Publications

Book Chapters

  • A. P. Dani, I. Salehi, H. Ravichandar, G. Yao, “Learning and Coordination of Movement Primitives for Bimanual Manipulation Tasks using Concurrent Synchronization”, in Recent Advances in Industrial Robotics, Edited by S. K. Gupta, V. Krovi, C. Schlenoff, WSPC, 2019, under review.
  • 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.
  • 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 J. Garcia-Rodriguez and M. C. Quevedo, IGI Global Publication, pp. 173-191, July 12, 2012.

Journal Papers

  • G. Yao, A. P. Dani, “Visual Tracking using Sparse Coding and Earth Mover’s Distance”, Frontiers in Robotics and AI, Aug 2018, DOI: 10.3389/frobt.2018.00095.
  • H. Ravichandar, A. P. Dani, “Learning Position and Orientation Dynamics from Demonstrations via Contraction Analysis”, Autonomous Robots, May 2018, DOI: 10.1007/s10514-018-9758-x.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Magazine Articles

  • 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.
  • A. P. Dani, I. Salehi, G. Rotithor, D. Trombetta, H. Ravichandar, “Human-in-the-loop Robot Control for Human-Robot Collaboration”, Control Systems Magazine, under review, 2019.

Patents

  • “Early Prediction of an Intention of a User’s Actions”, A. P. Dani and H. Ravichandar, Serial # 15/659,827, patent pending.
  • “Skill Transfer From a Person to a Robot”, A. P. Dani and H. Ravichandar, Serial # 15/659,881, patent pending.
  • “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

  • G. Rotithor, D. Trombetta, R. Kamalapurkar, A. P. Dani, “Reduced Order Observer for Structure from Motion using Concurrent Learning”, Conference on Decision and Control, 2019, accepted
  • G. Rotithor, R. Saltus, R. Kamalapurkar, A. P. Dani, “Observer Design for Structure from Motion using Concurrent Learning“, American Controls Conference, 2019, pp. 2384-2389.
  • 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.
  • 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.
  • 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.
  • H. Ravichandar, I. Salehi, B. Baillie, G. Bollas, A. P. Dani, “Learning Stable Nonlinear Dynamical Systems with External Inputs using Gaussian Mixture Models”, American Controls Conference, 2018, pp. 4825-4830.
  • 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.
  • 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.
  • 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.
  • 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, “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).
  • 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).