I was a doctoral student from Fall 2001 to Fall 2005. My research interests are in the areas of Planning and Control of Nonholonomic/Underactuated Autonomous Ground/Air Robots using Potential Theory and Singular Perturbation Theory.

I can be contacted at pathakk1 [AT] asme.org.

Since January 2006, I'm a postdoc fellow at IU Bremen, Germany.

Potential Theory for Nonholonomic Differentially-driven vehicles

• Details of the Experimental Framework and Setup (new window).
• ACC 2004 Presentation (HTML).
• ICRA 2005 Presentation (Powerpoint ppt).

Planning and Control of Helicopters using 3D bubbles

• ICRA 2005 Powerpoint Presentation (.ppt).
• Simulation based VRML animation video (.avi 6MB).

Velocity and Position Controller Design for an Inverted Wheeled Pendulum

• IEEE CDC 2004 Powerpoint Presentation (.ppt).