publications

2024

2024

1. Preprint

   Sparse Landmark only Localization Using Probabilistic Data Association

   Anindya Harchowdhury, Subhanshu Sethi, Manish Shiralkar, and 1 more author

   2024

   Under review

   Abs

   Probabilistic data association for sparse landmark-only localization in GPS-denied industrial environments.

2. Preprint

   Joint Shape and State Estimation of Dynamic Objects using Sparse 3D information

   Anindya Harchowdhury, Leena Vachhani, and Lindsay Kleeman

   2024

   Under review

   Abs

   Joint estimation of shape and state of dynamic objects from sparse 3D sensor data in dynamic environments.

3. Preprint

   Perception Aware Motion Planning in Dynamic Environments: A Data-driven Approach

   Anindya Harchowdhury, Lindsay Kleeman, and Leena Vachhani

   2024

   Submitted

   Abs

   Data-driven perception-aware motion planning that accounts for sensing quality and dynamic obstacles during navigation.

2023

2023

1. Mech.

   High density 3D sensing using a nodding 2D LIDAR and reconfigurable mirrors

   Anindya Harchowdhury, Lindsay Kleeman, and Leena Vachhani

   Mechatronics, 2023

   Abs HTML

   Designed a cost-effective programmable 3D LiDAR using nodding 2D LiDAR and reconfigurable mirrors, achieving dense 3D range measurements with faster scan updates suitable for dynamic environment perception.

2019

2019

1. arXiv

   Anytime Motion Planning: A Motion Planner for Dynamic Environment

   Trishant Roy, Anindya Harchowdhury, and Leena Vachhani

   arXiv preprint arXiv:1912.13461, 2019

   Abs HTML

   An anytime motion planning approach for dynamic environments with multiple moving obstacles, enabling real-time replanning as the scene evolves.

2. Symp.

   Simultaneous Obstacle Tracking and Shape Reconstruction of a Dynamic Obstacle using Sparse Depth Data

   Anindya Harchowdhury, Lindsay Kleeman, and Leena Vachhani

   In 3rd Cyber-Physical Systems Symposium (CyPhySS), 2019

   Abs

   Two-stage estimation for tracking and shape reconstruction of dynamic obstacles from sparse 3D depth data using GMM-based learning and Kalman filtering.

2018

2018

1. RA-L

   Coordinated Nodding of a Two-Dimensional Lidar for Dense Three-Dimensional Range Measurements

   Anindya Harchowdhury, Lindsay Kleeman, and Leena Vachhani

   IEEE Robotics and Automation Letters, 2018

   Abs HTML

   Proposed coordinated nodding of a 2D LiDAR for dense 3D range sensing with programmatically reconfigurable field of view. Presented at IROS 2018, Madrid.

2015

2015

1. ICARES

   Beam scanning for reception performance improvement of satellite-based AIS

   Anindya Harchowdhury, Binay Kumar Sarkar, and Kalyan Kumar Bandyopadhyay

   In 2015 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology (ICARES), 2015

   Abs

   SDMA-based RF beam steering algorithm to enhance satellite-based AIS reception performance.

2014

2014

1. APSYM

   Passive Millimeter-wave Imaging for Detection of Objects Under Low Visibility

   Anindya Harchowdhury, and Binay Kumar Sarkar

   In APSYM, 2014

   Cochin, India

2013

2013

1. ICT

   Reception capacity enhancement of satellite-based AIS for different classes of ships

   Anindya Harchowdhury, Binay Kumar Sarkar, Kalyan Bandyopadhyay, and 1 more author

   In 2013 IEEE Conference on Information & Communication Technologies, 2013

2012

2012

1. CODEC

   Generalized mechanism of SOTDMA and probability of reception for satellite-based AIS

   Anindya Harchowdhury, Binay Kumar Sarkar, Kalyan Bandyopadhyay, and 1 more author

   In 2012 5th International Conference on Computers and Devices for Communication (CODEC), 2012