SUMAN CHAKRAVORTY Aerospace Engineering email: schakrav@aero.tamu.edu Texas A& M University Phone: (979) 4580064 611 B, H. R. Bright Building, FAX: (979) 8456051 3141 TAMU, College Station Webpage: Chakravorty Web Page TX 77843-3141 EDUCATION August 1997 B. Tech in Mechanical Engineering, Indian Institute of Technology, Madras March 2004 Ph.D in Aerospace Engineering, University of Michigan, Ann Arbor Thesis: Design and Optimal Control of Multi-Spacecraft Interferometric Imaging Systems PROFFESSIONAL EXPERIENCE 2004-2010 Assistant Professor, Texas A&M University Computational Stochastic Dynamics Pioneered randomized generalized FEM based computational method for solution of the Fokker-Planck-Kolmogorov Equation leading to orders of magnitude improvement to state of the art Application of the computational techniques to Nonlinear Filtering and stochastic control of nonlinear dynamical (hybrid) systems Autonomous Systems Hybrid Bayesian/ frequentist methods for simultaneous localization and mapping (SLAM) problems with guaranteed consistency and computational tractability Randomized hierarchical, hybrid method for planning that ensures computational tractability of the planning problem while remaining robust to uncertainty Stochastic adaptive control 2010- Associate Professor, Texas A&M University REFEREED JOURNAL PUBLICATIONS Published S. Chakravorty, P. T. Kabamba and D. C. Hyland, Guaranteed Classification Performance of Multi-Spacecraft Interferometric Imaging Systems, The Journal of the Astronautical Sciences, Vol.51, No. 2, April-June 2003, pp. 205-226 S. Chakravorty, P. T. Kabamba and D. C. Hyland, Design of Minimum Time Maneuvers for Multi-Spacecraft Interferometric Imaging Systems, The Journal of the Astronautical Sciences, Vol. 52, No. 3, July-September 2004, pp. 301-329 1
S. Chakravorty, P. T. Kabamba and D. C. Hyland, Modeling of Image Formation in Multi-Spacecraft Interferometric Imaging Systems, The Journal of the Astronautical Sciences, Vol. 53, no. 3, July-Sep 2005, pp. 281-300 S. Chakravorty and J. L. Ramirez, Fuel Optimal Maneuvers for Multi-Spacecraft Interferometric Imaging Systems, AIAA Journal of Guidance, Dynamics and Control, vol. 30, no.1, pp. 227-237. S. Chakravorty and J. L. Junkins, Intelligent Path Planning in Unknown Environments using vision-like sensors, Automatica, vol. 43, no. 12, 2007, pp. 2104-2111 J Davis and S. Chakravorty, Motion Planning under Uncertainty: Application to an unmanned Helicopter, AIAA Journal of Guidance, Control and Dynamics, vol. 30, no. 5, 2007, pp. 1268-1276 J. L. Ramirez and S. Chakravorty, Fuel Efficient Maneuvers for Multi-spacecraft Interferometric Imaging Systems in Near Earth Orbits, AIAA Journal of Guidance, Control and Dynamics, vol. 31 no. 4,, July-Aug. 2008, pp. 1133-1144 M. Kumar, S. Chakravorty and J. L. Junkins, A Homotopic Approach to Domain Determination and Solution Refinement for the Fokker-Planck Equation, Probabilistic Engineering Mechanics, vol. 24, no. 3, July 2009, pp. 265-277 J. L. Ramirez and S. Chakravorty, Two-stage Controller Algorithm for Multi- Spacecraft Interferometric Imaging Maneuver for Spiral Coverage with Time Varying Target-System Relative Position, IEEE Transactions on Aerospace and Electronic Systems, accepted, to appear M. Kumar, S. Chakravorty and J. L. Junkins, Computational Nonlinear Stochastic Control, AIAA Journal of Guidance, Control and Dynamics, vol. 32, no. 3, 2009, pp. 1050-1055 M. Kumar, S. Chakravorty, P. Singla and J. L. Junkins, The Partition of Unity Finite Element Method with hp-refinement for the Stationary Fokker-Planck Equation, Journal of Sound and Vibration, vol. 327, no. 1-2, pp. 144-162, 2009 M. Kumar, S. Chakravorty and J. L. Junkins, A semianalytic approach to the solution of the Transient Fokker-Planck-Kolmogorov Equation, Probabilistic Engineering Mechanics, vol. 25, July 2010, pp. 323-331 S. Chakravorty and R. Saha, A Frequentist Approach to Mapping, Automatica, Vol. 47, March 2011, pp. 477-484 2
S. Chakravorty and S. Kumar, Generalized sampling based motion planners, IEEE Transactions on Systems, Man and Cybernetics Part B, vol. 41, 2010, pp. 855-867 S. Kumar and S. Chakravorty, Adaptive Sampling for Generalized Probabilistic RaodMaps, Journal of Control Theory and Applications, special issue on Approximate Dynamic Programming, invited paper, accepted M. Kumar and S.Chakravorty, A Fokker-Planck based Approach to Nonlinear Filtering, AIAA Journal of Guidance, Control and Dynamics, accepted, to appear Under Review M. Kumar, S.Chakravorty and J. L. Junkins, A Particle Partition of Unity FEM (ppufem) approach to the Fokker-Planck Equation, Probabilistic Engineering Mechanics Z. Sunberg, R. Erwin and S. Chakravorty, Information Space Receding Horizon Control, IEEE Transactions on Systems, Man and Cybernetics, Part B D. Yu and S. Chakravorty, A Randomized Iterative Proper Orthogonal Decomposition Technique with Application to Filtering of Distributed Parameter Systems, AIAA J. Guidance, Control and Dynamics Refereed Conference Proceedings S. Chakravorty and J. L. Junkins, A Methodology for Intelligent Path Planning in Unknown Environments, Proceedings of the 2005 IEEE International Symposium on Intelligent Control, Limassol, Cyprus, pp. 592-597 S. Chakravorty and J. L. Junkins, Intelligent Exploration of Unknown Environments with Vision like Sensors, Proceedings of the 2005 IEEE/ ASME International Conference on Advanced Intelligent Mechatronics, 2005, Monterey, CA, pp. 1204-1209 S. Chakravorty, A Homotopic Galerkin Solution to the Fokker-Planck- Kolmogorov Equation, Proceedings of the 2006 American Control Conference, Minneapolis, MN, doi: 10.1109/ACC.2006.1656449 S. Chakravorty, M. Kumar and P. Singla, A Quasi-Gaussian Kalman Filter, Proceedings of the 2006 American Control Conference, Minneapolis, MN, doi: 10.1109/ACC.2006.1655484 J. L. Ramirez and S. Chakravorty, Near-Minimum Fuel Maneuvers for Multi- Spacecraft Interferometric Imaging Systems in Near-Earth Orbit, Proceedings of 3
the 2006 IEEE International Conference on Decision and Control, pp. 6796-6801 J. Davis and S. Chakravorty, Motion Planning under Uncertainty: Application to an Unmanned Helicopter, Proceedings of the 2006 IEEE International Conference on Decision and Control, pp. 6814-6819 M. Kumar, S. Chakravorty and J. L. Junkins, A Homotopic Approach to Domain Determination and Solution Refinement for the Fokker-Planck Equation, Proceedings of the 2007 American Control Conference, pp. 1045-1050 J. L. Ramirez and S. Chakravorty, A Two-stage Controller Algorithm for Multi- Spacecraft Interferometric Imaging Maneuver for Spiral Coverage with Time Varying Target-System Relative Position, Proceedings of the 2007 American Control Conference, pp. 3444-3449 S. Chakravorty and R. Saha, Hierarchical Motion Planning under Uncertainty, Proceedings of the 2007 IEEE International Conference on Decision and Control, pp. 3667-3672 M. Kumar, S. Chakravorty and J. L. Junkins, A Semi-analytical Approach to the solution of the transient Fokker-Planck-Kolomogorov Equation, Proceedings of the 2007 IEEE International Conference on Decision and Control, pp. 3078-3083 S. Chakravorty and R. Saha, A Hybrid approach to the Simultaneous Planning, Localization and Mapping (SPLAM) problem, Proceedings of the 2008 American Control Conference, Seattle, WA, pp. 1226-1231 M. Kumar, S. Chakravorty and J. L. Junkins, Computational Nonlinear Stochastic Control via the Fokker-Planck Equation, Proceedings of the 2008 AIAA Guidance, Navigation and Control (GNC) Conference, Honolulu, Hawaii, AIAA paper 2008-6477 S. Chakravorty and R. Saha, Hybrid Hierarchical Motion Planning, Proceedings of the 2008 AIAA Guidance, Navigation and Control (GNC) Conference, Honolulu, Hawaii, AIAA paper 2008-6303 S. Chakravorty and R. Saha, A Hybrid Approach to SLAM in Dense Environments, Proceedings of the 2009 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX S. Chakravorty and S. Kumar, Generalized Sampling based Motion Planners with application to Nonholonomic Systems, Proceedings of the 2009 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX 4
M. Kumar and S. Chakravorty, A Nonlinear Filter based on the Fokker-Planck Equation, Proceedings of the 2010 American Control Conference, Baltimore, MD M. Kumar and S. Chakravorty, Nonlinear Filtering based on the Fokker-Planck Equation and Markov Chain Monte Carlo Methods, Proceedings of the 2010 IEEE International Conference on Decision and Control, Atlanta, Ga S. Kumar and S. Chakravorty, Adaptive Sampling for Generalized Sampling based Motion Planners, Proceedings of the 2010 IEEE International Conference on Decision and Control, Atlanta, Ga S. Chakravorty and R. Erwin, Information Space Receding Horizon Control, Proceedings of the 2011 International Symposium Series on Computational Intelligence (SSCI 2011), Paris, France A. Aghamohammadi, S. Chakravorty and N. M. Amato, Feedback controller based Information RoadMaps (FIRM), Proceedings of the 2011 IEEE/ RSJ International Conf. on Intelligent Robots and Systems (IROS) PROFESSIONAL MEMBERSHIPS Member, American Institute of Aeronautics and Astronautics (AIAA) Member, IEEE, Institute of Electrical and Electronics Engineers HONORS/ AWARDS Best Paper in conference award, 2006 Astrodynamics Specialist Conference, Breckenridge, CO Best Paper in session award, ACC 2006, 2008 Air Force Summer Faculty Fellowship 2010, 2011 INVITED SEMINARS S. Chakravorty, Design and Optimal Control of Multi-Spacecraft Interferometric Imaging Systems, Departmental Seminar Series, Department of Aerospace Engineering, Texas A&M University, College Station, April 30, 2004 S. Chakravorty, Design and Optimal Control of Multi-Spacecraft Interferometric Imaging Systems, Departmental Seminar Series, Department of Mechanical Engineering and Astronautics, Naval Post-Graduate School, Monterey, May 15, 2004 S. Chakravorty, A Hybrid Approach to the Simultaneous Localization and Mapping (SLAM) Problem, Co-ordinated Sciences Laboratory (CSL) Seminar Series, Univ. of Illinois, Urbana Champaign, Oct. 1 2008 S. Chakravorty, A Hybrid Approach to the SLAM Problem, SUNY Buffalo, MAE seminar series, Feb. 26, 2009 S. Chakravorty, Hybrid SLAM: Guaranteed Consistency and Computational Tractability, UT Austin, AE seminar series, Apr. 02, 2009 5
SERVICE Reviewer AIAA Journal of Guidance, Control and Dynamics, Journal of the Astronautical Sciences, ASME Journal of Dynamical Systems, Measurement and Control, IEEE Transactions on Automatic Control, IEEE Transactions on Neural Networks, IEEE Transactions on Systems, Man and Cybernetics: Part B, Entropy, Journal of Intelligent and Robotic Systems, Journal of Advances in Information Fusion, IEEE Transactions on Aerospace and Electronic Systems, American Control Conference (ACC), IEEE Conference on Decision and Control (CDC), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE International Conference on Robotics and Automation (ICRA), Army Research Office (ARO) Systems and Control program, Air Force Office of Scientific Research (AFOSR) Computational Mathematics program, Panelist for NSF CMMI division, Control Systems Program Session chair American Control Conference (ACC), IEEE/ ASME Conference on Advanced Intelligent Mechatronics (AIM), AIAA Guidance, Navigation and Control Conference (GNC), IEEE International Conference on Systems, Man and Cybernetics (SMC) International Program Committee 2010 IEEE International Symposium on Intelligent Control (ISIC), Pacifico Yokohama, Japan Graduate Theses Supervised/ committee member: In process: Dan Yu, PhD, Advsior Aliakbar Aghamohammadi, PhD, advisor Z. Sunberg, PhD, Advisor K. Garikapati, MS, co-advisor Completed: Josh Davis, MS, advisor, April 2006 Jaime Ramirez, MS, advisor, July 2006 Mrinal Kumar, PhD, co-advisor, Sep. 2009 Roshmik Saha, PhD, advisor, March 2011 Sandip Kumar, PhD, advisor, Oct. 2011 6