
Akshit Saradagi
Researcher
Research subject: Robotics and Artificial Intelligence
Division: Signals and Systems
Department of Computer Science, Electrical and Space Engineering
-
Luleå
About me
I am Akshit Saradagi. I am a Postdoctoral researcher in the Robotics and AI group at Luleå University of Technology, Sweden. I received my M.S and Ph.D dual degree from the Indian Institute of Technology Madras (IITM), Chennai, India.
My current research focusses on application of Neuromorphic Computing and Control Barrier Functions-based methods in Robotics. I am also interested in distributed control of multi-agent systems and control under resource constraints.
Linkdin External link., Google Scholar
External link.
Publications:
1. Peer-reviewed Journal articles
[J1] A. Saradagi, V. Muralidharan, A. D. Mahindrakar and P. Tallapragada, "Event-Triggered Control for Nonlinear Systems With Center Manifolds," in IEEE Transactions on Automatic Control, doi: 10.1109/TAC.2024.3388912.
[J2] A. Saradagi, V. Muralidharan, V. Krishnan, S. Menta and A. D. Mahindrakar, "Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots," in IEEE Transactions on Control Systems Technology, vol. 26, no. 6, pp. 2250-2258, Nov. 2018.
doi: 10.1109/TCST.2017.2749563
[J3] S. Fredriksson, A. Saradagi and G. Nikolakopoulos, "Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2024.3495575.
[J4] Fredriksson, S., Saradagi, A. & Nikolakopoulos, G. GRID-FAST: A Grid-based Intersection Detection for Fast Semantic Topometric Mapping. J Intell Robot Syst 110, 154 (2024). https://doi.org/10.1007/s10846-024-02180-6
[J5] S. Markkassery, A. Saradagi, A. D. Mahindrakar, N. Lakshminarasamma and R. Pasumarthy, "Modeling, Design and Control of Non-isolated Single-Input Multi-Output Zeta–Buck–Boost Converter," in IEEE Transactions on Industry Applications, vol. 56, no. 4, pp. 3904-3918, July-Aug. 2020. doi: 10.1109/TIA.2020.2984190
[J6] V. Muralidharan, A. D. Mahindrakar and A. Saradagi, "Control of a Driftless Bilinear Vector Field on n-Sphere," in IEEE Transactions on Automatic Control, vol. 64, no. 8, pp. 3226-3238, Aug. 2019. doi: 10.1109/TAC.2018.2880412
2. Journals under review
[A1] A. Saradagi, V. Sankaranarayanan, A. Banerjee, S. Satpute and G. Nikolakopoulos, "Switched Control Barrier Functions-based Safe Docking Control Strategy for a Planar Floating Platform," under review in Elsevier Control Engineering Practice (CEP).
[A2] Fausto Lagos, Akshit Saradagi, Vidya Sumathy, Shruthi Kotpalliwar and George Nikolakopoulos, "Sample-efficient Reinforcement Learning for Quadrotor Control through Curriculum Design and Training", under review in the Journal of Intelligent and Robotic Systems (JINT).
[A3] Niklas Dahlquist, Samuel Nordstrom, Nikolaos Stathoulopoulos, Bjorn Lindqvist, Akshit
Saradagi and George Nikolakopoulos."Deployment of an Aerial Multi-agent System for
Automated Task Execution in Large-scale Underground Mining Environments", under review in IEEE Transactions on Field Robotics.
3. Peer-reviewed Conference Contributions
[C1] A. Saradagi, A. D. Mahindrakar and S. Mohan, "Optimization of Relative and Absolute Thresholding Parameters in Event-triggered Control," 2019 18th European Control Conference (ECC), Naples, Italy, 2019, pp. 2737-2742.
doi: 10.23919/ECC.2019.8795707
[C2] A. Saradagi, A. D. Mahindrakar and P. Tallapragada, "Event-triggered Stabilization for Nonlinear Systems with Center Manifolds," 2020 59th IEEE Conference on Decision and Control (CDC), Jeju, Korea (South), 2020, pp. 751-756.
doi: 10.1109/CDC42340.2020.9304288
[C3] A. Saradagi, S. Menta, S. Gajbhiye, A. D. Mahindrakar and R. N. Banavar, "Poincaré representation of the equations of motion of a spherical robot actuated by internal rotors," 2018 Indian Control Conference (ICC), Kanpur, India, 2018, pp. 196-201.
doi: 10.1109/INDIANCC.2018.8307977
[C4] A. Saradagi, A. Banerjee, S. Satpute and G. Nikolakopoulos, "Safe Autonomous Docking Maneuvers for a Floating Platform based on Input Sharing Control Barrier Functions," 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, pp. 3746-3753, doi: 10.1109/CDC51059.2022.9993109.
[C5] S. Fredriksson, A. Saradagi and G. Nikolakopoulos, "Semantic and Topological Mapping using Intersection Identification," in the Proceedings of the IFAC World Congress-2023, Yokohama, Japan.
[C6] Mario A. V. Saucedo and Akash Patel and Rucha Sawlekar and Akshit Saradagi and Christoforos Kanellakis and Ali-Akbar Agha-Mohammadi and George Nikolakopoulos, “Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments,” in the Proceedings of the IFAC World Congress-2023, Yokohama, Japan.
[C7] Karthik Shenoy, Akshit Saradagi, Ramkrishna Pasumarthy and Vijaysekhar Chellaboina, “Data-Driven Feedback Linearization of Nonlinear Systems with Periodic Orbits in the Zero-Dynamics,” Proceedings of the American Control Conference, San Diego California, 2023.
[C8] Niklas Dahlquist and Björn Lindqvist and Akshit Saradagi and George Nikolakopoulos, "Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees," 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, 2023.
[C9] Niklas Dahlquist, Akshit Saradagi and George Nikolakopoulos, “Reactive Task Allocation for Balanced Servicing of Multiple Task Queues, ” in the Proceedings of the IFAC World Congress-2023, Yokohama, Japan.
C[10] A. Saradagi, S. Fredriksson, A. Koval and G. Nikolakopoulos, "Body-aware Local Navigation for Asymmetric Holonomic Robots using Control Barrier Functions," 2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 968-973, doi: 10.23919/ECC64448.2024.10590765.
C[11] N. Dahlquist, A. Saradagi and G. Nikolakopoulos, "Local Bidding Strategies for Reactive and Scalable Auction-Based Multi-Agent Coordination," 2024 32nd Mediterranean Conference on Control and Automation (MED), Chania - Crete, Greece, 2024, pp. 203-208, doi: 10.1109/MED61351.2024.10566142.
C[12] S. Fredriksson, A. Saradagi and G. Nikolakopoulos, "Robotic Exploration through Semantic Topometric Mapping," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 9404-9410, doi: 10.1109/ICRA57147.2024.10610585.
C[13] M. A. V. Saucedo, A. Patel, A. Saradagi, C. Kanellakis and G. Nikolakopoulos, "Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 9441-9447, doi: 10.1109/ICRA57147.2024.10611352.
C[14] V. N. Sankaranarayanan, A. Saradagi, S. Satpute and G. Nikolakopoulos, "A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 13659-13665, doi: 10.1109/ICRA57147.2024.10611530.
C[15] G. Damigos, A. Saradagi, S. Sandberg and G. Nikolakopoulos, "Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 12069-12075, doi: 10.1109/ICRA57147.2024.10610698.
C[16] V. N. Sankaranarayanan, A. Saradagi, S. Satpute and G. Nikolakopoulos, "Time-varying Control Barrier Function for Safe and Precise Landing of a UAV on a Moving Target," Accepted for presentation in 2024 International Conference on Intelligent Robots and Systems (IROS).
C[17] N. Dahlquist, A. Saradagi and G. Nikolakopoulos, "Behavior Tree Based Decentralized Multi-agent Coordination for Balanced Servicing of Time Varying Task Queues," Accepted for presentation in 2024 International Conference on Intelligent Robots and Systems (IROS).
Experience as a Teaching Assistant
1) Control Engineering
2) Mathematical Methods in Systems Engineering (Linear Algebra)
3) Linear Dynamical Systems
4) Nonlinear Control Systems
5) Optimal Control
6) Advanced Control Laboratory
MOOCS : Under National Program on Technology Enhanced Learning (NPTEL)
1) Control Engineering
2) Linear Dynamical Systems
Professional Service as a reviewer
IEEE Transactions on Automatic Control (TAC)
IEEE Transactions on Mechatronics (T-Mech)
IEEE Transactions on Control Systems Technology (TCST)
IEEE Transactions on Control of Networked Systems (TCNS)
Journal of Intelligent and Robotic Systems (JINT)
Elsevier Control Engineer Practice (CEP)
IEEE Open Jounral of Control Systems (OJCSYS)
IEEE Conference on Decision and Control (CDC)
American Control Conference (ACC)
International Conference on Robotics and Automation (ICRA)
International Conference on Intelligent Robots and Systems (IROS)
Indian Control Conference (ICC)
Mediterranean Control Conference (MED)
European Control Conference (ECC)
IFAC World Congress (IFAC WC)
Updated:
Published: