Ph.D, Civil-Systems Engineering, May 2007 Minors in Computer Vision and Mathematics Dissertation topic: Routing and Monitoring Algorithms for UAVs 1

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1 Sivakumar Rathinam (office) 506, Mechanical Engineering Office Building Mechanical Engineering Texas A & M, College Station TX, Education University of California Ph.D, Civil-Systems Engineering, May 2007 Minors in Computer Vision and Mathematics Dissertation topic: Routing and Monitoring Algorithms for UAVs 1 University of California M.S., Electrical Engineering and Computer Science, May 2006 Texas A & M University M.S., Mechanical Engineering, December 2001 Indian Institute of Technology B.Tech., Mechanical Engineering, June 1999 Berkeley, CA Berkeley, CA College Station, TX Madras, India Research Interests Autonomous Systems, Unmanned Vehicles, Collaborative Control, Combinatorial Motion Planning, Approximation Algorithms, Air Traffic Control, Vision based Control, Remote Sensing of Infrastructure Systems. Awards Summer Faculty Fellowship, Air Force Research Laboratory, 2015 Best paper award at the International Conference on Unmanned Aircraft Systems, 2015 Peggy L. and Charles L. Brittan 65 Teaching Award for Outstanding Undergraduate Teaching, 2012 Morris Foster Fellowship, Texas A & M University, 2009 The Luso-American Development Foundation Pre-Dissertation Fellowship, Berkeley 2004 Texas A & M Mechanical Engineering Department Fellowship, 1999 Work Experience Associate Professor Mechanical Engineering, Texas A & M University September 2015 onwards College Station, TX 1 Unmanned Aerial Vehicles Page 1 of 10

2 Assistant Professor January August 2015 Mechanical Engineering, Texas A & M University College Station, TX Associate Research Scientist January December 2008 UARC-NASA 2 Ames Research Center Moffett Field, CA Graduate Student Researcher August December 2006 Institute of Transportation Studies, University of California Berkeley, CA Intern Summer 2003, 2000 Schlumberger Doll Research Ridgefield, CT Development Engineer January July 2002 Institute of Transportation Studies, University of California Berkeley, CA Intern Summer 2001 Geoquest Technology Center Abingdon, UK Graduate Student Researcher August December 2001 Mechanical Engineering, Texas A & M University College Station, TX Archival Journal Publications indicates a graduate student I advised or I am advising/co-advising at Texas A & M. indicates other graduate students I have worked with at Texas A & M. 1. S. A. Raza, S. Rathinam, M. Turiac, L. Kerbache, An Integrated Revenue Management Framework for a Firm s Greening, Pricing and Inventory Decisions, International Journal of Production Economics, Accepted, November S. A. Raza, S. Rathinam, A risk tolerance analysis for a joint price differentiation and inventory decisions problem with demand leakage effect, International Journal of Production Economics, Accepted, K. Sundar, S. Rathinam, Algorithms for Heterogeneous, Multiple Depot, Multiple Unmanned Vehicle Path Planning Problems, Journal of Intelligent and Robotic Systems, Accepted, Dec S.G. Manyam, S. Rathinam, D. Casbeer, E. Garcia, Bounds for Computing Shortest Dubins Paths through a Sequence of Points, submitted to Journal of Intelligent and Robotic Systems. 2 University Affiliated Research Center-National Aeronautics and Space Administration Page 2 of 10

3 5. S. A. Raza, F. C. Abdullakutty, S. Rathinam, Joint determination of process mean, price differentiation, and production decisions with demand leakage: A multi-objective approach, Applied Mathematical Modelling, S. G. Manyam, S. Rathinam, S. Darbha, D. Casbeer, Y. Cao, P. Chandler, GPS Denied UAV Routing with Communication Constraints, Journal of Intelligent & Robotic Systems, 1-13, K. Sundar and S. Rathinam, Multiple Depot Ring Star Problem: A Polyhedral Study and Exact Algorithm, Journal of Global Optimization, pp 1-25, K. Sundar and S. Rathinam, A Generalized Multiple Depot Traveling Salesman Problem: A Polyhedral Study and Exact Algorithm, Computers and Operations Research, vol. 70, pp 39-55, M. Gupta, S Rathinam, S Darbha, Computation of Lower Bounds for a Multiple Depot, Multiple Vehicle Routing Problem With Motion Constraints, Journal of Dynamic Systems, Measurement, and Control vol. 137 (9), J. Bae and S. Rathinam, Algorithms for a Heterogeneous Unmanned Vehicle Problem, International Journal of Advanced Robotics Systems, vol. 12, J. Bae and S. Rathinam, A primal-dual approximation algorithm for a two depot heterogeneous traveling salesman problem, Optimization Letters, M. Gupta, S. Rathinam and S. Darbha, Lower Bounds for a Vehicle Routing Problem with Motion Constraints, International Journal of Robotics and Automation, vol. 30 (3), H. Nagarajan, S. Rathinam, S. Darbha, Synthesizing robust communication networks for Unmanned Aerial Vehicles with resource constraints, ASME 3 Journal of Systems, Dynamics and Control, Oct. 2014, doi: / D. Levy, K. Sundar, S. Rathinam, Heuristics for Routing Heterogeneous Unmanned Vehicles with Fuel Constraints, Mathematical Problems in Engineering, vol. 2014, April J. Montoya, S Rathinam, and Z. Wood, Multi-objective Departure Runway Scheduling Using Dynamic Programming, IEEE 4 Transactions on Intelligent Transportation Systems, Feb. 2014, pp H. Nagarajan, P. Wei, S. Rathinam and D. Sun, Heuristics for Synthesizing Robust Networks with a Diameter Constraint, Mathematical Problems in Engineering, vol (2014), Article ID , 11 pages. 17. K. Sundar and S. Rathinam, Algorithms for Routing an Unmanned Aerial Vehicle in the Presence of Refueling Depots, IEEE Transactions on Automation Science and Engineering, Jan. 2014, pp K. Sundar and S. Rathinam, A Primal-Dual Heuristic for a Heterogeneous Unmanned Vehicle Path Planning Problem. International Journal of Advanced Robotic Systems, 2013, 10:349. doi: / American Society of Mechanical Engineers 4 Institute of Electrical and Electronics Engineers Page 3 of 10

4 19. Y. Cao, S. Rathinam, and D. Sun, Greedy-Heuristic-Aided Mixed-Integer Linear Programming Approach for Arrival Scheduling, AIAA 5 Journal of Aerospace Information Systems, vol. 10, No. 7 (2013), pp A. D. Ravidas and S. Rathinam, An Optimal Algorithm for a Two-runway Scheduling Problem, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering July 2013, vol. 227, no. 7, pp H. Nagarajan, S. Rathinam, S. Darba and K. Rajagopal, Algorithms for Synthesizing Mechanical Systems with Maximal Natural Frequencies, Nonlinear Analysis Series B: Real World Applications, vol. 13, Issue 5, October 2012, Pages J. Bae and S. Rathinam, Approximation algorithms for multiple terminal, Hamiltonian path problems, Optimization Letters, vol. 6, no. 1, 69-85, January S. Yadlapalli, S. Rathinam and S. Darbha, 3-Approximation algorithm for a two depot, heterogeneous traveling salesman problem, Optimization Letters, vol. 6, no. 1, pages , January P. Stiverson and S. Rathinam, Heuristics for a Runway-Queue Management Problem, Proceedings of the Institution of Mechanical Engineers, Part G, Journal of Aerospace Engineering, vol. 225 no. 5, pages , R. Doshi, S. Yadlapalli, S. Rathinam and S. Darbha, Approximation algorithms and heuristics for a 2-depot, heterogeneous hamiltonian path problem, International Journal of Robust and Nonlinear Control, vol. 21, issue 12, pages , P. Oberlin, S. Rathinam and S. Darbha, Today s Travelling Salesman Problem, IEEE Robotics and Automation Magazine, vol. 17, issue 4, pages 70-77, S. Rathinam and R. Sengupta, 3 2-Approximation Algorithm for variants of a 2-Depot, Hamiltonian Path Problem, Operations Research Letters, 38 (2010), pp S. Rathinam, Z. Kim and R. Sengupta. Vision Based Following of Locally Linear Structures Using an UAV. Journal of Infrastructure Systems, Volume 14, No. 1, March W. Malik, S. Rathinam, and S. Darbha. A 2-Approximation Algorithm for a Generalized, Multiple Depot Travelling Salesman Problem. Operations Research Letters, Volume 35, Issue 6, November 2007, Pages S. Rathinam, R. Sengupta and S. Darbha. A Resource Allocation Algorithm for Multi Vehicle Systems with Non-Holonomic Constraints. IEEE Transactions on Automation Science and Engineering, Volume 4, No. 1, January Peer Reviewed Book Chapters 1. S. Rathinam and R. Sharma, Sensor Placement Algorithms for a Path Covering Problem, Cooperative control of multiagent systems: theory and applications Editors: Eloy Garcia and David Casbeer. Wiley. 5 American Institute of Aeronautics and Astronautics Page 4 of 10

5 2. H. Nagarajan, S. Rathinam, S. Darba and K. Rajagopal, Algorithms for finding diameter constrained graphs with maximum algebraic connectivity, Dynamics of Information Systems: Mathematical Foundations, 2012, vol. 20, Springer Proceedings in Mathematics & Statistics, Editors: Alexey Sorokin, Robert Murphey, My T. Thai, Panos M. Pardalos. 3. S. Rathinam, R. Sengupta and S. Darbha. Path Planning for a Collection of Vehicles with Yaw Rate Constraints. Springer Series Lecture Notes in Economics and Mathematical Systems, vol 588, January S. Rathinam and R. Sengupta, Routing Problems involving UAVs, Innovations in Intelligent Machines: Theory and Applications, Springer Series, June S. Yadlapalli, W. A. Malik, S. Darbha and S. Rathinam. A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem with Precedence Constraints. Springer Series Lecture Notes in Control and Information Sciences, Peer Reviewed Conference Publications 1. K. Kalyanam, S. Rathinam, D. Casbeer and M Pachter, Optimal Threshold Policy for Sequential Weapon Target Assignment, IFAC-PapersOnLine 49 (17), K. Sundar, J. Qin, S. Rathinam, L. Ntaimo, S. Darbha and C. Valicka, Algorithms for a Satellite Constellation scheduling Problem, 2016 IEEE International Conference on Automation Science and Engineering (CASE). 3. S. Rathinam and P. Khargonekar, An Approximation Algorithm for a Shortest Dubins Path Problem, ASME Conference on Dynamics, Systems and Control, K. Sundar, S. Venkatachalam and S. Rathinam, Formulations and algorithms for the multiple depot, fuel-constrained, multiple vehicle routing problem, American Control Conference (ACC), pp S. Manyam, S. Rathinam, D. Casbeer, Dubins paths through a sequence of points: Lower and upper bounds, 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp S. Rathinam, R. Sharma, A multiple vehicle path covering problem with localization constraints: Formulation and algorithms, American Control Conference (ACC), 2015, Pages K. Sundar, S. Rathinam, An exact algorithm for a heterogeneous, multiple depot, multiple traveling salesman problem, Unmanned Aircraft Systems (ICUAS), 2015 International Conference on, Pages K. Sundar, P.B. Sujit, S. Rathinam, D. Lucani, J. Sousa, Algorithms for Collecting Data from Cooperating Sensor Motes using Unmanned Vehicles, Indian Control Conference (ICC), M. Gupta, S. Rathinam, S. Darbha, P. Chandler and D. Casbeer, Routing of Two Unmanned Aerial Vehicles with Communication Constraints, International Conference on Unmanned Aircraft Systems, Orlando in May 27-30, Page 5 of 10

6 10. M. Gupta, S. Rathinam and S. Darbha, Computation of Lower bounds for a Multiple Depot, Multiple Vehicle Routing Problem With Motion Constraints, IEEE Conference on Decision and Control, Firenze, Italy, December H. Nagarajan, S. Rathinam and S. Darbha, Synthesizing Robust Communication Networks for Unmanned Aerial Vehicles with Resource Constraints. ASME Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA, October M. Gupta, S. Rathinam, S. Darbha, and K. J. Obermeyer. Computation of a Lower Bound for a Vehicle Routing Problem with Motion Constraints. ASME Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA, October H. Nagarajan, P. Wei, S. Rathinam, and D. Sun, Air transportation network robustness optimization under limited legs itinerary constraint. The 5th International Conference on Research in Air Transportation, Berkeley, CA, May 22-25, K. Sundar and S. Rathinam, Route Planning Algorithms for Unmanned Aerial Vehicles with Refueling Constraints, American Control Conference, Montreal, Canada, J. Bae and S. Rathinam, An Approximation Algorithm for a Heterogeneous Traveling Salesman Problem, ASME-Decision, Systems and Controls Conference, Y. Cao, S. Rathinam and D. Sun, A Rescheduling Method for Conflict-free Continuous Descent Approach, AIAA Conference on Guidance, Navigation and Control, Aug J. Montoya, Z. Wood and S. Rathinam, Runway Scheduling Using Generalized Dynamic Programming, AIAA Conference on Guidance, Navigation and Control, Aug S. Yadlappalli, J. Bae, S. Rathinam and S. Darbha, Approximation algorithms for a heterogeneous Multiple Depot Hamiltonian Path Problem, American Control Conference, J. Montoya, Z. Wood, S. Rathinam and W. Malik, A Mixed Integer Linear Program for Solving a Multiple Route Taxi Scheduling Problem, AIAA Conference on Guidance, Navigation and Control, Aug P. Oberlin, S. Rathinam, and S. Darbha. Combinatorial Motion Planning Problem for a Dubins Vehicle with Precedence Constraints. ASME Systems, Dynamics and Control Conference, Z. Wood, S. Rathinam, Y. Jung and M. Kistler. A Simulator for Modeling Aircraft Surface Operations at Airports. AIAA Modeling and Simulation Technologies Conference, S. Rathinam, Z. Wood, B. Sridhar and Y. Jung. A Generalized Programming Approach to a Departure Scheduling Problem. AIAA Conference on Guidance, Navigation and Control, S. Yadlapalli, S. Rathinam and S. Darbha. An approximation algorithm for a Heterogenous, Multiple Vehicle, Multiple Travelling Salesman Problem. American Control Conference, P. Oberlin, S. Rathinam and S. Darbha. A Transformation for a Multiple Vehicle, Multiple Travelling Salesman Problem. American Control Conference, Page 6 of 10

7 25. P. Oberlin, S. Rathinam and S. Darbha. A Transformation for a Heterogenous, Multiple Vehicle, Multiple Travelling Salesman Problem. American Control Conference, S. Rathinam, J. Montoya and Y. Jung. An Integer programming formulation for an Aircraft Taxi-scheduling Problem. 26 th Congress of the International Council of Aeronautical Sciences, Anchorage, Alaska, S. Rathinam, W. Malik, S. Yadlapalli and S. Darbha. Algorithms for the Dubins Traveling Salesman Problem. Conference on Cooperative Control and Optimization, 2008, Florida. 28. S. Yadlapalli, W. A. Malik, S. Rathinam, and S. Darbha. A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. IEEE Conference on Decision and Control, W. Malik, S. Rathinam, S. Darbha and D. Jeffcoat. Combinatorial Motion Planning for Multiple Vehicle Systems. IEEE Conference on Decision and Control, December 2006, San Diego. 30. W. Malik, S. Rathinam, S. Darbha and D. Jeffcoat. Combinatorial Motion Planning for a Collection of Reeds-Shepp Vehicles. Informs Annual Meeting, S. Rathinam and R. Sengupta. Lower and Upper bounds for a Multiple Depot Routing Problem. IEEE Conference on Decision and Control, December 2006, San Diego. 32. S. Rathinam, P. Almeida, Z. Kim, S. Jackson, A. Tinka, W. Grossman and R. Sengupta. Autonomous Searching and Tracking of a River using an UAV. American Control Conference, 2007, New York. 33. S. Rathinam, Z. Kim, A. Soghaikan and R. Sengupta. Vision Based Following of Locally Linear Structures using a UAV. IEEE Control and Decision conference, December E. Frew, T. McGee, Z. Kim, S. Rathinam, and R. Sengupta. Stereo-Vision-Based Control of a Small Autonomous Aircraft Following a Road. Second Annual Swarming Conference, Crystal City, MD, June E. Frew, T. McGee, Z. Kim, X. Xiao, S. Jackson, M. Morimoto, S. Rathinam, J. Padial, and R. Sengupta. Vision-Based Road Following Using a Small Autonomous Aircraft. Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, MT, March J. Tisdale, A. Ryan, M. Zennaro, X. Xiao, D. Caveney, S. Rathinam, R. Sengupta, and K. Hedrick. The Software Architecture of the Berkeley UAV Platform. IEEE Conference on Control Applications, Munich, Germany, A. Ryan, X. Xiao, S. Rathinam, J. Tisdale, M. Zennaro, D. Caveney, R. Sengupta, and K. Hedrick. A Modular Software Infrastructure for Distributed Control of Collaborating UAVs. Proceedings of the AIAA Conference on Guidance, Navigation, and Control, Keystone, CO, S. Rathinam, M. Zennaro, T. Mak and R. Sengupta. An Architecture for UAV Team Control. 5th IFAC 6 Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, July International Federation of Automatic Control Page 7 of 10

8 39. S. Rathinam and R. Sengupta. A Safe Flight Algorithm for Unmanned Aerial Vehicles. IEEE Aerospace Conference, Big Sky, Montana, March S. Rathinam and R. Sengupta. UAV Navigation in an Unknown Environment. IEEE Conference on Decision and Control, December 2004, Paradise Island, Bahamas. Professional Experience and Service Workshop Organizer Proposed and co-organized a day long, invited workshop titled Decision Making Algorithms for Unmanned Vehicles in the American Control Conference, 2013 and This workshop focussed on disseminating recent advances in the area of decision making for Unmanned Vehicles (UVs) with sensing, motion, fuel and communication constraints. The workshop included presentations from faculty members and researchers at the Air Force Research Lab (AFRL). The talks discussed open problems, provided practical solutions for some of the underlying challenges and illustrated the theoretical background behind the techniques. Details of the workshop including the presentations/videos are available at Invited Session Organizer Proposed and organized an invited session titled Decision Making Algorithms for Robotic Networks in the International Symposium on Mathematical Programming, Proposed and co-organized an invited session titled Cooperation under Communication Constraints in the American Control Conference, Proposed and organized an invited session titled Mission Planning and Task Allocation Algorithms for UAVs in the IEEE Conference on Decision and Control, Orlando, Proposed and organized an invited session titled Autonomous Navigation of UAVs in the American Control Conference, New York, Proposed and organized an invited session titled Path Planning and Task Allocation Algorithms for UAVs in the IEEE Conference on Decision and Control, San Diego, Associate Editor International Conference on Unmanned Aircraft Systems, Journal Reviewer IEEE Transactions on Aerospace and Electronic Systems, Journal of Aerospace Engineering, Applied Discrete Mathematics, Journal of Discrete Algorithms, Mathematics of Operations Research, IEEE Transactions on Automatic Control, IEEE Journal of Intelligent Transportation Systems, Transportation Research C, ASME Journal of Systems, Dynamics and Control, IEEE Transactions on Robotics, IET Intelligent Transport Systems, Journal of Aircraft, AIAA Journal of Guidance, Navigation and Control, European Journal of Operations Research, Computers and Operations Research. Page 8 of 10

9 Seminars/Lectures 1. Vehicle Routing with Motion Constraints, Texas Optimization Day, Texas A & M University, College Station, April 4, Combinatorial Motion Planning Algorithms for Unmanned Vehicles, Texas Systems Day, University of Texas, Austin, April 8, Combinatorial Motion Planning Algorithms for Unmanned Vehicles, Indian Institute of Technology, Madras, July 19, Shortest Paths of Bounded Curvature through a Sequence of Points, Air Force Research Laboratory, Dayton, August 21, Mission Planning Algorithms for a Team of Unmanned Vehicles, Air Force Research Laboratory, Eglin, July 20, A Tight Lower Bounding Procedure for the Dubins Traveling Salesman Problem, International Symposium on Mathematical Programming, Pittsburg, July 15, Approximation Algorithms for Vehicle Routing Problems with Motion Constraints, Air Force Research Laboratory, Dayton, June 15, Approximation Algorithms for Vehicle Routing Problems with Motion Constraints, Texas Systems Day, University of Texas, Dallas, March 27, Decision Making Algorithms for Unmanned Vehicles with Resource Constraints, Department of Electrical Engineering, University of Porto, Portugal, March 19, Routing algorithms for Unmanned Vehicles with Resource Constraints, UAV Symposium on Precision Agriculture, Texas A & M University, Riverside, Dec 12, Decision Making Algorithms for Unmanned Vehicles with Resource Constraints, Department of Electrical Engineering, University of Texas, San Antonio, Dec 5, Decision Making Algorithms for Unmanned Vehicles with Resource Constraints, Army Research Laboratory, Adelphi, Maryland, Dec 3, Decision Making Algorithms for Unmanned Vehicles with Resource Constraints, The 3rd Midwest Workshop on Control and Game Theory, Ohio State University, April 27, Path Planning for Heterogeneous Vehicles with Motion Constraints, Department of Aerospace Engineering, University of Minnesota, Twin Cities, Nov 8, Path Planning for Heterogeneous Vehicles with Motion Constraints, Mechanical and Aerospace Engineering Departmental Seminars, Systems and Control Series, University of California, Los Angeles, Oct 25, Approximation Algorithms for Routing a Team of Heterogeneous Unmanned Vehicles, Air Force Research Laboratory, Dayton-Ohio, June 6, Combinatorial Motion Planning Algorithms for a Heterogeneous Collection of Unmanned Vehicles, Air Force of Scientific Research, Annual Meeting, June 14, Page 9 of 10

10 18. Primal-Dual Algorithms for Routing a Collection of Heterogeneous Unmanned Vehicles, Applied Math Undergraduate Students Seminar, Texas A & M University, College Station, April 4, Approximation Algorithms for Routing a Collection of Heterogeneous Unmanned Vehicles, INFORMS 7 Student Chapter Seminar, Virginia Tech, Blacksburg, Feb 1, Path Planning for Heterogeneous Vehicles with Motion Constraints, Department Seminar, Mechanical Engineering, Texas A & M University, College Station, Nov 30, Primal-Dual Algorithms for Routing a Collection of Heterogeneous Unmanned Vehicles, Multiple Agent Coordination and Control Laboratory, Brigham Young University, Provo, Utah, Oct 14, Primal-Dual Algorithms for Routing a Collection of Heterogeneous Unmanned Vehicles, Center for Applied Optimization, University of Florida, Gainesville, Florida, Sept 29, Algorithms for Scheduling and Routing of Aircraft at Airports, NASA Airspace Systems Program Technical Interchange Meeting, March 18, Combinatorial Motion Planning for Multiple Vehicles with Non-Holonomic Constraints, Department Seminar, School of Aeronautics and Astronautics, Purdue University, March 3, Combinatorial Motion Planning for Multiple Vehicles with Non-Holonomic Constraints, Department Seminar, Department of Mechanical Engineering, Texas A & M University, Feb 28, Approximation Algorithms for Multiple Depot Travelling Salesman Problems, Algorithms Theory Group Seminar, Department of Computer Science, University of California-Berkeley, Dec 5, Algorithms for Scheduling and Routing of Aircraft at Airports, 3rd Surface Management Workshop, NASA Ames Research Center, Oct 30-Nov 1, Institute for Operations Research and the Management Sciences Page 10 of 10