Unmanned ground vehicle navigation in unstructured and dynamic environments; Performance evaluation, benchmarking, standardization issues, and standards-defining activities in mobile robotics navigation and mapping
Dr. Raj Madhavan is an assistant research scientist with the Institute for Systems Research (ISR) and was a guest researcher with the Intelligent Systems Division of the Manufacturing Engineering Laboratory at the National Institute of Standards and Technology (NIST) through June 2013. He received his Ph.D. in Field Robotics from the University of Sydney, Master of Engineering (Research) in Systems Engineering from the Australian National University, Australia and Bachelor of Engineering (Electrical and Electronics) from the College of Engineering, Anna University.
Over the last decade, he has contributed to various topics in field robotics, systems and control theory. His current research interests include unmanned ground vehicle navigation in unstructured and dynamic environments, performance evaluation, benchmarking, and standardization of intelligent systems in a variety of domains ranging from manufacturing to urban search and rescue. Many of his current research activities are centered around bringing together the research community to address performance evaluation issues collectively and towards standards-defining activities especially in mobile robot navigation and mapping.
Dr. Madhavan serves as an Advisory Board Member on a European Commission Integrating Project BRICS (Best Practice in Robotics) (2009-2013). He also serves on the IEEE Robotics and Automation Society’s (IEEE-RAS) Industrial Activities Board as its 2010 Associate VP and as Chair of the Standards Committee. He is the 2010 Industry Editor and a co-contributor to the quarterly Industry Research/News Column for the IEEE Robotics & Automation Magazine. He is the founding Chair (co-Chairs: Angel del Pobil of Univ. Jaume-I, Spain and Elena Messina, NIST) of the IEEE-RAS Technical Committee (TC) on ‘Performance Evaluation and Benchmarking of Robotic and Automation Systems’ which is intended to serve as an umbrella TC for other existing TCs focusing on research in specific areas pertaining to robotics and automation. Since 2006, he has been the Program Chair for the NIST-hosted annual Performance Metrics for Intelligent Systems (PerMIS) Workshop. The workshop is the only one of its kind dedicated to defining measures and methodologies of evaluating performance of intelligent systems.
He has published over 125 papers in archival journals, book chapters, refereed conference proceedings, and technical reports. He has edited two books: Intelligent Vehicle Systems: A 4D/RCS Approach (with E. Messina and J. Albus), Nova Science Publishers, Inc., December 2006, and Performance Evaluation and Benchmarking of Intelligent Systems (with E. Tunstel and E. Messina), Springer Publishers, September 2009. He has also edited the following two journal special issues on quantifying performance of robotic systems: 1) Journal of Field Robotics: ‘Quantitative Performance Evaluation of Robotic and Intelligent Systems’, R. Madhavan, 27 A. Jacoff and E. Messina (eds.), Vol. 24, Issue 8-9, pp. 623-799, August-September 2007, and 2) Autonomous Robots Journal: ‘Characterizing Mobile Robot Localization and Mapping’, R. Madhavan, C. Scrapper and A. Kleiner (eds.), Vol. 27, No. 4, November 2009.
Dr. Madhavan is an elected eminent Engineer of the Tau Beta Pi University of Maryland Chapter, a full member of the scientific research society, Sigma Xi (NIST Chapter), and the Washington Academy of Sciences. He is a senior member of IEEE, 2010 Chair of the IEEE Washington Section and is the founding Chair of the IEEE Washington/ Northern Virginia Section Robotics Automation Society (2007-2009) and Sensors Council Chapters (2008-2009). He has won numerous service awards from IEEE (most recently he was voted as the 2008 Volunteer of the Year). He was the postgraduate winner of the 1998 IEEE Region 10 (Asia and the Pacific) student paper competition and the graduate division winner of the 1998 Society for Mining, Metallurgy and Exploration (SME) outstanding student paper contest. He has served as an invited independent judge for robotics competitions, has given numerous invited presentations in research organizations in several countries and as an invited chair of sessions and on program committees of premier robotics, automation, and control conferences.
Edited Books, Journal Issues and Workshop Proceedings
1. R. Madhavan, E. Tunstel and E. Messina (Eds.), Performance Evaluation and Benchmarking of Intelligent Systems, Springer, ISBN: 978-1-4419-0491-1, September 2009.
2. R. Madhavan, E.R. Messina and J.S. Albus (Eds.), Intelligent Vehicle Systems: A 4D/RCS Approach, Nova Science Publishers, Inc., ISBN: 1-60021-260-3, December 2006.
3. R. Madhavan, C. Scrapper and A. Kleiner (Eds.), Special Issue on Characterizing Mobile Robot Localization and Mapping, Autonomous Robots, Springer, Vol. 27, No. 4, November 2009 (in press).
4. R. Madhavan, A. Jacoff and E. Messina (Eds.), Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent Systems, Journal of Field Robotics, John Wiley & Sons, Inc., Vol. 24, Issue 8-9, pp. 623-799, August-September 2007.
5. R. Madhavan and E. Messina (Eds.), Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) Workshop, NIST Special Publication 1062/1073/1090, August 2006/2007/2008/2009 (to appear).
6. A. del Pobil, R. Madhavan and F. Bonsignorio (Eds.), Performance Evaluation and Benchmarking for Intelligent Robots and Systems, Workshop Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis/Nice/San Diego, 2007/2008/2009.
Ten other significant publications (out of over 125 publications)
7. J. Albus, R. Bostelman, R. Madhavan, H. Scott, A. Barbera, S. Szabo, T-H. Hong, T. Chang, W. Shackleford, M. Shneier, S. Balakirsky, C. Schlenoff, H-M. Huang and F. Proctor, Intelligent Control of Mobility Systems, in Computational Intelligence in Automotive Applications, D. Prokhorov (Ed.), Book Series on Studies in Computational Intelligence, Springer, pp. 237-274, May 2008.
8. R. Madhavan and E. Messina, Intelligent Unmanned Ground Vehicle Navigation via Information Evaluation, Advanced Robotics: The International Journal of the Robotics Society of Japan, VSP International Science Publishers, Vol. 20, No. 12, 2006 , 2006.
9. C. Schlenoff, J. Albus, E. Messina, A. Barbera, R. Madhavan and S. Balakirsky, Using 4D/RCS to Address AI Knowledge Integration, AI Magazine, Vol. 27, No. 2, pp. 71-82, Summer 2006 (Invited).
10. R. Madhavan, Unmanned Ground Vehicle Navigation in Unstructured Environments, in New Developments in Robotics Research, J. Liu (Ed.), Nova Science Publishers, Inc., pp. 1-71, December 2005 (Invited).
11. R. Madhavan and E. Messina, Performance Evaluation of Temporal Range Registration for Unmanned Vehicle Navigation, Integrated Computer-Aided Engineering, IOS Press, Vol. 12, No. 3, pp. 291-303, 2005 (Invited).
12. R. Madhavan, T. Hong and E. Messina, Temporal Range Registration for Unmanned Ground and Aerial Vehicles, Journal of Intelligent and Robotic Systems, Springer Science & Business Media B.V., Vol. 4, No. 1, pp. 47–69, Sept. 2005.
13. K. Fregene, D. Kennedy, R. Madhavan, L.E. Parker and D. Wang, A Class of Intelligent Agents for Coordinated Control of Outdoor Terrain Mapping UGVs, Engineering Applications of Artificial Intelligence, Elsevier, Vol. 18, No. 5, pp. 513--531, June 2005.
14. R. Madhavan, K. Fregene and L.E. Parker, Distributed Cooperative Outdoor Multirobot Localization and Mapping, Autonomous Robots (Special Issue on Analysis and Experiments in Distributed Multi-Robot Systems), Vol. 17, Issue 1, pp. 23–39, Kluwer Academic Publishers, July 2004.
15. R. Madhavan and H. Durrant-Whyte, Natural Landmark-based Autonomous Navigation using Curvature Scale Space, Robotics and Autonomous Systems, Vol. 46, Issue 2, pp. 79–95, Elsevier, Feb. 2004.
16. R. Madhavan, Tracking Control of a Pendulum using a Computationally Efficient State Estimation Approach for Polynomic Non-linear Systems, International Journal of Control, Taylor and Francis Co. Ltd., Vol. 72, No. 17, pp. 1565-1591, November 1999.