Please send me an email for a pre-print pdf of any of the following publications. ## Journal ArticlesR. V. Cowlagi, “Hierarchical Trajectory Optimization in Hybrid Dynamical Systems” *Automatica*, vol. 77, pp. 112-119, March 2017.
R. V. Cowlagi and Z. Zhang, “Route Guidance for Satisfying Temporal Logic Specifications on Aircraft Motion,” *Journal of Guidance, Control, and Dynamics: Special Issue on Computational Guidance & Control*, vol. 40, no. 2, pp. 390-401, February 2017.
R. V. Cowlagi and Saleh, J. H, “Coordinabilty and Consistency: Application of Systems Theory in Accident Prevention and System Safety,” *Journal of Loss Prevention in the Process Industries*, vol. 33, pp. 200-212, January 2015. [BibTeX]@article{Cowlagi-JLP2015, author = {Cowlagi, R. V. and Saleh, J. H,}, title = {Coordinabilty and Consistency: Application of Systems Theory in Accident Prevention and System Safety}, journal = {Journal of Loss Prevention in the Process Industries}, year = {2015}, volume = {33}, pages = {200--212} } R. V. Cowlagi and P. Tsiotras, “ Curvature-Bounded Traversability Analysis for Motion Planning of Mobile Robots,” *IEEE Transactions on Robotics*, vol. 30, no. 4, pp. 1011-1019, 2014. [BibTeX]@article{Cowlagi-TRo2014, author = {R. V. Cowlagi and P. Tsiotras}, title = {Curvature-Bounded Traversability Analysis for Motion Planning of Mobile Robots}, journal = {IEEE Transactions on Robotics}, year = {2014}, volume = {30}, number = {4}, pages = {1011-1019} } R. V. Cowlagi and J. H. Saleh, “ Coordinability and Consistency in Accident Causation and Prevention: Formal System-Theoretic Concepts for Safety in Multilevel Systems,” *Risk Analysis*, vol. 33, no. 3, pp. 420-433, 2013. [BibTeX]@article{Cowlagi-RA2013, author = {R. V. Cowlagi and J. H. Saleh}, title = {Coordinability and Consistency in Accident Causation and Prevention: Formal System-Theoretic Concepts for Safety in Multilevel Systems}, journal = {Risk Analysis}, year = {2013}, volume = {33}, number = {3}, pages = {420--433} } R. V. Cowlagi and P. Tsiotras, “Hierarchical Motion Planning with Dynamical Feasibility Guarantees for Mobile Robotic Vehicles,” *IEEE Transactions on Robotics*, vol. 28, no. 2, pp. 379 - 395, 2012. [BibTeX]@article{Cowlagi-TRo2012, author = {R. V. Cowlagi and P. Tsiotras}, title = {Hierarchical Motion Planning with Dynamical Feasibility Guarantees for Mobile Robotic Vehicles}, journal = {IEEE Transactions on Robotics}, year = {2012}, volume = {28}, number = {2}, pages = {379 -- 395} } R. V. Cowlagi and P. Tsiotras, “Multi-resolution Motion Planning for Autonomous Agents via Wavelet-based Cell Decompositions,” *IEEE Transactions on Systems, Man and Cybernetics: Part B - Cybernetics*, vol. 42, no. 5, pp. 1455-1469, 2012. [BibTeX]@article{Cowlagi-TSMCB2012, author = {R. V. Cowlagi and P. Tsiotras}, title = {Multi-resolution Motion Planning for Autonomous Agents via Wavelet-based Cell Decompositions}, journal = {IEEE Transactions on Systems, Man and Cybernetics: Part B - Cybernetics}, year = {2012}, volume = {42}, number = {5}, pages = {1455--1469} } J. H. Saleh, K. Marais, E. Bakolas and R. V. Cowlagi, “Highlights from the literature on accident causation and system safety: Review of major ideas, recent contributions, and challenges,” *Reliability Engineering and System Safety*, vol. 95, no. 11, pp. 1105-1116, 2011. [BibTeX]@article{Cowlagi-RESS2011, author = {J. H. Saleh and K. Marais and E. Bakolas and R. V. Cowlagi}, title = {Highlights from the literature on accident causation and system safety: Review of major ideas, recent contributions, and challenges}, journal = {Reliability Engineering and System Safety}, year = {2011}, volume = {95}, number = {11}, pages = {1105--1116} }
## Book ChaptersD. Allaire, J. Chambers, R. V. Cowlagi, D. Kordonowy, M. Lecerf, L. Mainini, F. Ulker and K. Willcox, “An Offline/Online DDDAS Capability for Self-Aware Aerospace Vehicles ,” pp. 1959 - 1968, 2013. 2013 International Conference on Computational Science . [BibTeX] [URL]@inbook{Cowlagi-PCS2013, author = {D. Allaire and J. Chambers and R. V. Cowlagi and D. Kordonowy and M. Lecerf and L. Mainini and F. Ulker and K. Willcox}, title = {An Offline/Online DDDAS Capability for Self-Aware Aerospace Vehicles }, journal = {Procedia Computer Science }, publisher = {Elsevier}, year = {2013}, volume = {18}, number = {0}, pages = {1959 - 1968}, note = {2013 International Conference on Computational Science }, url = {http://www.sciencedirect.com/science/article/pii/S1877050913005085}, doi = {http://dx.doi.org/10.1016/j.procs.2013.05.365} } R. V. Cowlagi and J. H. Saleh, “Coordinability and Consistency in Accident Causation and System Safety: Towards a Formal Foundation of Safety in Sociotechnical and Multilevel Systems,” pp. 1836-1844, 2010. [BibTeX]@inbook{Cowlagi-ESREL2010, author = {R. V. Cowlagi and J. H. Saleh}, title = {Coordinability and Consistency in Accident Causation and System Safety: Towards a Formal Foundation of Safety in Sociotechnical and Multilevel Systems}, publisher = {Taylor & Francis}, year = {2010}, pages = {1836--1844} }
## Conference PapersR. V. Cowlagi, “Multiresolution Aircraft Guidance in a Spatiotemporally-varying Threat Field,” in *AIAA Guidance, Navigation, and Control Conference*, no. AIAA 2015-1078, January 5 -- 9 2015. [BibTeX]@inproceedings{Cowlagi-GNC2015, author = {Cowlagi, R. V.}, title = {Multiresolution Aircraft Guidance in a Spatiotemporally-varying Threat Field}, booktitle = {AIAA Guidance, Navigation, and Control Conference}, year = {2015}, number = {AIAA 2015-1078} } R. V. Cowlagi, “Multiresolution Path-planning with Traversal Costs based on Time-varying Spatial Fields,” in *53rd IEEE Conference on Decision & Control*, pp. 3745-3750, December 15--17 2014. [BibTeX]@inproceedings{Cowlagi-CDC2014, author = {Cowlagi, R. V.}, title = {Multiresolution Path-planning with Traversal Costs based on Time-varying Spatial Fields}, booktitle = {53rd IEEE Conference on Decision & Control}, year = {2014}, pages = {3745--3750} } R. V. Cowlagi and D. N. Kordonowy, “Geometric Abstractions of Vehicle Dynamical Models for Intelligent Autonomous Motion,” in *Proceedings of the 2014 American Control Conference*, pp. 4840-4845, Jun 4 -- 6 2014. [BibTeX]@inproceedings{Cowlagi-ACC2014, author = {Cowlagi, R. V. and Kordonowy, D. N.}, title = {Geometric Abstractions of Vehicle Dynamical Models for Intelligent Autonomous Motion}, booktitle = {Proceedings of the 2014 American Control Conference}, year = {2014}, pages = {4840--4845} } J. H. Jeon, R. V. Cowlagi, S. C. Peters, S. Karaman, E. Frazzoli, P. Tsiotras and K. Iagnemma, “Optimal Motion Planning with the Half-Car Dynamical Model for Autonomous High-Speed Driving,” in *Proceedings of the 2013 American Control Conference*, 17 -- 19 Jun 2013. [BibTeX]@inproceedings{Cowlagi-ACC2013, author = {J. H. Jeon and R. V. Cowlagi and S. C. Peters and S. Karaman and E. Frazzoli and P. Tsiotras and K. Iagnemma}, title = {Optimal Motion Planning with the Half-Car Dynamical Model for Autonomous High-Speed Driving}, booktitle = {Proceedings of the 2013 American Control Conference}, year = {2013} } D. N. Kordonowy, J. T. Chambers and R. V. Cowlagi, “Contingency Management for Condition-Aware Unmanned Aerial Vehicles,” in *Proceedings of the AIAA Infotech@Aerospace 2013 Conference*, 19 -- 22 Aug 2013. [BibTeX]@inproceedings{Cowlagi-Infotech2013, author = {D. N. Kordonowy and J. T. Chambers and R. V. Cowlagi}, title = {Contingency Management for Condition-Aware Unmanned Aerial Vehicles}, booktitle = {Proceedings of the AIAA Infotech@Aerospace 2013 Conference}, year = {2013} } R. V. Cowlagi and P. Tsiotras, “Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees: Local Trajectory Planning via Model Predictive Control,” in *Proceedings of the 2012 IEEE International Conference on Robotics and Automation*, pp. 4003-4008, 14--18 May 2012. [BibTeX]@inproceedings{Cowlagi-ICRA2012, author = {Cowlagi, R. V. and Tsiotras, P.}, title = {Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees: Local Trajectory Planning via Model Predictive Control}, booktitle = {Proceedings of the 2012 IEEE International Conference on Robotics and Automation}, year = {2012}, pages = {4003--4008} } F. Alibay, V. Desaraju, R. V. Cowlagi, J. E. Duda, A. W. Johnson and J. A. Hoffman, “Multi-Vehicle Lunar Operations Simulation using SEXTANT,” in *Proceedings of the AIAA Space 2012 Conference & Exposition*, Sep 2012. [BibTeX]@inproceedings{Cowlagi-Space2012, author = {F. Alibay and V. Desaraju and R. V. Cowlagi and J. E. Duda and A. W. Johnson and J. A. Hoffman}, title = {Multi-Vehicle Lunar Operations Simulation using SEXTANT}, booktitle = {Proceedings of the AIAA Space 2012 Conference & Exposition}, year = {2012} } R. V. Cowlagi and P. Tsiotras, “Multi-resolution H-cost Motion Planning: A New Framework for Hierarchical Motion Planning for Autonomous Mobile Vehicles,” in *Proceedings of the IEEE/RSJ International Conference on Intelligent Robots & Systems IROS 2011*, pp. 3501-3506, 25--30 Sep 2011. [BibTeX]@inproceedings{Cowlagi-IROS2011, author = {R. V. Cowlagi and P. Tsiotras}, title = {Multi-resolution H-cost Motion Planning: A New Framework for Hierarchical Motion Planning for Autonomous Mobile Vehicles}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots & Systems IROS 2011}, year = {2011}, pages = {3501--3506} } R. V. Cowlagi and P. Tsiotras, “On the Existence and Synthesis of Curvature-Bounded Paths Inside Nonuniform Rectangular Channels,” in *Proceedings of the 2010 American Control Conference*, pp. 5382 - 5387, 30 Jun -- 2 Jul 2010. [BibTeX]@inproceedings{Cowlagi-ACC2010a, author = {Cowlagi, R. V. and Tsiotras, P.}, title = {On the Existence and Synthesis of Curvature-Bounded Paths Inside Nonuniform Rectangular Channels}, booktitle = {Proceedings of the 2010 American Control Conference}, year = {2010}, pages = {5382 -- 5387} } R. V. Cowlagi and P. Tsiotras, “Kinematic Feasibility Guarantees in Geometric Path Planning using History-based Transition Costs over Cell Decompositions,” in *Proceedings of the 2010 American Control Conference*, pp. 5388 - 5393, 30 Jun -- 2 Jul 2010. [BibTeX]@inproceedings{Cowlagi-ACC2010b, author = {Cowlagi, R. V. and Tsiotras, P.}, title = {Kinematic Feasibility Guarantees in Geometric Path Planning using History-based Transition Costs over Cell Decompositions}, booktitle = {Proceedings of the 2010 American Control Conference}, year = {2010}, pages = {5388 - 5393} } R. V. Cowlagi and P. Tsiotras, “Multi-resolution Path Planning: Theoretical Analysis, Efficient Implementation, and Extensions for Dynamic Environments,” in *Proceedings of the 49$^th$ IEEE Conference on Decision and Control*, 15 -- 17 Dec 2010. [BibTeX]@inproceedings{Cowlagi-CDC2010, author = {Cowlagi, R. V. and Tsiotras, P.}, title = {Multi-resolution Path Planning: Theoretical Analysis, Efficient Implementation, and Extensions for Dynamic Environments}, booktitle = {Proceedings of the 49$^th$ IEEE Conference on Decision and Control}, year = {2010} } R. V. Cowlagi and P. Tsiotras, “Shortest Distance Problems in Graphs Using History-Dependent Transition Costs with Application to Kinodynamic Path Planning,” in *Proceedings of the 2009 American Control Conference*, pp. 414 - 419, 9 -- 12 Jun 2009. [BibTeX]@inproceedings{Cowlagi-ACC2009, author = {R. V. Cowlagi and P. Tsiotras}, title = {Shortest Distance Problems in Graphs Using History-Dependent Transition Costs with Application to Kinodynamic Path Planning}, booktitle = {Proceedings of the 2009 American Control Conference}, year = {2009}, pages = {414 -- 419} } R. V. Cowlagi and P. Tsiotras, “Multiresolution Path Planning with Wavelets: A Local Replanning Approach,” in *Proceedings of the 2008 American Control Conference*, pp. 1220-1225, 11--13 Jun 2008. [BibTeX]@inproceedings{Cowlagi-ACC2008, author = {Cowlagi, R. V. and Tsiotras, P.}, title = {Multiresolution Path Planning with Wavelets: A Local Replanning Approach}, booktitle = {Proceedings of the 2008 American Control Conference}, year = {2008}, pages = {1220--1225} } P. Tsiotras and R. V. Cowlagi, “Achieving Increased Mobility and Autonomy for Ground Vehicles over Rough Terrain,” in *Proceedings of the 26th Army Science Conference*, 6--8 Dec 2008. [BibTeX]@inproceedings{Cowlagi-ASC2008, author = {P. Tsiotras and R. V. Cowlagi}, title = {Achieving Increased Mobility and Autonomy for Ground Vehicles over Rough Terrain}, booktitle = {Proceedings of the 26th Army Science Conference}, year = {2008} } R. V. Cowlagi and P. Tsiotras, “Beyond quadtrees: Cell decompositions for Path Planning using the Wavelet Transform,” in *Proceedings of the 46$^th$ IEEE Conference on Decision and Control*, pp. 1392-1397, 12--14 Dec 2007. [BibTeX]@inproceedings{Cowlagi-CDC2007, author = {R. V. Cowlagi and P. Tsiotras}, title = {Beyond quadtrees: Cell decompositions for Path Planning using the Wavelet Transform}, booktitle = {Proceedings of the 46$^th$ IEEE Conference on Decision and Control}, year = {2007}, pages = {1392--1397} } S. P. Bhat and R. V. Cowlagi, “Semi-global Practical Stability of Periodic Time-Varying Systems via Averaging: A Lyapunov Approach,” in *Proceedings of the 45th IEEE Conference on Decision and Control*, pp. 361-365, 13 -- 15 Dec 2006. [BibTeX]@inproceedings{Cowlagi-CDC2006, author = {S. P. Bhat and R. V. Cowlagi}, title = {Semi-global Practical Stability of Periodic Time-Varying Systems via Averaging: A Lyapunov Approach}, booktitle = {Proceedings of the 45th IEEE Conference on Decision and Control}, year = {2006}, pages = {361--365} }
## Theses and DissertationsR. V. Cowlagi, *Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles*. PhD thesis , Georgia Institute of Technology , 2011. [BibTeX]@phdthesis{Cowlagi-PhD, author = {Cowlagi, R. V.}, title = {Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles}, school = {Georgia Institute of Technology}, year = {2011} } R. V. Cowlagi, “Autonomous Mission Management System for a Group of Unmanned Aerial Vehicles,” 2005. [BibTeX]@mastersthesis{Cowlagi-MTech, author = {Cowlagi, R. V.}, title = {Autonomous Mission Management System for a Group of Unmanned Aerial Vehicles}, school = {Indian Institute of Technology Bombay, Mumbai, India}, year = {2005} }
## Papers in ReviewB. S. Cooper and R. V. Cowlagi, “Path-planning with Waiting in Spatiotemporally-varying Threat Fields,” in review for the *56th IEEE Conference on Decision and Control*, Dec 12 -- 15 2017. Manuscript in review@inproceedings{Cowlag-CDC2017a, author = {Cooper, B. S. and Cowlagi, R. V.}, title = {Path-planning with Waiting in Spatiotemporally-varying Threat Fields}, booktitle = {56th IEEE Conference on Decision and Control}, year = {2017}, note = {in review} }
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