Srinivas Akella's Publications

• Srinivas Akella, Nancy M. Amato, Wesley H. Huang, Bud Mishra, Editors, Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics, Springer-Verlag, 2008. bib . Amazon link

• Saurav Agarwal and Srinivas Akella, "Line Coverage with Multiple Robots: Algorithms and Experiments," IEEE Transactions on Robotics, January 2024 (online access). pdf, bib , GitHub , dataset.
  Introduction (video), MEM algorithm animation (video), Experiments and animation (video).

• Saurav Agarwal and Srinivas Akella, "The Single Robot Line Coverage Problem: Theory, Algorithms, and Experiments," Networks, Vol. 82, No. 4, pp. 479-505, special issue on Arc Routing Problems, December 2023. pdf, bib .

• Saurav Agarwal and Srinivas Akella, "Area Coverage with Multiple Capacity-Constrained Robots,'' IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3734--3741, April 2022. Selected for presentation at the IEEE International Conference on Robotics and Automation, May 2022. pdf, bib , GitHub , dataset , video (4 mins). .

• Kalvik Jakkala and Srinivas Akella, "Probabilistic Gas Leak Rate Estimation using Submodular Function Maximization with Routing Constraints,'' IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 5230-5237, April 2022. Selected for presentation at the IEEE International Conference on Robotics and Automation, May 2022. pdf, bib , GitHub , video (4 mins) .

• Cynthia Gibas, Kevin Lambirth, Neha Mittal, Md Ariful Islam Juel, Visva Bharati Barua, Lauren Roppolo Brazell, Keshawn Hinton, Jordan Lontai, Nicholas Stark, Isaiah Young, Cristine Quach, Morgan Russ, Jacob Kauer, Bridgette Nicolosi, Don Chen, Srinivas Akella, Wenwu Tang, Jessica Schlueter, and Mariya Munir, "Implementing building-level SARS-CoV-2 wastewater surveillance on a university campus,'' Science of The Total Environment, Vol. 782, pp. 146749, March 2021. pdf, bib .

• Sourav Rakshit and Srinivas Akella, "The Influence of Motion Path and Assembly Sequence on the Stability of Assemblies,'' IEEE Transactions on Automation Science and Engineering , Vol. 12, No. 2, pp. 615-627, April 2015. pdf, bib .

• Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, and Jeffrey C. Trinkle, "A Geometrically Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact," International Journal of Robotics Research, Vol. 33, No. 3, pp. 426--445, March 2014. pdf, bib .

• Lingzhi Luo and Srinivas Akella, ``Optimal Scheduling for Biochemical Analyses on Digital Microfluidic Systems,'' IEEE Transactions on Automation Science and Engineering, Vol. 8, No. 1, pp. 216-227, January 2011. pdf, bib .

• Nilanjan Chakraborty, Srinivas Akella, and John T. Wen, ``Coverage of a Planar Point Set with Multiple Robots subject to Geometric Constraints,'' IEEE Transactions on Automation Science and Engineering, Vol. 7, No. 1, pp. 111-122, January 2010. pdf, bib .

• Jeffrey G. Martin, Megha Gupta, Yongmei Xu, Srinivas Akella, Jian Liu, Jonathan S. Dordick, and Robert J. Linhardt, "An Artificial Golgi: Redesigning the Biological Activities of Heparan Sulfate on a Digital Microfluidic Biochip," Journal of the American Chemical Society, Vol. 131, No. 31, 11041-11048, July 2009. pdf , bib .

• Nilanjan Chakraborty, Jufeng Peng, Srinivas Akella, and John E. Mitchell, ``Proximity Queries between Convex Objects: An Interior Point Approach for Implicit Surfaces,'' IEEE Transactions on Robotics, Vol. 24, No. 1, pp. 211-220, February 2008. pdf , bib .

• Eric J. Griffith, Srinivas Akella, and Mark K. Goldberg, ``Performance Characterization of a Reconfigurable Planar Array Digital Microfluidic System,'' IEEE Transactions on Computer-Aided Design of Integrated Circuits And Systems, Special issue on Design Automation Methods and Tools for Microfluidics-Based Biochips, Vol. 25, No. 2, pp. 340-352, February 2006. pdf , bib .

• Eric J. Griffith and Srinivas Akella, ``Coordinating Multiple Droplets in Planar Array Digital Microfluidic Systems,'' International Journal of Robotics Research, Vol. 24, No. 11, pp. 933-949, November 2005. pdf , bib , animations.

• Jufeng Peng and Srinivas Akella, ``Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths,'' International Journal of Robotics Research, Vol. 24, No. 4, pp. 295-310, April 2005. pdf , bib , animations.

• Sebastien J. Blind, Christopher C. McCullough, Srinivas Akella, and Jean Ponce, "Manipulating Parts with an Array of Pins: A Method and a Machine," International Journal of Robotics Research, Vol. 20, No. 10, pp. 808-818, October 2001. pdf , bib .
  Pachinko machine movie (YouTube)

• Srinivas Akella and Matthew T. Mason, "Orienting Toleranced Polygonal Parts," International Journal of Robotics Research, Vol. 19, No. 12, pp. 1147-1170, December 2000. pdf , bib .

• Liang Lu and Srinivas Akella, "Folding Cartons with Fixtures: A Motion Planning Approach," IEEE Transactions on Robotics and Automation, Vol. 16, No. 4, pp. 346-356, August 2000. pdf, bib .
  Carton folding movie (YouTube)

• Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason, "Parts Feeding on a Conveyor with a One Joint Robot," Algorithmica (Special issue on Robotics), Vol. 26, No. 3/4, pp. 313-344, March/April 2000. pdf, bib .
  1JOC movie (YouTube)

• Srinivas Akella and Matthew T. Mason, "Using Partial Sensor Information to Orient Parts," International Journal of Robotics Research, Vol. 18, No. 10, pp. 963-997, October 1999. pdf , bib .

• Srinivas Akella and Matthew T. Mason, "Posing polygonal objects in the plane by pushing," International Journal of Robotics Research, Vol. 17, No. 1, pp. 70-88, January 1998. pdf , bib .

• Kalvik Jakkala and Srinivas Akella, "Multi-Robot Informative Path Planning from Regression with Sparse Gaussian Processes,” 2024 IEEE International Conference on Robotics and Automation, Yokohama, Japan, May 2024 (to appear). pdf (arxiv preprint), bib .

• Sayantan Datta and Srinivas Akella, "Prioritized Robotic Exploration with Deadlines: A Comparison of Greedy, Orienteering, and Profitable Tour Approaches,” 2023 IEEE International Conference on Robotics and Automation, pp. 5737-5743, London, UK, May/June 2023. pdf, bib . video (6 mins).

• Saurav Agarwal and Srinivas Akella, "The Correlated Arc Orienteering Problem," Algorithmic Foundations of Robotics XV: Proceedings of the Fifteenth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2022), Steven M. LaValle, Jason M. O'Kane, Michael Otte, Dorsa Sadigh, and Pratap Tokekar (editors), pp. 402--418, Springer, Cham, Switzerland, 2023. pdf, bib .

• Sayantan Datta and Srinivas Akella, "Prioritized Indoor Exploration with a Dynamic Deadline," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3108-3114, Prague, Czech Republic, September 2021. pdf, bib . video (3 mins).

• Saurav Agarwal and Srinivas Akella, "Approximation Algorithms for the Single Robot Line Coverage Problem," Algorithmic Foundations of Robotics XIV (WAFR 2020), Steve M. LaValle, Ming Lin, Timo Ojala, Dylan Shell, Jingjin Yu (editors), pp. 534-550, Springer, Cham, 2021. pdf, bib . video of talk (20 mins) .

• Saurav Agarwal and Srinivas Akella, "Line Coverage with Multiple Robots," IEEE International Conference on Robotics and Automation, pp. 3248-3254, Paris, France, May 2020. pdf, bib , GitHub , dataset, short video (26 secs) , slides. video (10 mins) .

• Archit Parnami, Prajval Bavi, Dimitris Papanikolaou, Srinivas Akella, Minwoo Lee, and Siddharth Krishnan, "Deep Learning Based Urban Analytics Platform: Applications to Traffic Flow Modeling and Prediction," 3rd Mining Urban Data Workshop (MUD3), London, UK, August 2018. bib .

• Saurav Agarwal and Srinivas Akella, "Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots," IEEE International Conference on Robotics and Automation, pp. 6708-6715, Brisbane, Australia, May 2018. pdf, bib . video (3 mins)

• Srinivas Akella, "Assignment Algorithms for Variable Robot Formations," Algorithmic Foundations of Robotics XII (WAFR 2016), Ken Goldberg, Pieter Abbeel, Kostas Bekris, and Lauren Miller (editors), pp. 912-927, Springer, Cham, 2020. pdf, bib , slides . video

• Sourav Rakshit and Srinivas Akella, "A Trajectory Optimization Formulation for Assistive Robotic Devices," IEEE International Conference on Robotics and Automation, pp. 2068-2074, Stockholm, Sweden, May 2016. pdf, bib .

• Junjie Shan and Srinivas Akella, "3D Human Action Segmentation and Recognition using Pose Kinetic Energy," 2014 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO 2014), pp. 69-75, Evanston, IL, September 2014. pdf, bib , slides .

• Zhiqiang Ma, Wenwen Dou, X. Wang, and Srinivas Akella, "Tag-Latent Dirichlet Allocation: Understanding Hashtags and Their Relationships," 2013 IEEE/WIC/ACM International Conference on Web Intelligence (WI), pp. 260-267, Atlanta, GA, November 2013. pdf, bib .

• Sourav Rakshit and Srinivas Akella, "The Influence of Motion Path and Assembly Sequence on the Stability of Assemblies,'' Robotics: Science and Systems, Berlin, Germany, June 2013. pdf, bib .

• Vasanthsekar Shekar, Matthew Campbell, and Srinivas Akella, "Towards Automated Optoelectrowetting on Dielectric Devices for Multi-Axis Droplet Manipulation,'' IEEE International Conference on Robotics and Automation, pp. 1431-1437, Karlsruhe, Germany, May 2013. pdf, bib .
  Movie (mpg, 5MB)

• Zhiqiang Ma and Srinivas Akella, "Coordination of Droplets on Light-Actuated Digital Microfluidic Systems,'' IEEE International Conference on Robotics and Automation, pp. 2510-2516, St. Paul, MN, May 2012. pdf, bib .
  Example animation (mp4, 1MB)

• Rakesh Rao, Srinivas Akella, and Gokhan Guley, "Power Line Carrier (PLC) Signal Analysis of Smart Meters for Outlier Detection,'' Second IEEE International Conference on Smart Grid Communications (SmartGridComm), pp. 309-314, Brussels, Belgium, October 2011. pdf, bib .

• Nilanjan Chakraborty, Srinivas Akella, and Jeff C. Trinkle, "Complementarity-based Dynamic Simulation for Kinodynamic Motion Planning," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 787-794, St. Louis, October 2009. pdf, bib , slides .

• Lingzhi Luo and Srinivas Akella, "Minimum Resource Characterization of Biochemical Analyses for Digital Microfluidic Biochip Design," Algorithmic Foundations of Robotics VIII (WAFR 2008), Gregory S. Chirikjian, Howie Choset, Marco Morales, and Todd Murphey (editors), pp. 567-581, Springer-Verlag, 2010. pdf, bib .

• Nilanjan Chakraborty, Srinivas Akella, and John T. Wen, "Minimum Time Point Assignment for Coverage by Two Constrained Robots," IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 1378-1383, May 2008. pdf, bib .

• Lingzhi Luo and Srinivas Akella, ``Optimal Scheduling for Biochemical Analyses on Digital Microfluidic Systems,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3151-3157, San Diego, CA, October 2007. pdf, bib .

• Megha Gupta and Srinivas Akella, ``A Scheduling and Routing Algorithm for Digital Microfluidic Ring Layouts with Bus-phase Addressing,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3144-3150, San Diego, CA, October 2007. pdf, bib .

• Evan Shechter, Arjun Arumbakkam, P. Lamoureux, X. Tang, M. Shima, and Srinivas Akella, ``Sequential Assembly and Layout Planner with New Hard Magnet Configuration Towards Batch Fabrication and Assembly of 3D Microstructures,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 584-589, San Diego, CA, October 2007. pdf, bib .

• Nilanjan Chakraborty, Srinivas Akella, and John T. Wen, "Coverage of a Planar Point Set with Multiple Constrained Robots," IEEE Conference on Automation Science and Engineering, pp. 899-904, Scottsdale, AZ, September 2007. pdf, bib .

• Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, and Jeff Trinkle, ``An Implicit Compliant Model for Multibody Systems with Frictional Intermittent Contact,'' ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2007-35526, Las Vegas, NV, September 2007. pdf, bib .

• Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, and Jeff Trinkle, ``An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact,'' Robotics: Science and Systems 2007, pp. 177-184, Atlanta, GA, June 2007. pdf, bib .
  Recipient of Best Student Paper Award.

• Eric J. Griffith, Srinivas Akella, and Mark K. Goldberg, ``Performance Characterization of a Reconfigurable Planar Array Digital Microfluidic System,'' In Design Automation Methods and Tools for Microfluidics-Based Biochips, K. Chakrabarty and J. Zeng (editors), pp. 329-356, Springer, The Netherlands, 2006. pdf , bib .

• Nilanjan Chakraborty, Jufeng Peng, Srinivas Akella, and John Mitchell, ``Proximity Queries between Convex Objects: An Interior Point Approach for Implicit Surfaces,'' 2006 IEEE International Conference on Robotics and Automation , pp. 1910-1916, Orlando, FL, May 2006. pdf , bib .

• Eric Griffith and Srinivas Akella,``Coordinating Multiple Droplets in Planar Array Digital Microfluidics Systems,'' Algorithmic Foundations of Robotics VI (WAFR 2004), M. Erdmann, D. Hsu, M. Overmars, and A. F. van der Stappen (editors), pp. 219-234, Springer-Verlag, Berlin, 2005. pdf , animations, bib .

• Jufeng Peng and Srinivas Akella, ``Coordinating Multiple Double Integrator Robots on a Roadmap: Convexity and Global Optimality,'' 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2762-2769, April 2005. pdf , bib , animations.

• Srinivas Akella and Jufeng Peng, ``Time-Scaled Coordination of Multiple Manipulators,'' 2004 IEEE International Conference on Robotics and Automation, pp. 3337-3344, New Orleans, LA, April 2004. pdf , bib .

• Jufeng Peng, Mihai Anitescu, and Srinivas Akella, ``Optimal Control of Multiple Robot Systems with Friction Using MPCC,'' 2004 IEEE International Conference on Robotics and Automation, pp. 5224-5231, New Orleans, LA, April 2004. pdf , bib .

• Jufeng Peng and Srinivas Akella, ``Coordinating the Motions of Multiple Robots with Kinodynamic Constraints,'' 2003 IEEE International Conference on Robotics and Automation, pp. 4066-4073, Taipei, Taiwan, September 2003. animations, pdf , bib .

• Jufeng Peng and Srinivas Akella, "Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths," Algorithmic Foundations of Robotics V (WAFR 2002), J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson (editors), pp. 221-237, Springer-Verlag, Heidelberg, Germany, 2003. abstract and animations, pdf , bib , slides .

• Srinivas Akella and Seth Hutchinson, "Coordinating the Motions of Multiple Robots with Specified Trajectories," 2002 IEEE International Conference on Robotics and Automation, pp. 624-631, Washington D.C., May 2002. pdf , bib , slides .
  Multiple robot coordination movie (mp4, 12.6MB)

• Sebastien Blind, Christopher McCullough, Srinivas Akella, and Jean Ponce, "A Reconfigurable Parts Feeder with an Array of Pins," 2000 IEEE International Conference on Robotics and Automation, pp. 147-153, San Francisco, CA, April 2000. bib , slides .
  Pachinko machine movie (YouTube)

• Sebastien Blind, Christopher McCullough, Srinivas Akella, and Jean Ponce, "Manipulating Parts with an Array of Pins: A Method and a Machine," Robotics Research: The Ninth International Symposium, pp. 123-130, John M. Hollerbach and Daniel E. Koditschek (editors), Springer-Verlag, London, 2000. pdf , bib .

• Liang Lu and Srinivas Akella, "Folding Cartons with Fixtures: A Motion Planning Approach," 1999 IEEE International Conference on Robotics and Automation, pp. 1570-1576, Detroit, MI, May 1999. pdf , bib , slides .
  Carton folding movie (YouTube)
  Finalist, Best Paper Award.

• Srinivas Akella and Matthew T. Mason, "Parts Orienting with Shape Uncertainty," 1998 IEEE International Conference on Robotics and Automation, pp. 565-572, Leuven, Belgium, May 1998. pdf, bib .
  Finalist, Anton Philips Best Student Paper Award.

• Srinivas Akella and Matthew T. Mason, "Parts Orienting with Partial Sensor Information," 1998 IEEE International Conference on Robotics and Automation, pp. 557-564, Leuven, Belgium, May 1998. pdf, bib .

• Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason, "Sensorless Parts Feeding with a One Joint Robot," In Algorithms for Robotic Motion and Manipulation, (WAFR 1996), pp. 229-237, J.-P. Laumond and M. Overmars (editors), A. K. Peters, Wellesley, Massachusetts, 1997. pdf , bib .

• Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason, "Sensorless Parts Orienting with a One-Joint Manipulator," 1997 IEEE International Conference on Robotics and Automation, pp. 2383-2390, Albuquerque, NM, April 1997. pdf , bib .

• Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason, "Planar Manipulation on a Conveyor with a One Joint Robot," Robotics Research: The Seventh International Symposium, pp. 265-276, G. Giralt and G. Hirzinger (editors), Springer, Berlin, 1996. pdf, bib .
  1JOC movie (YouTube)

• Srinivas Akella and Matthew T. Mason, "Parts Orienting by push-aligning," 1995 IEEE International Conference on Robotics and Automation, pp. 414-420, Nagoya, Japan, May 1995. pdf , bib .

• Srinivas Akella and Matthew T. Mason, "Posing polygonal objects in the plane by pushing," 1992 IEEE International Conference on Robotics and Automation,, pp. 2255-2262, Nice, France, May 1992. pdf , bib .

• Yogesh Girdhar, Chris Bystroff, Srinivas Akella, and Edward Carlson, "Efficient Sampling of Protein Folding Pathways using HMMSTR and Probabilistic Roadmaps," 2005 IEEE Computational Systems Bioinformatics Conference (CSB 2005), poster , Stanford, CA, August 2005, bib .

• Srinivas Akella and Vasanthsekar Shekar, "U. S. Patent No. 10,611,627: Microfluidic devices and applications thereof", April 7, 2020. pdf , bib .

• Srinivas Akella and Zhiqiang Ma, "U. S. Patent No. 10,118,175: Method and system for coordination on optically controlled microfluidic systems", November 6, 2018. pdf , bib .

• Srinivas Akella and Zhiqiang Ma, "U. S. Patent No. 9,782,775: Method and system for coordination on optically controlled microfluidic systems", October 10, 2017. pdf , bib .

• Srinivas Akella and Vasanthsekar Shekar, "U. S. Patent No. 9,643,835: Microfluidic devices and applications thereof", May 9, 2017. pdf , bib .

• Eric Griffith and Srinivas Akella, "U. S. Patent No. 7,693,666: Method, System, and Program Product for Controlling Chemical Reactions in a Digital Microfluidics System" , April 6, 2010. pdf , bib .

• Srinivas Akella, Sebastien J. Blind, Christopher McCullough, Jean Ponce, "U. S. Patent No. 6,633,797: Automated reconfigurable object manipulation device with an array of pins", October 14, 2003. pdf , bib .

• Joe Eyerman, Bradley Mooring, Maureen Catlow, Sayantan Datta, and Srinivas Akella, "Low-light collision scene reconstruction using unmanned aerial systems," RTI International, Research Triangle Park, NC, and University of North Carolina at Charlotte, Charlotte, NC, May 2018. pdf , bib .

• Srinivas Akella, "Packaging of Motorola Two-Way Radios: Efficient Layouts, Automation, and Defect Reduction," The Beckman Institute, University of Illinois at Urbana-Champaign, August 1997. bib .

• Srinivas Akella, "Robotic Manipulation for Parts Transfer and Orienting: Mechanics, Planning, and Shape Uncertainty," Ph.D. thesis, The Robotics Institute, Carnegie Mellon University, December 1996. Also Robotics Institute Technical Report CMU-RI-TR-96-38. bib , pdf .

• Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason, "From robotic juggling to robotic parts feeding," Yale Workshop on Adaptive and Learning Systems, New Haven, CT, June 1996. pdf , bib .

• Matthew T. Mason, Srinivas Akella, and Kevin M. Lynch, "New results in pushing," 1993 NSF Design Systems Grantees Conference, Charlotte, NC, January 1993. bib .