Rajnikant Sharma

Raj_Sharma

Assistant Professor

PhD Brigham Young University, Provo, UT November 2011

Contact Information

Office Phone:    513-556-5234
E-mail:                rajnikant.sharma@uc.edu
Room:                727 Rhodes Hall        

 

Click here to enter Dr. Sharma's Word Press CV 

EDUCATION

Brigham Young University Provo, UT
Ph. D. in Electrical Engineering November 2011

Indian Institute of Science; Bangalore, India
Master of Engineering (M. E.) in Aerospace Engineering  July 2005

University of Rajasthan; Jaipur, India
Bachelor of Engineering (B. E.) in Electrical Engineering  June 2003

DISSERTATION

Title: Bearing-only Cooperative Localization and Path Planning of Ground and Aerial Robots. Advisor: Prof. Randy Beard (BYU).

THESIS

Title: Collision Avoidance Techniques for a group of UAVs using Swarm Intelligence. Advisor: Prof. Debashish Ghose (IISc).

RESEARCH EXPERIENCE

Utah State University  Utah, USA

  • Assistant Professor, Department of Electrical and Computer Engineering, August 2013-Present.

Air Force Research Laboratory Wright Patterson Air Force Base, Ohio, USA

  • Visiting Faculty, Sensors Directorate, AFRL July 2015-August 2015.

US Air Force Academy Colorado, USA

  • Postdoctoral Research Fellow, Academy Center for Unmanned Aircraft Systems (UAS) Research, De- partment of Electrical and Computer Engineering, December 2011-July 2013.

Brigham Young University Provo, USA

  • Research Assistant, Multi Agent Intelligent Control and Coordination (MAGICC) Lab, Department of Electrical and Computer Engineering, September 2007-December 2011.

Defense Research and Development Organization  Bangalore, India

  • Scientist-B, Center for Airborne Systems, Ministry of Defense, 2005-2007.

Indian Institute of Science  Bangalore, India

  • Research Assistant, Guidance, Control, and Decision Systems Laboratory (GCDSL), Department of Aerospace Engineering, 2003-2005.


TEACHING EXPERIENCE

 

Utah State University  Utah, USA

  • Instructor, ECE 6320, Multivariable Linear Control, Fall 2013, 2014, 2015, and 2016.
  • Instructor, ECE 7330, Nonlinear and Adaptive Control, Spring 2014, 2015 and 2016.
  • Instructor, ECE 5930/6930, Small Unmanned Aircraft Systems, Spring 2015 and 2016.

University of Texas at San Antonio Texas, USA

  •  Instructor, EGR 2323, Advanced Engineering Analysis, Spring 2013.

US Air Force Academy Colorado, USA

  • Co-Instructor with Prof. Daniel Pack, ECE 387, Introduction to Robotic Systems, Winter 2012.
  • Mentor, ECE 463/464, Senior Design Project(Capstone-RF Localization using UAVs), Winter 2012.

Brigham Young University Provo, USA

  • Teaching Assistant, ECE 483 / ME 431 Feedback Control of Dynamic Systems, Fall 2010, Fall 2012.
  • Co-Instructor with Prof. Randy Beard, ECE 773 / ME 733 Linear Systems Theory, Winter 2011.
  • Co-Instructor with Prof.   Randy Beard, Probabilistic Robotics, ECE 490 Campus Challenge Team, Winter 2011.
  • Co-Instructor with Prof. Randy Beard, ECE 671 Mathematical Methods in Signals and Systems, Fall 2012.
  • Teaching Assistant, ECE 674 / ME 634 Flight Dynamics and Control, Fall 2012.

RESEARCH INTERESTS

  • Cooperative localization, control, and vision based path planning of unmanned aerial vehicles and ground robots.
  • GPS denied navigation.
  • Sensor resource management and active sensing.
  • Nonlinear control and estimation.
  • Multi target geo-localization.
  • Secure and resilient autonomous vehicle platooning.

FUNDING

  • Cooperative Transportation Research Program Project Agreement: Research Project 256 Unmanned Aerial Vehicle Bridge Inspection and 3D Image Reconstruction Phase 1, Funding Agency: IDAHO TRANSPORTA- TION DEPARTMENT, Amount: $45,725, Duration 13 month. Starting Date: Feb 1, 2016, PI: Marc Maguire, Co-Pi Rajnikant Sharma.
  • Title: Real-time Cooperative Navigation using Relative Sensing under Communication and Sensing Con- straints. PI: Rajnikant Sharma. Agency: US AFRL, Eglin Air Force Base, Florida, Amount: $100,000. Duration:  (02/01/2016-01/30/2018).  Status:  Funded:  Submitted  on  06/22/2015
  • Title: RI: Small: Collaborative Research: Cooperative Autonomous Vehicle Routing under Resource and Localization Constraints. PI Rajnikant Sharma. Agency: NSF. Amount: $235385. Duration: 3 years (09/01/2015-08/30/2018).   Status:   Funded.  
    Submitted  on  01/15/2015
    .
  • Title: Vehicle Automation for Wireless Power Transfer. Agency: USTAR. Amount: $80,000. Duration: 1 year (09/01/2015-08/30/2016).  Status:  Funded.
    Title: REU Supplement: TWC:Medium: Secure and Resilient Vehicular Platooning. Agency: NSF: PI- Ryan Gerdes, Co-Pi: Rajnikant Sharma, Ming Lee. Amount $ 32,640. Duration (05/2015-05/2016): Status: Funded.   Submitted   on   02/20/2015.
  • Title: Research Catalyst (RC): Real-Time Cooperative Localization: Towards Realization of Unmanned Aerial Vehicle Swarms in GPS-denied Environments.   Agency:  USU. PI: Rajnikant Sharma.   Amount:
  • $19,935.80.  Period (July 1, 2014-June 30, 2015).  Status:  Funded.  Submitted on 03/31/2014
  • Title: TWC : Medium: Secure and Resilient Vehicular Platooning. Agency: NSF. Ryan Gerdes (PI), Ra- jnikant Sharma (Co-PI), Ming Li(Co-PI), Kevin Heaslip(Co-PI), and, Chris Winstead(Co-PI). Amount: $1.2 Million.  Duration:  (08/01/2014-07/30/2018).  Status:  Funded.  Submitted  on  11/12/2013.

PUBLICATIONS

BOOK CHAPTERS

  1. Sivakumar Rathinam, Rajnikant Sharma, “Multiple Vehicle Assignment Problem with Localization Con- straints: Formulation and Algorithms”, Special Topics on Cooperative Control, Wiley 2016 .
  2. Gruber, Scott, Hyukseong Kwon, Chad Hager, Rajnikant Sharma, Josiah Yoder, and Daniel Pack, “Payload Design of Small UAVs”, In Handbook of Unmanned Aerial Vehicles, pp. 143-163. Springer Netherlands, 2015.
  3. Rajnikant Sharma, Josiah Yoder, Hyukseong Kwon, and Daniel Pack. ”Vision Based Mobile Target Geo- localization and Target Discrimination Using Bayes Detection Theory.” Distributed Autonomous Robotic Systems, pp. 59-71. Springer Berlin Heidelberg, 2014.

JOURNALS

  1. Thomas Fisher, Rajnikant Sharma, “Rudder Augmented Trajectory Correction for Unmanned Aerial Vehicles to Decrease Lateral Flight Line Errors of Fixed Camera Imagery” Journal of Intelligent Robotics Special Issue on UAS. 2016 (Submitted)
  2. Abhishek Manjunath, Parwinder Mehrok, Rajnikant Sharma, Ashwini Ratnoo, “Virtual target based guidance laws to path following of a quadrotor UAV,” Journal of Intelligent Robotics Special Issue on UAS, 2016 (Submitted)
  3. Anusna Chakraborty, Sohum Mishra, Rajnikant Sharma, Clark N. Tayplor, ”Observability condtions for switching snesing topology in cooperative localization” Journal of Intelligent Robotics, 2016 (Submitted)
  4. Ishmaal Erekson,  Soodeh Dadras, Rajnikant Sharma,  Ashwini Ratnoo. ”Autonomous Platooning using Modified Trajectory Shaping Guidance.” AIAA Journal of Guidance Control and Dynamics, 2016 (Submitted)
  5. Lwowski, Jonathan, Liang Sun, Roberto Mexquitic-Saavedra, Rajnikant Sharma, and Daniel Pack. ”A Reactive Bearing Angle Only Obstacle Avoidance Technique for Unmanned Ground Vehicles.” Journal of Automation and Control Research, no. 1, 2014.
  6. Huili Yu, Rajnikant Sharma, Randal W. Beard, “Observability-based local path planning and collision avoid- ance for micro air vehicles using bearing-only measurements”, Robotics and Autonomous Systems, 2013.
  7. Rajnikant Sharma, Stephen Quebe, Randal W Beard, and Clark N. Taylor, “Bearing-only cooperative local- ization: simulation and experimental results”, Journal of Intelligent and Robotic Systems, 2013.
  8. Mangal Kothari, Rajnikant Sharma, Ian Postlethwaite, Randal W. Beard, Daniel Pack, “Cooperative target- capturing with incomplete target information”, Journal of Intelligent and Robotic Systems, 2013.
  9. Rajnikant Sharma, Randal W. Beard, Stephen Quebe, Clark N. Taylor, “Graph based observability analysis of bearing-only cooperative localization”, IEEE Transactions on Robotics, Vol 28, Issue 2, p.522-529, 2012.
  10. Rajnikant Sharma, Jeffery Saunders, Randal W. Beard, “Reactive path planning for micro air vehicles using bearing only measurements”, Journal of Intelligent and Robotic Systems, Volume 65, Issue 1 (2012), p.409- 416.
  11. Rajnikant Sharma, Debashish Ghose, “Collision avoidance between UAV clusters using swarm intelligence techniques”, International Journal of Systems Science, v.40 n.5, p.521-538, 2009.

CONFERENCES

  1. Abhishek Manjunath, Parwinder Mehrok, Rajnikant Sharma, Ashwini Ratnoo, “Application of virtual tar- get based guidance laws to path following of a quadrotor UAV,” IEEE 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016
  2. Anusna Chakraborty, Rajnikant Sharma, Clark N. Taylor, and Kevin M. Brink, “Cooperative Localization for Fixed Wing Unmanned Aerial Vehicles,” IEEE/ION Position Location and Navigation Symposium, 2016
  3. Rajnikant Sharma, Sivakumar Rathinam “Cooperative-timing Attack with Smart Munitions using Coopera- tive Localization in Contested Environments”, AIAA @ Infotech Conference 2016.
  4. Thomas Fisher, Rajnikant Sharma, “Rudder Augmented Trajectory Correction for Unmanned Aerial Vehicles to Decrease Lateral Flight Line Errors of Fixed Camera Imagery” AIAA Guidance Navigation and Control Conference 2016.
  5. Imran Sajjad, Daniel D. Dunn, Rajnikant Sharma and Ryan Gerdes “Attack Mitigation in Adversarial Pla- tooning Using Detection-Based Sliding Mode Control”, ACM Cyber-Physical Systems Security and Privacy Workshop 2015 
  6.  Jerel Nielsen, Rajnikant sharma, “Formation Control of Quad-Rotor UAVs Using a Single Camera”, In the proceedings of the 2015 International Conference on Unmanned Aircraft Systems (ICUAS’15), 2015.
  7. Douglas Spencer Maughan, Ishmaal Timothy Erekson, Rajnikant sharma, “Flying Inverted Pendulum Tra- jectory Control on Robust Intelligent Sensing and Control Multi-Agent Analysis Platform”, In the proceedings of the 2015 International Conference on Unmanned Aircraft Systems (ICUAS’15), 2015.
  8.  Soudeh Dadras, Ryan Gerdes, Rajnikant Sharma “CPS: Vehicular Platooning in an Adversarial Environment”
  9. ACM Symposium on Information, Computer and Communications Security , 2015
  10. Shivakumar Rathinam, Rajnikant Sharma “ A Multiple Vehicle Path Covering Problem with Localization Constraints: Formulation and Algorithms” IEEE American Control Conference (ACC), 2015.
  11. Rajnikant Sharma, “Observability based Control for Cooperative Localization”, In the proceedings of the 2014 International Conference on Unmanned Aircraft Systems (ICUAS’14), 2014.
  12. Jonathan Lwowski, Liang Sun, Roberto Mexquitic-Saavedra, Rajnikant Sharma, Daniel J. Pack, “A Reactive Bearing Angle Only Obstacle Avoidance Technique for Unmanned Ground Vehicles”, In the Proceedings of the International Conference of Control, Dynamic Systems, and Robotics, 2014.
  13.  Rajdeep Dutta, Liang Sun, Mangal Kothari, Rajnikant Sharma, Daniel J. Pack, “A Cooperative Forma- tion Control Strategy Maintaining Connectivity of A Multi-agent System”, In the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014.
  14. Rajnikant Sharma, Daniel Pack “Cooperative sensor resource  management  for  multi  target  geolocalization using small fixed-wing unmanned aerial vehicles”, AIAA Guidance, Navigation, and Control Conference and Exhibit, Boston, 2013.
  15. Hyukseong Kwon, Rajnikant Sharma, Josiah Yoder, Daniel Pack “Robust mobile ground target localization using ground image feature based UAV position compensation techniques”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), Jeju, Korea, 2012.
  16. Josiah Yoder, Hyukseong Kwon, Rajnikant Sharma, Daniel Pack “Monitoring intent to enter with a small UAV”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), Jeju, Korea, 2012.
  17. Rajnikant Sharma, Randal W. Beard, Clark N. Taylor, Daniel Pack, “Bearing-only cooperative geo-localization for unmanned aerial vehicles”, American Control Conference, Montreal, Canada, 2012.
  18. Huili Yu, Rajnikant Sharma, Randal W. Beard, “Observability-based local path planning and collision avoid- ance for micro air vehicles using bearing-only measurements”, Proceedings of the American Control Confer- ence, San Francisco, 2011.
  19. Rajnikant Sharma, Clark N. Taylor, David Casbeer, Randal W. Beard, “Distributed cooperative SLAM using an information consensus filter,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Toronto, Canada, paper no. AIAA-2010-8334, 2010.
  20. Rajnikant Sharma, Mangal Kothari, Clark N. Taylor and Ian Postlethwaite, “Cooperative target-capturing with inaccurate target information”, Proceedings of the American Control Conference, Baltimore MA, p. 5520-5525, 2010.
  21. Rajnikant Sharma, Jeff Saunders, Clark N. Taylor, Randal W. Beard, “Reactive collision avoidance for fixed- wing MAVs flying in urban terrain”, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2009
  22. Rajnikant Sharma, Clark N. Taylor, “Vision-based distributed cooperative navigation  for  MAVs  in  GPS denied areas”,  AIAA  Infotech@Aerospace, 2009.
  23. Rajnikant Sharma, Clark N. Taylor, “Cooperative navigation of MAVs in GPS denied areas”, Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, p. 481-486, 2008.
  24. Rajnikant Sharma, Debashish Ghose, “Swarm intelligence based collision avoidance between realistically Modeled UAVs”, Proceedings of the American Control Conference, New York, NY, p. 3892-3897, 2007.
  25. Rajnikant Sharma, Debashish Ghose, “Collision avoidance between UAV clusters using swarm intelligence”, Proceedings of the International Conference on Advances in Control and Optimization of Dynamical Systems, Bangalore, p. 246-253, 2007.

SERVICE

 

  • Member faculty search committee Mechanical and Aerospace Engineering, 2015.
  • Member NSF CMMI Dynamics, Control and System Diagnostics (DCSD) CAREER panel.
  • Co-Editor, AIAA Journal of Information Systems special issue of Estimation and Information theory appli- cations for Resilient and Distributed Operation of Aerospace Systems, 2013-14.
  • Session Chair, IEEE Multi Sensor Fusion Conference, Seoul, Korea 2008.
  • Member IEEE.
  • Member IEEE Control System Society.
  • Member IEEE Robotics and Automation Society.
  • Member AIAA.
  • Reviewer IEEE IROS 2011,2013 IEEE ACC 2008, 2009, 2010, 2011, 2012, 2013, IEEE ICRA 2013 IEEE
    CDC 2009,2010, 2012 AIAA GNC 2009,2010,2013, AIAA JGCD 2011, Autonomous Robots 2012, JINT
    2012, IEEE TCST 2012, DARS 2012, IEEE Transactions on Automatic Control 2013
    .

ACHIEVEMENTS

  • Lab technology award , Center for Airborne Systems, 2007.
  • Graduated in Electrical Engineering as top 3 students among all of the engineering colleges under University of Rajasthan, 2003.
  • 29th all India rank out of 20,000 electrical engineering students in Graduate Aptitude Test in Engineering (GATE), 2003.
  • GATE scholarship, Indian Institute of Science, 2003-2005.