Lehigh University :: MEM :: Subhrajit Bhattacharya

Subhrajit Bhattacharya

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Building C, room 312.

I am an associate professor in the Department of Mechanical Engineering and Mechanics of Lehigh University. I am affiliated with Lehigh's Autonomous and Intelligent Robotics (AIR) Laboratory. I completed Ph.D. in Mechanical Engineering and Applied Mechanics, and was a postdoctoral researcher in the Department of Mathematics at the University of Pennsylvania before I joined Lehigh.

My research interests are centered around motion planning and control of autonomous, intelligent systems. More specifically, I am interested in applications of topological and geometric methods (algebraic/differential topology, differential/discrete geometry) to the design and analysis of algorithms in robot motion planning, coverage, sensor networks, distributed systems and control. I am, in general, interested in diverse topics involving control theory, graph theory, topology, geometry and applied mathematics.

Curriculum Vitae | Google Scholar | GitHub

Recent news and announcements:

Recent arXiv pre-print: Weighted Combinatorial Laplacian and its Application to Coverage Repair in Sensor Networks [April 2024].
Recently-published paper: Xiaolong Wang, Alp Sahin and Subhrajit Bhattacharya, “Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning”, Journal of Intelligent & Robotic Systems, Springer, 2023. [July 2023].
Our recent work on topo-geometric path planning using neighborhood-augmented graph is now live on arXiv: Topo-Geometrically Distinct Path Computation using Neighborhood-augmented Graph, and its Application to Path Planning for a Tethered Robot in 3D [June 2023].
Recent AFOSR funding on “Transmission Control in Complex Networks Using Modal Methods” (PI: Subhrajit Bhattacharya, co-PI: Rick Blum). [Dec 2022]
Co-organized robotics activities for the 2022 CHOICES outreach program for more than thirty middle school girls. More details on the event can be found at the Lehigh AIR lab website. [June 2022]
Recently published paper: Subhrajit Bhattacharya, “On some bounds on the perturbation of invariant subspaces of normal matrices with application to a graph connection problem”, Journal of Inequalities and Applications (JIAP), Springer, 2022. [June 2022]
Received 2022 NSF CAREER award on “Topological Abstraction for Robot Path Planning”. Here is a link to an article published by the College of Engineering about the award. [May 2022]
Recent pre-print: Xiaolong Wang, Alp Sahin, Subhrajit Bhattacharya, “Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning”, arXiv:2205.00955 [cs.RO], 2022. [May 2022]
Recently published paper: Xiaolong Wang, Matt Bilsky and Subhrajit Bhattacharya, “Search-based Configuration Planning and Motion Control Algorithms for a Snake-like Robot Performing Load-intensive Operations”, Autonomous Robots (AURO) Springer, 2021. online first. [Sept 2021]
Recently published editorial: Subhrajit Bhattacharya, Florian T. Pokorny and Howie Choset “Guest Editorial: Special issue on Topological methods in robotics”, Autonomous Robots (AURO), 2021. [July 2021]
Recently published paper: Leiming Zhang, Brian M. Sadler, Rick S. Blum and Subhrajit Bhattacharya, “Inter-cluster Transmission Control Using Graph Modal Barriers”, IEEE Transactions on Signal and Information Processing over Networks, vol. 7, pp. 275-293, 2021, DOI:10.1109/TSIPN.2021.3071219. [Apr 2021]
Submission deadline for the special issues on “Topological Methods in Robotics” for the Springer journal Autonomous Robots (AURO) has been extended to February 15, 2020. Check out the updated call for papers for more details. [Dec 2019 - Feb 2020]
"Towards Optimal Path Computation in a Simplicial Complex" is now published as 'online-first' in the International Journal of Robotics Research (IJRR). [June 2019]
I am co-editing a special issues on “Topological Methods in Robotics” for the Springer journal Autonomous Robots (AURO), with Florian T. Pokorny and Howie Choset. The deadline for submitting articles for this special issue is Dec 31, 2019. Check out the call for papers for more details. [May 2019]
I co-organized the ICRA 2019 workshop on Topological Methods in Robot Planning with Florian T. Pokorny and Vijay Kumar. Visit ICRA'19 conference website for registration details. [May 2019]
Invited talk on "Recent Advances in Topological Path Planning" at the 2018 AMS Sectional Meeting on Applied Algebraic Topology. [Sept 2018]
"Path Homotopy Invariants and their Application to Optimal Trajectory Planning" is now published as 'online-first' in Annals of Mathematics and Artificial Intelligence, Springer. [Aug 2018]
A draft of the paper "Approximate Structure Construction Using Large Statistical Swarms" is now posted on arXiv.org: https://arxiv.org/abs/1706.03842. [June 2017]
A new version of the Discrete Optimal Search Library (DOSL): A template-based C++ library for discrete optimal search (previously known as YAGSBPL: Yet Another Graph-Search Based Planning Library) is now available: https://github.com/subh83/DOSL. [Nov 2016]
A draft of the paper "A Search Algorithm for Simplicial Complexes" is now posted on arXiv.org: http://arxiv.org/abs/1607.07009. [July 2016]
Co-organized the ICRA 2016 workshop on Emerging Topological Techniques in Robotics with Florian T. Pokorny, Subramanian Ramamoorthy and Vijay Kumar. Visit ICRA'16 conference website for registration details. [May 2016]

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