Research

RESEARCH INTEREST

My research interest lie at the intersection of machine learning, computer vision, control and optimization approaches and their application to localization, mapping, motion planning and state estimation for intelligent autonomous systems like autonomous vehicles and mobile robots. Specifically, my current research focuses on developing vision-based localization and mapping techniques that are robust to the variations in the scene caused due to illumination and weather. 

PATENTS

Volumetric feature extraction in mesh representation of a cad model using random cutting planes and graph traversals

Indian Institute of Technology - Madras, Chennai, India

Patent Pending: Indian Patent Office 201841008900

PUBLICATIONS

Under Review

UPPLIED: UAV Path Planning for Inspection through Demonstration

Submitted to 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

SS Kannan, VLN Venkatesh, RK Senthilkumaran, BC Min 

Beacon-based Distributed Structure Formation in Multi-agent Systems

Submitted to 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

T Mina, W Jo, SS Kannan, BC Min 

Distributed Multi-robot Arbitrary Object Transportation with Pushing Surface Identification and Model-based Pushing Effort Regulation

Submitted to IEEE Transactions on Systems, Man and Cybernetics: Systems

T Mina, SS Kannan, W Jo, S Luo, G King, BC Min 

2022

Autonomous Drone Delivery to Your Door and Yard

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

SS Kannan, BC Min  

Control Challenges for High-Speed Autonomous Racing: Analysis and Simulated Experiments

SAE International Journal of Connected and Autonomous Vehicles

RK Manna, DJ Gonzalez, V Chellapandi, M Mar, SS Kannan, S Wadekar, EJ Dietz, CM Korpela, AE Gamal

2021

Investigation on accepted package delivery location: A user study-based approach

2021 IEEE International Conference on Systems, Man and Cybernetics (SMC)

SS Kannan, BC Min 

A Predictive Application Offloading Algorithm using small datasets for Cloud Robotics

2021 IEEE International Conference on Systems, Man and Cybernetics (SMC)

M Penmetcha, SS Kannan, BC Min 

External Human-Machine Interface on Delivery Robots: Expression of Navigation Intent of the Robot

2021 30th IEEE International Conference on Robot & Human Interactive Communication (Ro-MAN)

SS Kannan, A Lee, BC Min 

Towards end-to-end deep learning of autonomous racing: On data collection and  unified architecture for steering and throttle prediction

ICRA 2021 Workshop - Opportunities & Challenges with Autonomous Racing

SN Wadaker, BJ Schwartz, SS Kannan, M Mar, RK Manna, V Chellapandi, DJ Gonzalez, AE Gamal

Investigating the Effect of Deictic Movements of a Multi-robot

International Journal of Human-Computer Interaction 37 (3), 197-210

A Lee, W Jo, SS Kannan, BC Min

2020

ROSbag-based Multimodal Affective Dataset for Emotional and Cognitive States

2020 IEEE International Conference on Systems, Man and Cybernetics (SMC)

W Jo, SS Kannan, GE Cha, A Lee, BC Min 

SMART Cloud: Scalable cloud robotic architecture for Web-powered multi-robot applications

2020 IEEE International Conference on Systems, Man and Cybernetics (SMC)

M Penmetcha, SS Kannan, BC Min 

Material Mapping in Unknown Environments using Tapping Sound

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

SS Kannan, W Jo, R Parasuraman, BC Min 

Adaptive Workload Allocation for Multi-human Multi-robot teams for Independent and Homogenous Tasks

IEEE Access 8, 152697-152712

T Mina, SS Kannan, W Jo, BC Min 

2019

Development of an unmanned surface vehicle for remote sediment sampling with a Van Veen grab sampler

OCEANS 2019 MTS/IEEE SEATTLE

JH Bae, S Luo, SS Kannan, Y Singh, B Lee, RM Voyles, M Malaga, EG Zenteno, LP Aguilar, BC Min 

Autoencoder-based part clustering for part-in-whole retrieval of CAD models

Computer & Graphics 81, 41-51

LP Muraleedharan, SS Kannan, R Muthuganapathy 

2018

Random cutting plane approach for identifying volumetric features in a CAD mesh model

Computer & Graphics 70, 51-61

LP Muraleedharan, SS Kannan, A Karve, R Muthuganapathy 

Part-based Segmentation of CAD mesh models: A non-parametric approach

Solid and Physical Modeling (SPM) - Poster

LP Muraleedharan, SS Kannan, R Muthuganapathy 

2017

Reconstruction using a simple triangle removal approach

SIGGRAPH Asia 2017 - Technical Briefs

S Methirumangalath, A Dev Parakkat, SS Kannan, R Muthuganapathy 

Hole detection in a planar point set: An empty disk approach

Computer & Graphics 66, 124-134

S Methirumangalath, SS Kannan, AD Parakkat, R Muthuganapathy 

Preprints

A ROS-based framework for monitoring human and robot conditions in human-multi-robot team

arXiv preprint arXiv: 2006.03784

W Jo, SS Kannan, GE Cha, A Lee, BC Min