Srinivas Akella's Publications

• N. Chakraborty, S. Akella, and J. T. Wen, ``Coverage of a Planar Point Set with Multiple Robots subject to Geometric Constraints,'' IEEE Transactions on Automation Science and Engineering, conditionally accepted, March 2008.

• N. Chakraborty, J. Peng, S. Akella, and J. E. Mitchell, ``Proximity Queries between Convex Objects: An Interior Point Approach for Implicit Surfaces,'' IEEE Transactions on Robotics, Vol. 24, No. 1, pp. 211-220, February 2008. pdf , bib .

• E. J. Griffith, S. Akella, and M. K. Goldberg, ``Performance Characterization of a Reconfigurable Planar Array Digital Microfluidic System,'' IEEE Transactions on Computer-Aided Design of Integrated Circuits And Systems, Special issue on Design Automation Methods and Tools for Microfluidics-Based Biochips, Vol. 25, No. 2, pp. 340-352, February 2006. pdf , bib .

• E. J. Griffith and S. Akella, ``Coordinating Multiple Droplets in Planar Array Digital Microfluidic Systems,'' International Journal of Robotics Research, Vol. 24, No. 11, pages 933--949, November 2005. pdf , bib , animations.

• J. Peng and S. Akella, ``Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths,'' International Journal of Robotics Research, Vol. 24, No. 4, pp. 295-310, April 2005. pdf (241 KB), bib , animations.

• S. J. Blind, C. C. McCullough, S. Akella, and J. Ponce, "Manipulating Parts with an Array of Pins: A Method and a Machine," International Journal of Robotics Research, Vol. 20, No. 10, pp. 808-818, October 2001. abstract , pdf (1MB), bib .
  Pachinko machine movie (mpeg, 60MB)
  Note: May require a MPEG DirectShow decoder such as http://sourceforge.net/projects/gplmpgdec .

• S. Akella and M. T. Mason, "Orienting Toleranced Polygonal Parts," International Journal of Robotics Research, Vol. 19, No. 12, pp. 1147-1170, December 2000. abstract , pdf (368K), bib .

• L. Lu and S. Akella, "Folding Cartons with Fixtures: A Motion Planning Approach," IEEE Transactions on Robotics and Automation, Vol. 16, No. 4, pp. 346-356, August 2000. abstract , pdf (730K), bib .
  Carton folding movie (AVI, 120MB)
  Carton folding movie (mpeg, 72MB)
  Note: May require a MPEG DirectShow decoder such as http://sourceforge.net/projects/gplmpgdec .

• S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, "Parts Feeding on a Conveyor with a One Joint Robot," Algorithmica (Special issue on Robotics), Vol. 26, No. 3/4, pp. 313-344, March/April 2000. abstract , pdf (440K), bib .
  1JOC movie (mpeg, 89MB)
  Note: May require a MPEG DirectShow decoder such as http://sourceforge.net/projects/gplmpgdec .

• S. Akella and M. T. Mason, "Using Partial Sensor Information to Orient Parts," International Journal of Robotics Research, Vol. 18, No. 10, pp. 963-997, October 1999. abstract , pdf (254K), bib .

• S. Akella and M. T. Mason, "Posing polygonal objects in the plane by pushing," International Journal of Robotics Research, Vol. 17, No. 1, pp. 70-88, January 1998. abstract , pdf , bib .

• N. Chakraborty, S. Akella, and J. T. Wen, "Minimum Time Point Assignment for Coverage by Two Constrained Robots," IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008 (to appear).

• L. Luo and S. Akella, ``Optimal Scheduling for Biochemical Analyses on Digital Microfluidic Systems,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3151-3157, October 2007. pdf, bib .

• M. Gupta and S. Akella, ``A Scheduling and Routing Algorithm for Digital Microfluidic Ring Layouts with Bus-phase Addressing,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3144-3150, October 2007. pdf, bib .

• E. Shechter, A. Arumbakkam, P. Lamoureux, X. Tang, M. Shima, and S. Akella, ``Sequential Assembly and Layout Planner with New Hard Magnet Configuration Towards Batch Fabrication and Assembly of 3D Microstructures,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 584-589, October 2007. pdf, bib .

• N. Chakraborty, S. Akella, and J. T. Wen, "Coverage of a Planar Point Set with Multiple Constrained Robots," IEEE Conference on Automation Science and Engineering, pp. 899-904, September 2007. pdf, bib .

• N. Chakraborty, S. Berard, J. Trinkle, and S. Akella, ``An Implicit Compliant Model for Multibody Systems with Frictional Intermittent Contact,'' ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Las Vegas, NV, September 2007. pdf, bib .

• N. Chakraborty, S. Berard, S. Akella, and J. C. Trinkle, ``An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact,'' Robotics: Science and Systems 2007, Atlanta, GA, June 2007. pdf, bib .
  Recipient of Best Student Paper Award.

• N. Chakraborty, J. Peng, S. Akella, and J. Mitchell, ``Proximity Queries between Convex Objects: An Interior Point Approach for Implicit Surfaces,'' 2006 IEEE International Conference on Robotics and Automation , pp. 1910-1916, Orlando, FL, May 2006. pdf , bib .

• E. Griffith and S. Akella,``Coordinating Multiple Droplets in Planar Array Digital Microfluidics Systems,'' Algorithmic Foundations of Robotics VI (WAFR 2004), M. Erdmann, D. Hsu, M. Overmars, and A. F. van der Stappen (editors), pp. 219-234, Springer-Verlag, Berlin, 2005. pdf , animations, bib .

• J. Peng and S. Akella, ``Coordinating Multiple Double Integrator Robots on a Roadmap: Convexity and Global Optimality,'' 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2762-2769, April 2005. pdf , bib , animations.

• S. Akella and J. Peng, ``Time-Scaled Coordination of Multiple Manipulators,'' 2004 IEEE International Conference on Robotics and Automation , pp. 3337-3344, New Orleans, LA, April 2004. pdf , bib .

• J. Peng, M. Anitescu, and S. Akella, ``Optimal Control of Multiple Robot Systems with Friction Using MPCC,'' 2004 IEEE International Conference on Robotics and Automation , pp. 5224-5231, New Orleans, LA, April 2004. pdf , bib .

• J. Peng and S. Akella, ``Coordinating the Motions of Multiple Robots with Kinodynamic Constraints,'' 2003 IEEE International Conference on Robotics and Automation , pp. 4066-4073, Taipei, Taiwan, September 2003. animations, pdf , bib .

• J. Peng and S. Akella, "Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths," Algorithmic Foundations of Robotics V (WAFR 2002), J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson (editors), pp. 221-237, Springer-Verlag, Heidelberg, Germany, 2003. abstract and animations, pdf , bib .

• S. Akella and S. Hutchinson, "Coordinating the Motions of Multiple Robots with Specified Trajectories," 2002 IEEE International Conference on Robotics and Automation, pp. 624-631, Washington D.C., May 2002. abstract and animations, pdf , bib .

• S. Blind, C. McCullough, S. Akella, and J. Ponce, "A Reconfigurable Parts Feeder with an Array of Pins," 2000 IEEE International Conference on Robotics and Automation, pp. 147-153, San Francisco, CA, April 2000. bib .

• S. Blind, C. McCullough, S. Akella, and J. Ponce, "Manipulating Parts with an Array of Pins: A Method and a Machine," Robotics Research: The Ninth International Symposium, pp. 123-130, John M. Hollerbach and Daniel E. Koditschek (editors), Springer-Verlag, London, 2000. abstract , gzip postscript (3.13MB), bib .

• L. Lu and S. Akella, "Folding Cartons with Fixtures: A Motion Planning Approach," 1999 IEEE International Conference on Robotics and Automation, pp. 1570-1576, Detroit, MI, May 1999. abstract , postscript (701K), bib .
  Finalist, Best Paper Award.

• S. Akella and M. T. Mason, "Parts Orienting with Shape Uncertainty," 1998 IEEE International Conference on Robotics and Automation, pp. 565-572, Leuven, Belgium, May 1998. abstract , postscript (463K), bib .
  Finalist, Anton Philips Best Student Paper Award.

• S. Akella and M. T. Mason, "Parts Orienting with Partial Sensor Information," 1998 IEEE International Conference on Robotics and Automation, pp. 557-564, Leuven, Belgium, May 1998. abstract , postscript (619K), bib .

• S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, "Sensorless Parts Feeding with a One Joint Robot," In Algorithms for Robotic Motion and Manipulation, pp. 229-237, J.-P. Laumond and M. Overmars (editors), A. K. Peters, Wellesley, Massachusetts, 1997. abstract , postscript (2.27M), bib .

• S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, "Sensorless Parts Orienting with a One-Joint Manipulator," 1997 IEEE International Conference on Robotics and Automation, pp. 2383-2390, Albuquerque, NM, April 1997. abstract , postscript (2.92M), bib .

• S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, "Planar Manipulation on a Conveyor with a One Joint Robot," Robotics Research: The Seventh International Symposium, pp. 265-276, G. Giralt and G. Hirzinger (editors), Springer, Berlin, 1996. abstract , postscript (1.69M), bib .

• S. Akella and M. T. Mason, "Parts Orienting by push-aligning," 1995 IEEE International Conference on Robotics and Automation, pp. 414-420, Nagoya, Japan, May 1995. abstract , postscript (242K), bib .

• S. Akella and M. T. Mason, "Posing polygonal objects in the plane by pushing," 1992 IEEE International Conference on Robotics and Automation,, pp. 2255-2262, Nice, France, May 1992. abstract , pdf , bib .

• Y. Girdhar, C. Bystroff, S. Akella, and E. Carlson, "Efficient Sampling of Protein Folding Pathways using HMMSTR and Probabilistic Roadmaps," 2005 IEEE Computational Systems Bioinformatics Conference (CSB 2005), poster , Stanford, CA, August 2005.

• S. Akella, S. J. Blind, C. McCullough, J. Ponce, U. S. Patent No. 6,633,797: Automated reconfigurable object manipulation device with an array of pins , October 14, 2003. bib .

• S. Akella, "Packaging of Motorola Two-Way Radios: Efficient Layouts, Automation, and Defect Reduction," The Beckman Institute, University of Illinois at Urbana-Champaign, August 1997.

• S. Akella, "Robotic Manipulation for Parts Transfer and Orienting: Mechanics, Planning, and Shape Uncertainty," Ph.D. thesis, The Robotics Institute, Carnegie Mellon University, December 1996. Also Robotics Institute Technical Report CMU-RI-TR-96-38. abstract , bib

• S. Akella, W. H.Huang, K. M. Lynch, and M. T. Mason, "From robotic juggling to robotic parts feeding," Yale Workshop on Adaptive and Learning Systems, June 1996.

• M. T. Mason, S. Akella, and K. M. Lynch "New results in pushing," 1993 NSF Design Systems Grantees Conference, January 1993.