. 7, pp. 1827-1832, 2012.

Patents

  • “Method and Apparatus for Nonlinear Dynamic Estimation of Feature Depth Using Calibrated Moving Cameras” A.P. Dani and Khalid El-Rifai Publication# US 2010/0246893.
  • “Systems and Methods for Estimating the Structure and Motion of an Object” A.P. Dani and Warren E. Dixon Serial No.: 61/496,191, Licensed by Prioria Robotics (Innovator’s Invention Award – University of Florida Office of Research/Office of Technology Licensing)

Conference Papers (Peer Reviewed)

  • G. Yao, A. P. Dani, “‘Image Moment-based Random Hypersurface Model for Extended Object Tracking”, International Conference on Information Fusion, 2017, accepted.
  • H. Ravichandar, A. Kumar, A. P. Dani, K. R. Pattipati, “Learning and Predicting Sequential Tasks using Recurrent Neural Networks and Multiple Model Filtering”, AAAI Symposium on Shared Autonomy in Research and Practice, 2016, pp: 331-337.
  • P. K. Thota, H. Ravichandar, A. P. Dani, “Learning and Synchronization of Movement Primitives for Bi-manual Manipulation Tasks”, IEEE Conference on Decision and Control, 2016, pp. 945-950.
  • G. Yao, M. Williams, A. P. Dani, “Gyro-aided Visual Tracking Using Iterative Earth Mover’s Distance”, IEEE International Conference on Information Fusion, 2016, pp. 2317-2323. (Best Student Paper Award – 2nd runner up)
  • H. Ravichandar, A. Kumar, A. P. Dani, “Bayesian Human Intention Inference Through Multiple Model Filtering with Gaze-based Priors”, IEEE International Conference on Information Fusion, 2016, pp. 2296-2302.
  • H. Ravichandar, P.K. Thota, A. P. Dani, “Learning Periodic Motions from Human Demonstrations using Transverse Contraction Analysis”, American Controls Conference, 2016, pp. 4853-4858.
  • P. K. Thota, A. P. Dani, P. B. Luh and S. Gupta, “Cooling Load Forecasting for Chiller Plants Using Similar Day based Wavelet Neural Networks”, IEEE International Conference on Complex Systems Engineering, 2015.
  • H. Ravichandar, A. P. Dani, J. Khadijah-Hajdu, N. Kirsch, Q. Zhong, N. Sharma, “Expectation Maximization Method to Identify an Electrically Stimulated Musculoskeletal Model”, ASME Dynamics, Systems and Control Conference, 2015.
  • H. Ravichandar, A. P. Dani, “Learning Contracting Nonlinear Dynamics from Human Demonstrations for Robot Motion Planning”, ASME Dynamics, Systems and Control Conference 2015. (Best Robotics Student Paper Award)
  • H. Ravichandar, A. P. Dani, “Human Motion Modeling and Intention Inference using Artificial Neural Network-based E-M Algorithm”, IEEE International Conference on Intelligent Robots & Systems 2015, pp. 1819-1824.
  • H. Ravichandar, A. P. Dani, “Human Intention Inference through Interacting Multiple Model Filtering”, IEEE International Conference on Multisensor-Fusion and Information Integration, 2015, pp. 220-225.
  • A. P. Dani, M. McCourt, J. W. Curtis, S. Mehta, “Information Fusion in Human-Robot Collaboration using Neural Network Representation”, IEEE Systems, Man, Cybernetics Conference, 2014, pp.2114-2120.
  • H. Ravichandar, A. P. Dani, “Gyro-aided Image-Based Tracking using Mutual Information Optimization and User Inputs”, IEEE Systems, Man, Cybernetics Conference, 2014, pp. 858-863.
  • A. P. Dani, N. Sharma, “A Discrete-time Nonlinear Estimator for an Orthosis-aided Gait”, ASME Dynamics Systems and Control Conference, 2014, paper no. DSCC2014-6161, pp. V001T04A003, 9 pages.
  • N. Sharma, A. P. Dani, “Nonlinear estimation of gait kinematics during functional electric stimulation and orthosis-based walking”, American Controls Conference, 2014, pp. 4778-4783.
  • A. P. Dani, G. Panahandeh, S.-J. Chung, S. Hutchinson, “Image-moments for higher-level features based navigation”, IEEE/RSJ International Conference on Intelligent Robots & Systems, 2013, pp. 602-609.
  • J. Yang, A. P. Dani, S.-J. Chung, S. Hutchinson, “Observer Design via Hybrid Contraction Analysis for UAS Navigation in Riverine Environments”, AIAA Guidance, Navigation, and Control (GNC), 2013, .
  • A. P. Dani, S.-J. Chung, S. Hutchinson, “Observer Design for Stochastic Nonlinear Systems using Contraction Analysis”, IEEE Conference on Decision and Controls, 2012, pp. 6028-6035.
  • S. Jang, A. P. Dani, C. Crane, W. Dixon, “Experimental Results for Moving Object Structure Estimation using an Unknown Input Observer Approach”, ASME Dynamics, Systems and Control Conference, 2012, paper no. DSCC2012-MOVIC2012-8778, pp. 597-606, 10 pages. (Best Paper in Session Award)
  • D. Chwa, A. P. Dani, H.-J. Kim, W. Dixon, “Camera Motion Estimation for 3-D Structure Reconstruction of Moving Objects”, IEEE International Conference on Systems, Man and Cybernetics, Seoul, Korea, 2012, pp. 1788-1793.
  • A. P. Dani, Z. Kan, N. R. Fischer, W. E. Dixon, “Estimating Structure of a Moving Object using a Moving Camera:  An Unknown Input Observer Approach”, IEEE Conference on Decision and Controls, 2011, pp. 5005-5010 (Special Session on Crossroads between Control Theory and Computer Vision).
  • N. R. Fischer, A. P. Dani, N. Sharma, W. E. Dixon, “Saturated Control of an Uncertain Euler-Lagrange System with Input Delay”, IEEE Conference on Decision and Controls, 2011, pp. 7587-7592.
  • Z. Kan, A. P. Dani, J.M. Shea, and W. E. Dixon, “Ensuring Network Connectivity for Nonholonomic Robots on Rendezvous Problem,” IEEE Conference on Decision and Controls, 2011, pp. 2369-2374.
  • Z. Kan, A.P. Dani, J.M. Shea, and W. E. Dixon, “Information Flow Based Connectivity Maintenance of a Multiagent System during Formation Control,” Conference on Decision and Control 2011, pp. 2375-2380.
  • Z. Kan, A.P. Dani, J.M. Shea, and W. E. Dixon, “Ensuring Network Connectivity During Formation Control Using a Decentralized Navigation Function,” Military Communications Conference (MILCOM), San Jose, CA, 2010, pp. 954-959.
  • A.P. Dani, Khalid El-Rifai and W. E. Dixon, “Globally Exponentially Convergent Observer for Vision-based Range Estimation,” IEEE International Symposium on Intelligent Control, part of the Multi-Conference on Systems and Control, Yokohama, Japan, September 2010, pp. 801-806.
  • A.P. Dani, Z. Kan, N. R. Fischer and W. E. Dixon, “Structure and Motion Estimation of a Moving Object Using a Moving Camera,” American Control Conference, Baltimore, MD, 2010, pp. 6962-6967.
  • A.P. Dani, N. R. Fischer, Z. Kan and W. E. Dixon, “Nonlinear Observer for Structure Estimation using a Paracatadioptric Camera,” American Control Conference, Baltimore, MD, 2010, pp. 3487-3492.
  • A.P. Dani, N. Gans and W. E. Dixon, “Position-Based Visual Servo Control of Leader-Follower Formation Using Image-Based Relative Pose and Relative Velocity Estimation,” American Control Conference, St. Louis, Missouri, 2009, pp. 5271-5276.
  • A.P. Dani, S. Valet, C. Crane, N. Gans and W. E. Dixon, “Experimental Results for an Image-Based Pose and Velocity Estimation Method,” IEEE International Conference on Control Applications part of the Multi-Conference on Systems and Control, San Antonio, Texas 2008, pp. 1159-1164.
  • N. Gans, A. P. Dani and W. E. Dixon, “Visual Servoing to an Arbitrary Pose with Respect to an Object Given a Single Known Length,” American Control Conference, Seattle, WA, 2008, pp. 1261-1267.
  • S. S. Mehta, G. Hu, A. P. Dani, and W. E. Dixon, “Multi-Reference Visual Servo Control of an Unmanned Ground Vehicle,” AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, Hawaii, 2008 (Invited Session).