M.Sc. degree in Physics from Birla Institute of Technology and Science - Pilani in 2021

B.E. degree in Electrical and Electronics Engineering from Birla Institute of Technology and Science - Pilani

1. Akash Chaudhary, Tiago Nascimento and Martin Saska. Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework. , 2024. PDF BibTeX

   @article{Chaudhary2024,
   	abstract = "Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at classifying three-dimensional human actions, leveraging them to coordinate on-field with a UAV. Utilizing a stereo camera, we derive both RGB and depth data, subsequently extracting three-dimensional human poses from the continuous video feed. This data is then processed through our proposed k-nearest neighbour classifier, the results of which dictate the behaviour of the UAV. It also includes mechanisms ensuring the robot perpetually maintains the human within its visual purview, adeptly tracking user movements. We subjected our approach to rigorous testing involving multiple tests with real robots. The ensuing results, coupled with comprehensive analysis, underscore the efficacy and inherent advantages of our proposed methodology.",
   	author = "Akash Chaudhary and Tiago Nascimento and Martin Saska",
   	keywords = "core, mine",
   	note = "Accepted in International Conference on Informatics in Control, Automation and Robotics (ICINCO) 2024",
   	title = "Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework",
   	year = 2024,
   	pdf = "data/papers/_Elsevier_IntuitiveMultiRobot.pdf"
   }
   

2. Akash Chaudhary, Tiago Nascimento, Martin Saska A Chaudhary, T Nascimento and M Saska. A 3D Gesture-Based Low-Latency Framework for Tight Human-Multi-UAV Coordination. , 2024. PDF BibTeX

   @article{Chaudhary20242,
   	abstract = "An intuitive interface between humans and multi-robot systems sharing their workspace is presented in this paper. Based on an event-driven architecture that enhances responsiveness and computational efficiency. Complex command classification is enabled by integrating Ball Trees and clustering techniques, optimizing both speed and accuracy. Developing robust and scalable UAV-team dynamics, including dynamic leadership selection and Line-of-sight maintenance, facilitates human-UAV team coexistence with improved fault tolerance and operational flexibility. Furthermore, we introduce a cooperative approach that integrates 3D gesture recognition into adaptive UAV behaviour, verified in real-world scenarios. Our results demonstrate significant improvements in dynamic gesture recognition accuracy, system latency, and the ability to manage larger UAV teams, making substantial strides toward practical, efficient, and responsive human-multi-robot coexistence.",
   	author = "Akash Chaudhary and Tiago Nascimento and Martin A Saska Chaudhary and T Nascimento and M Saska",
   	keywords = "core, mine",
   	note = "Submitted to Robotics and Autonomous Systems (RAS)",
   	title = "A 3D Gesture-Based Low-Latency Framework for Tight Human-Multi-UAV Coordination",
   	year = 2024,
   	pdf = "data/papers/ChaudharyICINCO.pdf"
   }
   

3. T Amorim, T Nascimento, A Chaudhary, E Ferrante and M Saska. A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration. Journal of Intelligent and Robotic Systems: Theory and Applications 110, 2024. DOI BibTeX

   @article{Amorim2024,
   	abstract = "In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without externally provided directional information exchange (alignment control). The method relies on minimalistic sensory requirements as it uses only the relative range and bearing of swarm agents in local proximity obtained through onboard sensors on the UAV. Thus, our method is able to stabilize and control the flock of a general shape above a steep terrain without any explicit communication between swarm members. To implement proximal control in a three-dimensional manner, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions between robots. The performance of the proposed approach was tested in real-world conditions by experiments with a team of nine UAVs. Experiments also present the usage of our approach on UAVs that are independent of external positioning systems such as the Global Navigation Satellite System (GNSS). Relying only on a relative visual localization through the ultraviolet direction and ranging (UVDAR) system, previously proposed by our group, the experiments verify that our system can be applied in GNSS-denied environments. The degree achieved of alignment and cohesiveness was evaluated using the metrics of order and steady-state value.",
   	author = "T. Amorim and T. Nascimento and A. Chaudhary and E. Ferrante and M. Saska",
   	doi = "10.1007/s10846-024-02108-0",
   	issn = 15730409,
   	issue = 2,
   	journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
   	keywords = "core, mine",
   	title = "A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration",
   	volume = 110,
   	year = 2024
   }
   

4. Akash Chaudhary, Tiago Nascimento and Martin Saska. Controlling a Swarm of Unmanned Aerial Vehicles Using Full-Body k-Nearest Neighbor Based Action Classifier. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022. PDF BibTeX

   @inproceedings{AkashICUAS2022,
   	author = "{Chaudhary}, Akash and {Nascimento}, Tiago and {Saska}, Martin",
   	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
   	title = "{Controlling a Swarm of Unmanned Aerial Vehicles Using Full-Body k-Nearest Neighbor Based Action Classifier}",
   	year = 2022,
   	month = "June",
   	organization = "IEEE",
   	pdf = "data/papers/ICUAS22_Akash.pdf"
   }
   

5. Akash Chaudhary, Rajat Mishra, Bharath Kalyan and Mandar Chitre. Development of an Underwater Simulator using Unity3D and Robot Operating System. September 2021, . PDF BibTeX

   @inproceedings{inproceedings,
   	author = "Chaudhary, Akash and Mishra, Rajat and Kalyan, Bharath and Chitre, Mandar",
   	year = 2021,
   	month = 09,
   	pages = "",
   	title = "Development of an Underwater Simulator using Unity3D and Robot Operating System",
   	pdf = "data/papers/Oceans21_Akash.pdf"
   }