Vijay Kumar

Chair and Professor, MEAM
Professor, CIS

Research Interests

Dynamics and control of multirobot and multiagent coordination, manipulation, biomechanics, assistive technology for disabled people, modeling and control of networks

Current Projects

• The SWARMS project
• Multiple Autonomous Robot Systems (recent demonstration at Ft. Benning)
• Differential Algebraic and Variational Inequalites in Control and Simulation
• Smart Chair
• Modeling, Analysis and Simulation of Biomolecular and Cellular Networks
• MoBies

Representative Publications

Vision Based Formation Control of Multiple Robots
A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. J. Taylor,
Vol. 18, No. 5, IEEE Transactions on Robotics and Automation, October 2002: 813-825.

Hierarchical Modeling and Analysis of Embedded Systems
R. Alur, T. Dang, J. Esposito, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky,
Proceedings of the IEEE, (Volume 91, Number 1), January 2003.

A framework and architecture for multirobot coordination
R. Fierro, A. Das, J. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor,
International Journal of Robotics Research, 2003.

Motion generation for groups of robots
Belta, C., and Kumar, V.
ASME Journal of Mechanical Design, 2003.

A Paradigm for Dynamic Coordination of Multiple Robots
Chaimowicz, L., Kumar, V. and Campos, F. M.,
Autonomous Robots, Volume 17, Issue 1, July 2004: Pages 7 – 21.

Leader-to-Formation Stability
Tanner, H. G., Kumar, V. and G. J. Pappas,
IEEE Transactions on Robotics and Automation, June, 2004.

A Semi-Implicit Time-Stepping Model for Frictional Compliant Contact Problems
P. Song, J.S. Pang, and V. Kumar,
International Journal for Numerical Methods in Engineering, 2004.

An Asynchronous Integration and Event Detection Algorithm for Simulating Multi-Agent Hybrid Systems
J. Esposito and V. Kumar
ACM Transactions on Modeling and Computer Simulation, Vol. 14, No. 4, Oct. 2004: 363-388.

Abstractions and Control Policies for a Swarm of Robots
Belta, C., and Kumar, V.
IEEE Transactions on Robotics, vol.20, no.5, 2004: 865-875.

Decentralized Algorithms for Multirobot Manipulation via Caging
G. A. S. Pereira, V. Kumar, and M. F. M. Campos
International Journal of Robotics Research, 2004.

Computational techniques for analysis of genetic network dynamics
Belta, C., Esposito, J. M., Kim, J, and Kumar, V.
Int. Journal of Robotics Research, 2004.

Teaching

• MEAM 211 - Dynamics
• MEAM 535 - Advanced Dynamics
• MEAM 620 - Robotics and Motion Planning

Contact Information

Office:	470 Levine/GRW
Phone:	215-898-0374
Fax:	215-573-2048
Email:	kumar at host cis.upenn.edu
Mail:	Computer and Information Science University of Pennsylvania 3330 Walnut Street Philadelphia, PA 19104