Nikhil Chopra

119 papers A* 6A 3C 17Misc 1Journal 56Unranked 34
YearRankTypeTitle / Venue / Authors
2025 — conf
Accelerating Distributed Beamforming with the Frank-Wolfe Algorithm.
VTC2025-Spring
Alex Beyer, Jeffrey N. Twigg, Fikadu T. Dagefu, Nikhil Chopra
2025 A* conf
Cascade IPG Observer for Underwater Robot State Estimation.
ICRA
Kaustubh Joshi, Tianchen Liu, Nikhil Chopra
2025 J jnl
Cascade IPG Observer for Underwater Robot State Estimation.
CoRR
Kaustubh Joshi, Tianchen Liu, Nikhil Chopra
2025 J jnl
DREAM: Domain-aware Reasoning for Efficient Autonomous Underwater Monitoring.
CoRR
Zhenqi Wu, Abhinav Modi, Angelos Mavrogiannis, Kaustubh Joshi, Nikhil Chopra, Yiannis Aloimonos, Nare Karapetyan, Ioannis M. Rekleitis, Xiaomin Lin
2024 J jnl
3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization.
CoRR
Kaustubh Joshi, Tianchen Liu, Alan Williams, Matthew Gray, Xiaomin Lin, Nikhil Chopra
2024 J jnl
A control theoretic framework for adaptive gradient optimizers.
Autom.
Kushal Chakrabarti, Nikhil Chopra
2024 — conf
Accurate Registration of Transparent Objects in 2D LiDAR SLAM.
ERF (1)
Gurtajbir Singh Herr, Lasitha Weerakoon, Nikhil Chopra
2024 — conf
Inverse Kinematics for Robotic Manipulators Using Iterative Preconditioned Optimization Algorithms.
ERF (1)
Tianchen Liu, Lasitha Weerakoon, Nikhil Chopra
2024 J jnl
Novel Iteratively Preconditioned Gradient-Descent Algorithm via Successive Over-Relaxation Formulation.
IEEE Control. Syst. Lett.
Tianchen Liu, Kushal Chakrabarti, Nikhil Chopra
2024 J jnl
On Convergence of the Iteratively Preconditioned Gradient-Descent (IPG) Observer.
CoRR
Kushal Chakrabarti, Nikhil Chopra
2024 J jnl
On Convergence of the Iteratively Preconditioned Gradient-Descent (IPG) Observer.
IEEE Control. Syst. Lett.
Kushal Chakrabarti, Nikhil Chopra
2024 J jnl
Reinforcement Learning Driven Cooperative Ball Balance in Rigidly Coupled Drones.
CoRR
Shraddha Barawkar, Nikhil Chopra
2024 A* conf
UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning.
ICRA
Xiaomin Lin, Nare Karapetyan, Kaustubh Joshi, Tianchen Liu, Nikhil Chopra, Miao Yu, Pratap Tokekar, Yiannis Aloimonos
2024 — conf
Variant Predictor-Corrector Method for Linear Predictive Control Using Modified Uzawa Algorithm.
CDC
Tianchen Liu, Kushal Chakrabarti, Nikhil Chopra
2023 C conf
IPG Observer: A Newton-Type Observer Robust to Measurement Noise.
ACC
Kushal Chakrabarti, Nikhil Chopra
2023 — conf
Iteratively Preconditioned Gradient-Descent Approach for Moving Horizon Estimation Problems.
CDC
Tianchen Liu, Kushal Chakrabarti, Nikhil Chopra
2023 J jnl
Iteratively Preconditioned Gradient-Descent Approach for Moving Horizon Estimation Problems.
CoRR
Tianchen Liu, Kushal Chakrabarti, Nikhil Chopra
2023 Misc conf
Quantum Circuit Optimization through Iteratively Pre-Conditioned Gradient Descent.
QCE
Dhruv Srinivasan, Kushal Chakrabarti, Nikhil Chopra, Avik Dutt
2023 J jnl
Special issue on control technology for networked and distributed robotics (Part II).
Adv. Robotics
Masaaki Nagahara, Kai Cai, Debasish Chatterjee, Nikhil Chopra, Takeshi Hatanaka, Yutaka Hori, Hideaki Ishii, Daniel E. Quevedo, Michel A. Reniers
2023 J jnl
Special issue on control technology for networked and distributed robotics.
Adv. Robotics
Masaaki Nagahara, Kai Cai, Debasish Chatterjee, Nikhil Chopra, Takeshi Hatanaka, Yutaka Hori, Hideaki Ishii, Daniel E. Quevedo, Michel A. Reniers
2023 J jnl
UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning.
CoRR
Xiaomin Lin, Nare Karapetyan, Kaustubh Joshi, Tianchen Liu, Nikhil Chopra, Miao Yu, Pratap Tokekar, Yiannis Aloimonos
2022 J jnl
A Control Theoretic Framework for Adaptive Gradient Optimizers in Machine Learning.
CoRR
Kushal Chakrabarti, Nikhil Chopra
2022 — conf
Analysis and Synthesis of Adaptive Gradient Algorithms in Machine Learning: The Case of AdaBound and MAdamSSM.
CDC
Kushal Chakrabarti, Nikhil Chopra
2022 J jnl
Cartographer_glass: 2D Graph SLAM Framework using LiDAR for Glass Environments.
CoRR
Lasitha Weerakoon, Gurtajbir Singh Herr, Jasmine Blunt, Miao Yu, Nikhil Chopra
2022 J jnl
Co-Design of Lipschitz Nonlinear Systems.
CoRR
Prasad Vilas Chanekar, Nikhil Chopra
2022 — conf
Fast Distributed Beamforming without Receiver Feedback.
IEEECONF
Kushal Chakrabarti, Amrit S. Bedi, Fikadu T. Dagefu, Jeffrey N. Twigg, Nikhil Chopra
2022 J jnl
Iterative pre-conditioning for expediting the distributed gradient-descent method: The case of linear least-squares problem.
Autom.
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2022 J jnl
On Preconditioning of Decentralized Gradient-Descent When Solving a System of Linear Equations.
IEEE Trans. Control. Netw. Syst.
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2022 — conf
Passivity-Based Task Space Control of Hybrid Rigid-Soft (HyRiSo) Robots with Parametric Uncertainty.
CDC
Lasitha Weerakoon, Nikhil Chopra
2022 J jnl
Robotic Parasitic Array Control for Increased RSS in Non-Line-of-Sight.
IEEE Robotics Autom. Lett.
Jeffrey N. Twigg, Fikadu T. Dagefu, Nikhil Chopra, Brian M. Sadler
2021 — conf
Accelerating Distributed SGD for Linear Regression using Iterative Pre-Conditioning.
L4DC
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2021 A* conf
Adaptive Tracking Control of Soft Robots Using Integrated Sensing Skins and Recurrent Neural Networks.
ICRA
Lasitha Weerakoon, Zepeng Ye, Rahul Subramonian Bama, Elisabeth Smela, Miao Yu, Nikhil Chopra
2021 — conf
Generalized AdaGrad (G-AdaGrad) and Adam: A State-Space Perspective.
CDC
Kushal Chakrabarti, Nikhil Chopra
2021 J jnl
Generalized AdaGrad (G-AdaGrad) and Adam: A State-Space Perspective.
CoRR
Kushal Chakrabarti, Nikhil Chopra
2021 J jnl
On Accelerating Distributed Convex Optimizations.
CoRR
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2021 J jnl
Preserving Statistical Privacy in Distributed Optimization.
IEEE Control. Syst. Lett.
Nirupam Gupta, Shripad Gade, Nikhil Chopra, Nitin H. Vaidya
2021 C conf
Robustness of Iteratively Pre-Conditioned Gradient-Descent Method: The Case of Distributed Linear Regression Problem.
ACC
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2021 J jnl
Robustness of Iteratively Pre-Conditioned Gradient-Descent Method: The Case of Distributed Linear Regression Problem.
CoRR
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2021 J jnl
Robustness of Iteratively Pre-Conditioned Gradient-Descent Method: The Case of Distributed Linear Regression Problem.
IEEE Control. Syst. Lett.
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2021 — conf
Swing up Control of a Soft Inverted Pendulum with Revolute Base.
CDC
Lasitha Weerakoon, Nikhil Chopra
2020 J jnl
Accelerating Distributed SGD for Linear Linear Regression using Iterative Pre-Conditioning.
CoRR
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2020 J jnl
Adaptive Tracking Control of Soft Robots using Integrated Sensing Skin and Recurrent Neural Networks.
CoRR
Lasitha Weerakoon, Zepeng Ye, Rahul Subramonian Bama, Elisabeth Smela, Miao Yu, Nikhil Chopra
2020 C conf
Bilateral Teleoperation of Soft Robots under Piecewise Constant Curvature Hypothesis: An Experimental Investigation.
ACC
Lasitha Weerakoon, Nikhil Chopra
2020 J jnl
Communication Maintenance of Robotic Parasitic Antenna Arrays.
IEEE Robotics Autom. Lett.
Jeffrey N. Twigg, Nikhil Chopra, Brian M. Sadler
2020 J jnl
False Data Injection Attacks in Bilateral Teleoperation Systems.
IEEE Trans. Control. Syst. Technol.
Yimeng Dong, Nirupam Gupta, Nikhil Chopra
2020 J jnl
Iterative Pre-Conditioning for Expediting the Gradient-Descent Method: The Distributed Linear Least-Squares Problem.
CoRR
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2020 C conf
Iterative Pre-Conditioning to Expedite the Gradient-Descent Method.
ACC
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2020 J jnl
Iterative Pre-Conditioning to Expedite the Gradient-Descent Method.
CoRR
Kushal Chakrabarti, Nirupam Gupta, Nikhil Chopra
2020 J jnl
Preserving Statistical Privacy in Distributed Optimization.
CoRR
Nirupam Gupta, Shripad Gade, Nikhil Chopra, Nitin H. Vaidya
2019 J jnl
Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays.
IEEE Control. Syst. Lett.
Yimeng Dong, Nikhil Chopra
2019 J jnl
Privacy of Agents' Costs in Peer-to-Peer Distributed Optimization.
CoRR
Nirupam Gupta, Nikhil Chopra
2019 — conf
Robotic Parasitic Array Optimization in Outdoor Environments.
SSRR
Jeffrey N. Twigg, Fikadu T. Dagefu, Nikhil Chopra, Brian M. Sadler
2019 C conf
Statistical Privacy in Distributed Average Consensus on Bounded Real Inputs.
ACC
Nirupam Gupta, Jonathan Katz, Nikhil Chopra
2019 J jnl
Statistical Privacy in Distributed Average Consensus on Bounded Real Inputs.
CoRR
Nirupam Gupta, Jonathan Katz, Nikhil Chopra
2018 J jnl
Co-design of linear systems using Generalized Benders Decomposition.
Autom.
Prasad Vilas Chanekar, Nikhil Chopra, Shapour Azarm
2018 J jnl
Information-Theoretic Privacy in Distributed Average Consensus.
CoRR
Nirupam Gupta, Jonathan Katz, Nikhil Chopra
2018 — conf
Model-Based Encryption: Privacy of States in Networked Control Systems.
Allerton
Nirupam Gupta, Nikhil Chopra
2018 J jnl
Motion synchronization for semi-autonomous robotic swarm with a passivity-short human operator.
Int. J. Intell. Robotics Appl.
Made Widhi Surya Atman, Takeshi Hatanaka, Zhihua Qu, Nikhil Chopra, Junya Yamauchi, Masayuki Fujita
2018 J jnl
Passivity-Based Distributed Optimization With Communication Delays Using PI Consensus Algorithm.
IEEE Trans. Autom. Control.
Takeshi Hatanaka, Nikhil Chopra, Takayuki Ishizaki, Na Li
2017 C conf
Optimal actuator placement for linear systems with limited number of actuators.
ACC
Prasad Vilas Chanekar, Nikhil Chopra, Shapour Azarm
2017 — conf
Optimal structured static output feedback design using generalized benders decomposition.
CDC
Prasad Vilas Chanekar, Nikhil Chopra, Shapour Azarm
2017 J jnl
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification.
CoRR
Junya Yamauchi, Made Widhi Surya Atman, Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita
2017 — conf
Passivity-based control of human-robotic networks with inter-robot communication delays and experimental verification.
AIM
Junya Yamauchi, Made Widhi Surya Atman, Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita
2017 C conf
Robustness of distributive double-integrator consensus to loss of graph connectivity.
ACC
Nirupam Gupta, Yimeng Dong, Nikhil Chopra
2016 — conf
Confidentiality in distributed average information consensus.
CDC
Nirupam Gupta, Nikhil Chopra
2016 C conf
On content modification attacks in bilateral teleoperation systems.
ACC
Yimeng Dong, Nirupam Gupta, Nikhil Chopra
2016 J jnl
Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm.
CoRR
Takeshi Hatanaka, Nikhil Chopra, Takayuki Ishizaki, Na Li
2015 J jnl
Decentralized Estimation and Control for Preserving the Strong Connectivity of Directed Graphs.
IEEE Trans. Cybern.
Lorenzo Sabattini, Cristian Secchi, Nikhil Chopra
2015 — conf
Passivity-based bilateral human-swarm-interactions for cooperative robotic networks and human passivity analysis.
CDC
Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita
2015 — conf
Passivity-based control of robots: Historical perspective and contemporary issues.
CDC
Takeshi Hatanaka, Nikhil Chopra, Mark W. Spong
2014 J jnl
Decentralized Event-Triggering for Control of Nonlinear Systems.
IEEE Trans. Autom. Control.
Pavankumar Tallapragada, Nikhil Chopra
2014 J jnl
Gravity-Compensation-Driven Position Regulation for Robotic Systems Under Input/Output Delays.
IEEE Trans. Control. Syst. Technol.
Yen-Chen Liu, Nikhil Chopra
2014 J jnl
On stability and regulation performance for flexible-joint robots with input/output communication delays.
Autom.
Yen-Chen Liu, Nikhil Chopra
2013 J jnl
Control of semi-autonomous teleoperation system with time delays.
Autom.
Yen-Chen Liu, Nikhil Chopra
2013 J jnl
Decentralized Event-Triggering for Control of Nonlinear Systems
CoRR
Pavankumar Tallapragada, Nikhil Chopra
2013 J jnl
Decentralized connectivity maintenance for cooperative control of mobile robotic systems.
Int. J. Robotics Res.
Lorenzo Sabattini, Nikhil Chopra, Cristian Secchi
2013 — conf
Decentralized control for maintenance of strong connectivity for directed graphs.
MED
Lorenzo Sabattini, Cristian Secchi, Nikhil Chopra
2013 C conf
Decentralized event-triggering for control of LTI systems.
CCA
Pavankumar Tallapragada, Nikhil Chopra
2013 J jnl
Distributed Control of Multirobot Systems With Global Connectivity Maintenance.
IEEE Trans. Robotics
Lorenzo Sabattini, Cristian Secchi, Nikhil Chopra, Andrea Gasparri
2013 — conf
Event-triggered dynamic output feedback control of LTI systems over Sensor-Controller-Actuator Networks.
CDC
Pavankumar Tallapragada, Nikhil Chopra
2013 J jnl
On Event Triggered Tracking for Nonlinear Systems
CoRR
Pavankumar Tallapragada, Nikhil Chopra
2013 J jnl
On Event Triggered Tracking for Nonlinear Systems.
IEEE Trans. Autom. Control.
Pavankumar Tallapragada, Nikhil Chopra
2013 A conf
Position regulation of flexible-joint robots with input/output constant delays.
IROS
Yen-Chen Liu, Nikhil Chopra
2012 J jnl
Control of Robotic Manipulators Under Input/Output Communication Delays: Theory and Experiments.
IEEE Trans. Robotics
Yen-Chen Liu, Nikhil Chopra
2012 J jnl
Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space.
IEEE Trans. Robotics
Yen-Chen Liu, Nikhil Chopra
2012 A* conf
Decentralized connectivity maintenance for networked Lagrangian dynamical systems.
ICRA
Lorenzo Sabattini, Cristian Secchi, Nikhil Chopra
2012 — conf
Enhanced Connectivity Maintenance for Multi-Robot Systems.
SyRoCo
Lorenzo Sabattini, Andrea Gasparri, Cristian Secchi, Nikhil Chopra
2012 — conf
Event-triggered dynamic output feedback control for LTI systems.
CDC
Pavankumar Tallapragada, Nikhil Chopra
2012 — conf
Lyapunov Based Sampling for Adaptive Tracking Control in Robot Manipulators: An Experimental Comparison.
ISER
Pavankumar Tallapragada, Nikhil Chopra
2012 J jnl
Output Synchronization on Strongly Connected Graphs.
IEEE Trans. Autom. Control.
Nikhil Chopra
2012 C conf
én Co-design of event trigger and quantizer for emulation based control.
ACC
Pavankumar Tallapragada, Nikhil Chopra
2011 A conf
Distributed control of multi-robot systems with global connectivity maintenance.
IROS
Lorenzo Sabattini, Nikhil Chopra, Cristian Secchi
2011 — conf
On decentralized connectivity maintenance for mobile robotic systems.
CDC/ECC
Lorenzo Sabattini, Nikhil Chopra, Cristian Secchi
2011 — conf
On event triggered trajectory tracking for control affine nonlinear systems.
CDC/ECC
Pavankumar Tallapragada, Nikhil Chopra
2011 A conf
Semi-autonomous teleoperation in task space with redundant slave robot under communication delays.
IROS
Yen-Chen Liu, Nikhil Chopra
2010 — conf
Control of Robotic Manipulators with Input-Output Delays: An Experimental Verification.
ISER
Yen-Chen Liu, Nikhil Chopra
2010 A* conf
Control of robotic manipulators under time-varying sensing-control delays.
ICRA
Nikhil Chopra
2010 — conf
On ultimate boundedness of delay synchronization algorithms for semi-passive systems.
Allerton
Nikhil Chopra
2010 C conf
Robust controlled synchronization of interconnected robotic systems.
ACC
Yen-Chen Liu, Nikhil Chopra
2010 — conf
Synchronization of networked robotic systems on strongly connected graphs.
CDC
Yen-Chen Liu, Nikhil Chopra
2009 C conf
Control of robotic manipulators with input/output delays.
ACC
Nikhil Chopra
2009 J jnl
On Exponential Synchronization of Kuramoto Oscillators.
IEEE Trans. Autom. Control.
Nikhil Chopra, Mark W. Spong
2008 J jnl
Bilateral Teleoperation Over Unreliable Communication Networks.
IEEE Trans. Control. Syst. Technol.
Nikhil Chopra, Paul Berestesky, Mark W. Spong
2008 — conf
Controllability and observability of leader-based multi-agent systems.
CDC
Rogelio Lozano, Mark W. Spong, Jose Alfredo Guerrero Mata, Nikhil Chopra
2008 C conf
On synchronization and collision avoidance for mechanical systems.
ACC
Nikhil Chopra, Dusan M. Stipanovic, Mark W. Spong
2008 — ch.
Output Synchronization of Nonlinear Systems with Relative Degree One.
Recent Advances in Learning and Control
Nikhil Chopra, Mark W. Spong
2008 — conf
Passivity results for interconnected systems with time delay.
CDC
Nikhil Chopra
2008 J jnl
Synchronization of bilateral teleoperators with time delay.
Autom.
Nikhil Chopra, Mark W. Spong, Rogelio Lozano
2007 — ch.
Adaptive Synchronization of Bilateral Teleoperators with Time Delay.
Advances in Telerobotics
Nikhil Chopra, Mark W. Spong
2007 C conf
Convergence Analysis of Bilateral Teleoperation with Constant Human Input.
ACC
Rogelio Lozano, Nikhil Chopra, Mark W. Spong
2007 — conf
Delay-independent stability for interconnected nonlinear systems with finite L2 gain.
CDC
Nikhil Chopra, Mark W. Spong
2006 J jnl
On tracking performance in bilateral teleoperation.
IEEE Trans. Robotics
Nikhil Chopra, Mark W. Spong, Romeo Ortega, Nikita E. Barabanov
2006 — conf
Output Synchronization of Nonlinear Systems with Time Delay in Communication.
CDC
Nikhil Chopra, Mark W. Spong
2005 — conf
On Synchronization of Kuramoto Oscillators.
CDC/ECC
Nikhil Chopra, Mark W. Spong
2004 — conf
Adaptive coordination control of bilateral teleoperators with time delay.
CDC
Nikhil Chopra, Mark W. Spong
2004 A* conf
Discrete Time Passivity in Bilateral Teleoperation over the Internet.
ICRA
Paul Berestesky, Nikhil Chopra, Mark W. Spong
2004 C conf
On position tracking in bilateral teleoperation.
ACC
Nikhil Chopra, Mark W. Spong, Romeo Ortega, Nikita E. Barabanov
2004 C conf
Theory and experiments in bilateral teleoperation over the Internet.
CCA
Paul Berestesky, Nikhil Chopra, Mark W. Spong
2003 C conf
Bilateral teleoperation over the internet: the time varying delay problem.
ACC
Nikhil Chopra, Mark W. Spong, Sandra Hirche, Martin Buss