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Publications: |
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Pratik Prajapati, Ravi N Banavar and Vineet Vashista. Human-State-Aware Non-Linear Control Framework for Physical Collaborative Aerial Transportation. IEEE Control Systems Letters 9():1363-1368, 2025. video, DOI BibTeX @article{11036553,
author = "Prajapati, Pratik and Banavar, Ravi N. and Vashista, Vineet",
journal = "IEEE Control Systems Letters",
title = "Human-State-Aware Non-Linear Control Framework for Physical Collaborative Aerial Transportation",
year = 2025,
volume = 9,
number = "",
pages = "1363-1368",
keywords = "Payloads;Quadrotors;Attitude control;Force;Collaboration;Autonomous aerial vehicles;Transportation;Translation;Dynamics;Safety;Aerial systems: applications;aerial systems: mechanics and control;physical human-robot interaction",
doi = "10.1109/LCSYS.2025.3579414",
video = "https://youtu.be/CkFNcYg36-k"
}
Pratik Prajapati and Vineet Vashista. Compact and Lightweight Cable Attitude Measurement Device for Aerial Transportation Applications. In TENCON 2024 - 2024 IEEE Region 10 Conference (TENCON) (). 2024, 1954-1957. DOI BibTeX @inproceedings{10902676,
author = "Prajapati, Pratik and Vashista, Vineet",
booktitle = "TENCON 2024 - 2024 IEEE Region 10 Conference (TENCON)",
title = "Compact and Lightweight Cable Attitude Measurement Device for Aerial Transportation Applications",
year = 2024,
volume = "",
number = "",
pages = "1954-1957",
keywords = "Accuracy;Transportation;Computer architecture;Autonomous aerial vehicles;Real-time systems;Motion capture;Communication cables;Autopilot;Oscillators;Payloads;Aerial transportation;Cable-suspended payload;Real-time estimation;Sensor fusion",
doi = "10.1109/TENCON61640.2024.10902676"
}
Pratik Prajapati, Atul Patidar and Vineet Vashista. A Study on Reinforcement Learning based Control of Quadcopter with a Cable-suspended Payload. In Proceedings of the 2023 6th International Conference on Advances in Robotics. 2023. URL, DOI BibTeX @inproceedings{10.1145/3610419.3610494,
author = "Prajapati, Pratik and Patidar, Atul and Vashista, Vineet",
title = "A Study on Reinforcement Learning based Control of Quadcopter with a Cable-suspended Payload",
year = 2023,
isbn = 9781450399807,
publisher = "Association for Computing Machinery",
address = "New York, NY, USA",
url = "https://doi.org/10.1145/3610419.3610494",
doi = "10.1145/3610419.3610494",
abstract = "Flying a drone is as simple as playing a video game. However, the suspension of the payload underneath complicates its dynamic behavior and makes control challenging. The default onboard control algorithms are not designed to cope with the unknown interaction introduced by the suspended payload, i.e., the payload’s oscillations. Attempts have been made previously using model-based adaptive control techniques to solve this problem. Another way of addressing this problem is using data-driven control techniques such as Reinforcement Learning (RL). RL techniques have been proven to perform well in modeling complex, coupled, and unknown dynamics. This work discusses a study of implementing the RL based controller for manual flying of the quadcopter with a cable-suspended payload system. The simulations are carried out in a specially designed physics environment that simulates the dynamical behavior of a quadcopter-payload system. The RL agent is trained using the proximal policy optimization approach, and numerous simulations are run to ensure that performance is as expected. Finally, the process of putting the provided controller into actual hardware is covered along with any potential difficulties.",
booktitle = "Proceedings of the 2023 6th International Conference on Advances in Robotics",
articleno = 75,
numpages = 6,
keywords = "Cable-suspended payload, Quadcopters, Reinforcement Learning",
location = "Ropar, India",
series = "AIR '23"
}
Pratik Prajapati and Vineet Vashista. Aerial Physical Human Robot Interaction for Payload Transportation. IEEE Robotics and Automation Letters 8(8):4903-4910, 2023. video, DOI BibTeX @article{10168218,
author = "Prajapati, Pratik and Vashista, Vineet",
journal = "IEEE Robotics and Automation Letters",
title = "Aerial Physical Human Robot Interaction for Payload Transportation",
year = 2023,
volume = 8,
number = 8,
pages = "4903-4910",
keywords = "Payloads;Quadrotors;Transportation;Robots;Autonomous aerial vehicles;Task analysis;Force;Physical human-robot interaction ( $HRI$ );aerial systems: mechanics and control;aerial systems: applications",
doi = "10.1109/LRA.2023.3290410",
video = "https://youtu.be/xZfC6b2Acd4"
}
Pratik Prajapati, Sagar Parekh and Vineet Vashista. On-board cable attitude measurement and controller for outdoor aerial transportation. Robotica 40(5):1650–1664, 2022. video, DOI BibTeX @article{Prajapati_Parekh_Vashista_2022,
title = "On-board cable attitude measurement and controller for outdoor aerial transportation",
volume = 40,
doi = "10.1017/S0263574721001302",
number = 5,
journal = "Robotica",
author = "Prajapati, Pratik and Parekh, Sagar and Vashista, Vineet",
year = 2022,
pages = "1650–1664",
video = "https://youtu.be/dlxLW2VgzPM"
}
Pratik Prajapati and Vineet Vashista. Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload. In Vijay Kumar Gupta, C Amarnath, Puneet Tandon and Zahid M Ansari (eds.). Recent Advances in Machines and Mechanisms. 2023, 577–585. BibTeX @inproceedings{10.1007/978-981-19-3716-3_46,
author = "Prajapati, Pratik and Vashista, Vineet",
editor = "Gupta, Vijay Kumar and Amarnath, C. and Tandon, Puneet and Ansari, M. Zahid",
title = "Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload",
booktitle = "Recent Advances in Machines and Mechanisms",
year = 2023,
publisher = "Springer Nature Singapore",
address = "Singapore",
pages = "577--585",
abstract = "Considering the low payload carrying capacity for a single quadcopter, one option to increase the payload carrying capacity is the use of more than one quadcopter. This work focuses on trajectory planning and control of two quadcopters with a cable-suspended point mass payload system using a leader--follower scheme. For safe and stable transportation of suspended payload, the quadcopters should be controlled to not lead to cable slackness. Accordingly, wrench closure analysis is carried out for the follower quadcopter with respect to the leader quadcopter, which helps design desired trajectory generation for the quadcopters. The performance of the proposed motion planning strategy is verified by conducting simulation in SIMSCAPE multibody package in MATLAB.",
isbn = "978-981-19-3716-3"
}
Pratik Prajapati, Sagar Parekh and Vineet Vashista. On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (). 2020, 2253-2258. video, DOI BibTeX @inproceedings{9197279,
author = "Prajapati, Pratik and Parekh, Sagar and Vashista, Vineet",
booktitle = "2020 IEEE International Conference on Robotics and Automation (ICRA)",
title = "On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System",
year = 2020,
volume = "",
number = "",
pages = "2253-2258",
keywords = "Payloads;Oscillators;Angular velocity;Attitude control;Vehicle dynamics;Trajectory;Quadcopters;Human control;Cable-suspended payload;Collaborative transportation;Multi-agents",
doi = "10.1109/ICRA40945.2020.9197279",
video = "https://youtu.be/WOED7bs7Ffo"
}
Pratik Prajapati, Sagar Parekh and Vineet Vashista. Collaborative Transportation of Cable-Suspended Payload using Two Quadcopters with Human in the loop. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (). 2019, 1-6. DOI BibTeX @inproceedings{8956380,
author = "Prajapati, Pratik and Parekh, Sagar and Vashista, Vineet",
booktitle = "2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)",
title = "Collaborative Transportation of Cable-Suspended Payload using Two Quadcopters with Human in the loop",
year = 2019,
volume = "",
number = "",
pages = "1-6",
keywords = "",
doi = "10.1109/RO-MAN46459.2019.8956380"
}
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