Publications

Book Chapters

  1. A. P. Dani, I. Salehi, “Learning First Principles Systems Knowledge from Data: Stability and Safety with Applications to Learning from Demonstration”, in Artificial Intelligence in Manufacturing, Edited by Masoud Soroush, Richard Braatz, 2023.
  2. A. P. Dani, “Human Intent Prediction for Human-Robot Collaboration“, in Autonomous Robotics, Complexity and Nonlinearity, a volume in the Encyclopedia of Complexity and Systems Science, Edited by Warren E. Dixon, Springer, 2022. 
  3. I. Salehi, G. Rotithor, A. P. Dani, “Safe Adaptive Trajectory Tracking Control of Robot for Human-Robot Interaction using Barrier Function Transformation“, in Collaborative Robots, Edited by Jesus Hamilton Ortiz, 2021, pp.129-146.
  4. A. P. Dani, “Image-based Estimation for Robotics and Autonomous Systems”, in Encyclopedia of Systems and Control, Edited by John Baillieul and Tariq Samad, Springer Nature, 2020.
  5. A. P. Dani, I. Salehi, H. Ravichandar, G. Yao, “Learning and Coordination of Movement Primitives for Bimanual Manipulation Tasks using Concurrent Synchronization”, in Manufacturing in the Era of 4th Industrial Revolution: A World Scientific Reference Volume 2: Recent Advances in Industrial Robotics, Edited by S. K. Gupta, V. Krovi, C. Schlenoff, WSPC, 2020, pp. 187-214.
  6. 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, Edited by Jun Ueda and Yuichi Kurita, Springer, 2016, pp. 217-249.
  7. 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, Vol. 401, 2010, pp. 209-229.
  8. 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 J. Garcia-Rodriguez and M. C. Quevedo, IGI Global Publication, 2012, pp. 173-191.

Journal Papers

  1. V. Guthikonda, A. P. Dani, “Shape Servoing of Deformable Objects using Model Estimation and Barrier Lyapunov Function“, IEEE Transactions on Mechatronics, vol. 29, no. 6, pp. 4640-4650, 2024.
  2. G. Rotithor, T. Taplin, A. P. Dani, W. E. Dixon, “Switching of Asymptotically Stable and Uniformly Ultimately Bounded Systems with Applications to Machine Vision“, IEEE Transactions on Automatic Control, vol. 69, no. 9, pp. 6246-6252, 2024.
  3. R. Bhattacharya, V. R. Guthikonda, A. P. Dani, “Adaptive Trajectory Synchronization with Time-Delayed Information“, IEEE Control Systems Letters, vol. 7, pp. 3866-3871, 2023.
  4. G. Rotithor, I. Salehi, E. Tunstel, A. P. Dani, “Stitching Dynamic Movement Primitives and Image-based Visual Servo Control“, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 5, pp. 2583-2593, 2023.
  5. I. Salehi, T. Taplin, A. P. Dani, “Learning Discrete-Time Uncertain Nonlinear Systems with Probabilistic Safety and Stability Constraints“, IEEE Open Journal of Control Systems, vol. 1, pp. 354-365, 2022.
  6. G. Rotithor, D. Trombetta, R. Kamalapurkar, A. P. Dani, “Full and Reduced Order Observers for Image-based Depth Estimation using Concurrent Learning“, IEEE Transactions on Control Systems Technology, vol. 29, no. 6, pp. 2647-2653, Nov. 2021.
  7. D. Trombetta, G. Rotithor, I. Salehi, A. P. Dani, “Variable Structure Human Intention Estimator with Mobility and Vision Constraints as Model Selection Criteria“, IFAC Mechatronics, vol. 76, pp. 102570, 2021.
  8. I. Salehi, G. Rotithor, G. Yao, A. P. Dani, “Dynamical System Learning using Extreme Learning Machines with Safety and Stability Guarantees“, International Journal of Adaptive Control and Signal Processing, vol. 35, no. 6, pp. 894-914, 2021.
  9. A. P. Dani, I. Salehi, G. Rotithor, D. Trombetta, H. Ravichandar, “Human-in-the-loop Robot Control for Human-Robot Collaboration“, IEEE Control Systems, vol. 40, no. 6, pp 29-56, Dec. 2020.
  10. G. Yao, R. Saltus, A. P. Dani, “Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model“, International Journal of Intelligent Robotics and Applications, vol. 4, no. 4, pp. 429-440, 2020.
  11. G. Yao, R. Saltus, A. P. Dani, “Image Moment-based Extended Object Tracking for Complex Motions“, IEEE Sensors Journal, vol. 20, no. 12, pp. 6560-6572, 2020.
  12. G. Yao, A. P. Dani, “Visual Tracking using Sparse Coding and Earth Mover’s Distance”, Frontiers in Robotics and AI, vol. 5, Aug 2018.
  13. H. Ravichandar, A. P. Dani, “Learning Position and Orientation Dynamics from Demonstrations via Contraction Analysis”, Autonomous Robots, vol. 43, no. 4, pp. 897-912, May 2018.
  14. H. Ravichandar, A. Kumar, A. P. Dani, “Gaze and Motion Information Fusion for Human Intention Inference“, International Journal of Intelligent Robotics and Applications, vol. 2, no. 2, pp. 136-148, June 2018.
  15. M. Allen, Q. Zhong, N. Kirsch, A. P. Dani, W. W. Clark and N. Sharma, “A Nonlinear Dynamics-Based Estimator for Functional Electrical Stimulation: Preliminary Results from Lower-Leg Extension Experiments“, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 25, no. 12, pp. 2365-2374, Dec 2017.
  16. G. Yao, A. P. Dani, “Gyro-aided Visual Tracking Using Iterative Earth Mover’s Distance”, IEEE Aerospace and Electronic Systems Magazine, vol. 32, no. 10, pp. 52-55, Oct 2017.
  17. H. Ravichandar, A. P. Dani, “Human Intention Inference using Expectation-Mzximization algorithm with Online Learning“, IEEE Transactions on Automation Science and Engineering, vol. 14, no. 2, pp. 855-868, April 2017.
  18. 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.
  19. 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.
  20. J. Yang, A. P. Dani, S.-J. Chung, S. Hutchinson, “Vision-based Localization and Robot-Centric Mapping in Riverine Environments“, Journal of Field Robotics, vol. 34, no. 3, pp. 429-450, 2015.
  21. 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.
  22. 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.
  23. A.P. Dani, N. Fischer, Z. Kan, and W. E. Dixon, “Globally Exponentially Convergent Robust Observer for Vision-based Range Estimation”, IFAC Mechatronics, Special Issue on Visual Servoing, Vol. 22, No. 4, pp. 381-389, 2012.
  24. 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.

      Conference Papers

      1. A. P. Dani, S. Bhasin, “Reinforcement Learning for Image-Based Visual Servoing”, IEEE Conference on Decision and Control, 2023, pp. 4358-4363.
      2. A. Lyall, A. P. Dani, “Image-based Range Estimation of a Moving Target using Gaussian Process Motion Models“, IFAC World Congress 2023, pp. 11591-11596.
      3. V. Guthikonda, G. Rotithor, A. P. Dani, “Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation“, IFAC World Congress 2023, pp. 11603-11608.
      4. T. Taplin, A. Lyall, A. P. Dani, “Multiple User Intent Prediction Using Interacting Multiple Model Joint Probabilistic Data Association Filter“, IFAC World Congress, 2023, pp. 7528-7533.
      5. R. Bhattacharya, G. Rotithor, A. P. Dani , “Learning-based State-dependent Coefficient Form Task Space Tracking Control of Soft Robot“, American Control Conference, 2022, pp. 2899-2904.
      6. G. Rotithor, A. P. Dani, “Deep Interacting Multiple Model Filtering“, American Control Conference, 2022, pp. 958-963.
      7. I. Salehi, T. Taplin, A. P. Dani, “Chance-Constrained System Identification of Nonlinear Discrete Systems with Safety and Stability Guarantees“, American Control Conference, 2022, pp. 1497-1502.
      8. I. Salehi, G. Rotithor, R. Saltus, A. P. Dani, “Constrained Image-Based Visual Servoing using Barrier Functions“, IEEE International Conference on Robotics and Automation, 2021, pp. 14254-14260.
      9. R. Saltus, I. Salehi, G. Rotithor, A. P. Dani, “Dual Quaternion Visual Servo Control“, IEEE Conference on Decision and Control, Dec 2020, pp. 5956-5961.
      10. I. Salehi, G. Rotithor, D. Trombetta, A. P. Dani, “Safe Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Lyapunov Function“, IEEE Conference on Decision and Control, Dec 2020, pp. 3310-3315.
      11. E. Tunstel, A. P. Dani, C. Martinez, B. Blakeslee, J. Mendoza, R. Saltus, D. Trombetta, G. Rotithor, T. Fuhlbrigge, D. Lasko, J. Wang, “Robotic Wire Pinning for Wire Harness Assembly Automation“, International Conference on Advanced Intelligent Mechatronics, July 2020.
      12. G. Rotithor, A. P. Dani, “Combining Motion Primitives and Image-based Visual Servo Control”, International Symposium on Flexible Automation, July, 2020.
      13. D. Trombetta, G. Rotithor, I. Salehi, A. P. Dani, “Human Intention Estimation using Fusion of Pupil and Hand Motion”, IFAC World Congress, July, 2020, pp. 9535-9540. (IFAC World Congress Applications Paper Finalist)
      14. G. Rotithor, D. Trombetta, R. Kamalapurkar, A. P. Dani, “Reduced Order Observer for Structure from Motion using Concurrent Learning”, IEEE Conference on Decision and Control, Dec. 2019, pp. 6815-6820.
      15. G. Rotithor, R. Saltus, R. Kamalapurkar, A. P. Dani, “Observer Design for Structure from Motion using Concurrent Learning“, American Control Conference, 2019, pp. 2384-2389.
      16. I. Salehi, G. Yao, A. P. Dani, “Active Sampling based Safe Identification of Dynamical System using Extreme Learning Machines and Barrier Certificates“, IEEE International Conference on Robotics and Automation, 2019, pp. 22-28.
      17. H. Ravichandar, D. Trombetta, A. P. Dani, “Human Intention-Driven Learning Control for Trajectory Synchronization in Human-Robot Collaborative Tasks “, IFAC Cyber Physical Human Systems Conference, 2018, pp. 1-7.
      18. G. Yao, K. Hunte, A. P. Dani, “Image Moment-based Object Tracking and Shape Estimation for Complex Motions”, American Control Conference, 2018, pp. 5819-5824.
      19. H. Ravichandar, I. Salehi, B. Baillie, G. Bollas, A. P. Dani, “Learning Stable Nonlinear Dynamical Systems with External Inputs using Gaussian Mixture Models”, American Control Conference, 2018, pp. 4825-4830.
      20. B.P. Baillie, H. Ravichandar I. Salehi, G. Bollas, A. P. Dani, “Approaches for Creation and Evaluation of Computationally Efficient Thermofluid System Models”, IFAC International Symposium on Advanced Control of Chemical Processes, 2018, pp. 868-873.
      21. H. Ravichandar, I. Salehi, A. P. Dani, “Learning Partially Contracting Dynamical Systems from Demonstrations”, Proceedings of the 1st Annual Conference on Robot Learning, PMLR, vol 78, 2017, pp. 369-378.
      22. G. Yao, A. P. Dani, “‘Image Moment-based Random Hypersurface Model for Extended Object Tracking”, International Conference on Information Fusion, 2017, doi: 10.23919/ICIF.2017.8009883.
      23. 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.
      24. 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.
      25. 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 – 1st runner up)
      26. 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.
      27. H. Ravichandar, P.K. Thota, A. P. Dani, “Learning Periodic Motions from Human Demonstrations using Transverse Contraction Analysis”, American Control Conference, 2016, pp. 4853-4858.
      28. 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.
      29. 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.
      30. 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)
      31. 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.
      32. 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.
      33. 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.
      34. 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.
      35. A. P. Dani, N. Sharma, “A Discrete-time Nonlinear Estimator for an Orthosis-aided Gait”, ASME Dynamics Systems and Control Conference, 2014.
      36. N. Sharma, A. P. Dani, “Nonlinear estimation of gait kinematics during functional electric stimulation and orthosis-based walking”, American Control Conference, 2014, pp. 4778-4783.
      37. 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.
      38. 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.
      39. 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.
      40. 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, pp. 597-606. (Best Paper in Session Award)
      41. 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.
      42. A. P. Dani, Z. Kan, N. R. Fischer, W. E. Dixon, “Structure estimation 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).
      43. 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.
      44. 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.
      45. 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.
      46. 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.
      47. 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.
      48. 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.
      49. 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.
      50. 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.
      51. 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.
      52. 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.
      53. 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).

      Patents

      1. “Skill Transfer From a Person to a Robot”, A. P. Dani and H. Ravichandar, Patent # 10,807,233.
      2. “Systems and Methods for Estimating the Structure and Motion of an Object” A.P. Dani and Warren E. Dixon. Patent# 9,179,047.
      3. “Early Prediction of an Intention of a User’s Actions”, A. P. Dani and H. Ravichandar, Patent# 11,049,010.
      4. “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.