Publications

LPAC: Learnable Perception-Action-Communication Loops with Applications to Coverage Control PDF
S. Agarwal, R. Muthukrishnan, W. Gosrich, V. Kumar, and A. Ribeiro
In revision: IEEE Transactions on Robotics (T-RO). arXiv:2401.04855 (2024).

Asynchronous Perception-Action-Communication with Graph Neural Networks PDF
S. Agarwal, A. Ribeiro, and V. Kumar. arXiv:2309.10164 (2023).

Generalizability of Graph Neural Networks for Decentralized Unlabeled Motion Planning PDF
S. Muthusamy, D. Owerko, C. I. Kanatsoulis, S. Agarwal, and A. Ribeiro
arXiv:2409.19829 (2024).

Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships
W. Gosrich, S. Agarwal, K. Garg, S. Mayya, M. Malencia, M. Yim, and V. Kumar
In revision: IEEE Transactions on Robotics (T-RO, 2024).

3D Active Metric-Semantic SLAM PDF
Y. Tao, X. Liu, I. Spasojevic, S. Agarwal, and V. Kumar
IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 3, March 2024
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2024.

Line Coverage with Multiple Robots: Algorithms and Experiments PDF
S. Agarwal and S. Akella
IEEE Transaction on Robotics (T-RO), vol. 40, pp. 1664-1683, January 2024.

The Single Robot Line Coverage Problem: Theory, Algorithms, and Experiments PDF
S. Agarwal and S. Akella
Networks, vol.  82, no. 4, pp. 479–505, June 2023.

Area Coverage With Multiple Capacity-Constrained Robots PDF
S. Agarwal and S. Akella
IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3734-3741,  April 2022
IEEE International Conference on Robotics and Automation (ICRA), May 2022.

Design of Six-Bar Function Generators using Dual-Order Structural Error and Analytical Mobility Criteria PDF    bib    GIF
S. Agarwal and S. Bandyopadhyay
Mechanism and Machine Theory, Elsevier, pp. 326–351, vol. 116, Oct. 2017.

Analytical Determination of the Proximity of Two Right-Circular Cylinders in Space PDF    bib
S. Agarwal, R. A. Srivatsan and S. Bandyopadhyay
Journal of Mechanisms and Robotics, ASME, vol. 8, issue 4, March 2016.

Dynamics and Optimal Feet Force Distributions of a Realistic Four-Legged Robot PDF
S. Agarwal, A. Mahapatra, and S. S. Roy
International Journal of Robotics and Automation (IJRA), pp. 223– 234, vol. 1, no. 4, Dec. 2012.

Constrained Learning for Decentralized Multi-Objective Coverage Control PDF
J. Cerviño*, S. Agarwal*, V. Kumar, and A. Ribeiro (*equal contribution)
IEEE International Conference on Robotics and Automation (ICRA).  arXiv:2409.11311 (2025) accepted, to appear.

Multi-Robot Coordination and Cooperation with Task Precedence Relationships PDF
W. Gosrich, S. Mayya, S. Narayan, M. Malencia, S. Agarwal, and V. Kumar
IEEE International Conference on Robotics and Automation (ICRA), May 2023.

The Correlated Arc Orienteering Problem PDF    bib
S. Agarwal and S. Akella
Springer Proceedings in Advanced Robotics, pp. 402–418, vol. 25, Algorithmic Foundations of Robotics XV (WAFR), 2023.

Approximation Algorithms for the Single Robot Line Coverage Problem PDF    bib
S. Agarwal and S. Akella
Springer Proceedings in Advanced Robotics, pp. 534–550, vol. 17, Algorithmic Foundations of Robotics XIV (WAFR), 2021.

Line Coverage with Multiple Robots PDF    bib    Video
S. Agarwal and S. Akella
IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.

Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots PDF    bib    Video
S. Agarwal and S. Akella
IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018.

Identifying Singularity-Free Spheres in the Position Workspace of Semi-Regular Stewart Platform Manipulators PDF    bib
A. Nag, V. Reddy, S. Agarwal, and S. Bandyopadhyay
Springer Proceedings in Advanced Robotics, pp. 421–430, vol. 4, Advances in Robot Kinematics, 2016.

Optimal Synthesis of Six-Bar Function Generators PDF    presentation    bib    GIF
S. Agarwal, J. Badduri, and S. Bandyopadhyay
14th IFToMM World Congress, Taipei, Taiwan, OS2-031, Oct. 2015.

Optimal Design of Parallel Manipulators Based on Their Dynamic Performance PDF    presentation    bib
J. Kilaru, M. K. Karnam, S. Agarwal, and S. Bandyopadhyay
14th IFToMM World Congress, Taipei, Taiwan, OS13-129, Oct. 2015.

Improved Tracking Performance Using Dual and Double Dual Feedback Loops PDF    bib
M. K. Karnam, R. Kalla, A. Nag, S. Agarwal, and S. Bandyopadhyay
Indian Control Conference, Chennai, India, Jan. 2015.

Generalized Coverage Using Multiple Robots: Theory, Algorithms, and Experiments PDF
S. Agarwal
Ph.D. dissertation, University of North Carolina at Charlotte, July 2022.