Publications

2024

Journal

Mitigating Delay due to Capacity Drop near Freeway Bottlenecks: Zones of Influence of Connected Vehicles

K. Jerath, V. V. Gayah, S. Brennan

PLoS ONE (Accepted)

2024

Conference

Relational Q-Functionals: Multi-Agent Learning to Recover from Unforeseen Robot Malfunctions in Continuous Action Domains

Y. Findik, P. Robinette, K. Jerath, S. Reza Ahmadzadeh

21st International Conference on Ubiquitous Robots (UR), New York, USA (Accepted)

2024

Conference

Using Databases to Implement Algorithms: Estimation of Allan Variance Using B+-tree Data Structure

S.P. Maddipatla, R. Pakala, H. Haeri, C. Chen, K. Jerath, and S. Brennan

2024 American Control Conference, Toronto, Canada (Accepted)

2023

Distributed Edge Computing System for Vehicle Communication

Thesis

R. Pakala (co-advised)

M.S. Thesis, Miner School of Computer and Information Sciences, University of Massachusetts Lowell

Iterative Forgetting: A Novel Online Data Stream Regression Method

Thesis

N. Kathiriya

M.S. Thesis, Miner School of Computer and Information Sciences, University of Massachusetts Lowell

DECISIVE Benchmarking Data Report: sUAS Performance Results from Phase I

Report

A. Norton, R. Ahmadzadeh, K. Jerath, P. Robinette, J. Weitzen, T. Wickramarathne, H. Yanco, M. Choi, R. Donald, B. Donoghue, C. Dumas, P. Gavriel, A. Giedraitis, B. Hertel, J. Houle, N. Letteri, E. Meriaux, Z. Rezaei, R. Singh, G. Willcox, N. Yoni

Technical Report for CCDC Soldier Center (DEVCOM-SC)

Sensor-aided camera calibration for three-dimensional digital image correlation measurements

Conference

F. Bottalico, N. A. Valente, C. Niezrecki, K. Jerath, Y. Luo, and A. Sabato

In Health Monitoring of Structural and Biological Systems XVII (Vol. 12488, pp. 233-242). SPIE, Long Beach, CA, USA, Apr 24-28,

Experimental Quantification of Sensor-Based Stereocameras’ Extrinsic Parameters Calibration

Conference

F. Bottalico, C. Niezrecki, K. Jerath, Y. Luo, and A. Sabato

In Society for Experimental Mechanics Annual Conference and Exposition, June 2023 (pp. 49-55). Springer Nature Switzerland.

Distributed Edge computing system setup for vehicle communication

Conference

R. Pakala, N. Kathiriya, H. Haeri, S.P. Maddipatla, K. Jerath, C. Beal, S. Brennan, and C. Chen

DATA 2023: 12th International Conference on Data Science, Technology and Applications, Rome, Italy

A Multi-Robot Task Assignment Framework for Search and Rescue with Heterogeneous Teams

Conference

H. Osooli, P. Robinette, K. Jerath, S. R. Ahmadzadeh

IROS 2023 Advances in Multi-Agent Learning - Coordination, Perception, and Control Workshop, Detroit, MI, USA

Collaborative Adaptation: Learning to Recover from Unforeseen Malfunctions in Multi-Robot Teams

Conference

Y. Findik, P. Robinette, K. Jerath, and S. Reza Ahmadzadeh

MADGames workshop at IEEE Intelligent Robots and Systems (IROS), Detroit, MI, USA

Adaptive Granulation: Data Reduction at the Database Level

Conference

H. Haeri, N. Kathiriya, C. Chen, K. Jerath

15th International Conference on Knowledge Management and Information Systems, Rome, Italy

Impact of Relational Networks in Multi-Agent Learning: A Value-Based Factorization View

Conference

Y. Findik, P. Robinette, K. Jerath, and S. Reza Ahmadzadeh

IEEE Conference on Decision and Control, Singapore

Influence of Team Interactions on Multi-Robot Cooperation: A Relational Network Perspective

Conference

Y. Findik, H. Osooli, P. Robinette, K. Jerath and R. Ahmadzadeh

Multi-robot Systems Symposium, Boston, MA, USA

Granulation of Large Temporal Databases: An Allan Variance Approach

Journal

L. Sinanaj, H. Haeri, S. S. P. Maddipatla, L. Gao, R. Pakala, N. Kathiriya, C. Beal, S. Brennan C. Chen, K. Jerath

Springer Nature Computer Science, vol. 4, no. 1, pp. 7

Sensor-Based Calibration of Camera’s Extrinsic Parameters for Stereophotogrammetry

Journal

F. Bottalico, C. Niezrecki, K. Jerath, Y. Luo, and A. Sabato

IEEE Sensors, vol. 23, no. 7, pp. 7776-7785

Boxes-based Representation and Data Sharing of Road Surface Friction for CAVs

Journal

L. Gao, J. Mitrovich, C. Beal, W. Bai, S. P. Madditpatla, C. Chen, K. Jerath, H. Haeri, L. Sinanaj, S. Brennan

Data Science for Transportation, vol. 5, no. 9

Understanding Agent Competency: Effects of Environment Complexity on Area Coverage Time

Poster

A. Daniels, F. Mazzoni and K. Jerath

Northeastern Robotics Colloquium (NERC) 2022, Lowell, MA, 2022

2022

Reward-Sharing Relational Networks in Multi-Agent Reinforcement Learning as a Framework for Emergent Behavior

Poster

H. Haeri, R. Ahmadzadeh and K. Jerath

Northeastern Robotics Colloquium (NERC) 2022, Lowell, MA, 2022

Decisive test methods handbook: Test methods for evaluating suas in subterranean and constrained indoor environments, version 1.1

Report

Technical Report for CCDC Soldier Center (DEVCOM-SC)

Optimal Moving Average Estimation of Noisy Random Walks using Allan Variance-informed Window Length

Conference

H. Haeri, B. Soleimani, and K. Jerath

American Control Conference 2022, July 2022, Atlanta, GA

Boxes-based Representation and Data Sharing of Road Surface Friction for CAVs

Conference

L. Gao, C. Beal, W. Bai, S. P. Maddipatla, C. Chen, K. Jerath, H. Haeri, L. Sinanaj, and S. Brennan

2021 Road Safety and Simulation International Conference (RSS), 08-10 June 2022, Athens, Greece.

A sensor-based calibration system for three-dimensional digital image correlation

Conference

F. Bottalico, N. A. Valente, S. Dabetwar, K. Jerath, Y. Luo, C. Niezrecki, and A. Sabato

Proc. SPIE 12048, Health Monitoring of Structural and Biological Systems XVI, 120480Z, 19 April 2022

Evaluation of Navigation and Trajectory-following Capabilities of Small Unmanned Aerial Systems

Conference

E. Meriaux and K. Jerath

IEEE Symposium on Technologies for Homeland Security 2022, virtual

Understanding Agent Competency: Effects of Environment Complexity on Area Coverage Time

Conference

F. Mazzoni and K. Jerath

Intelligent Agents (IA) at IEEE Symposium Series on Computational Intelligence 2022, Singapore, Dec 4-7, 2022

Allan Variance-based Granulation Technique for Large Temporal Databases

Thesis

L. Sinanaj (co-advised)

M.S. Thesis, Miner School of Computer and Information Sciences, University of Massachusetts Lowell

Macroscopic Observability of Emergent Behaviors in Multi-scale Models of Traffic Flow

Dissertation

Z. Yang

Ph.D. dissertation, Department of Mechanical and Industrial Engineering, University of Massachusetts Lowell

Renormalization Group Approach to Cellular Automata-based Multi-scale Modeling of Traffic Flow

Conference

Z. Yang, H. Haeri, and K. Jerath

Unifying Themes in Complex Systems X: Proceedings of the Tenth International Conference on Complex Systems (Springer Proceedings in Complexity), Nashua, NH, 2020

A Micro-simulation Framework for Studying CAVs Behavior and Control Utilizing a Traffic Simulator, Chassis Simulation, and a Shared Roadway Friction Database

Conference

L. Gao, S. Maddipatla, C. Beal, K. Jerath, C. Chen, L. Sinanaj, H. Haeri, and S. Brennan

American Control Conference, New Orleans, LA, USA

Reward-Sharing Relational Networks in Multi-Agent Reinforcement Learning as a Framework for Emergent Behavior

Conference

H. Haeri, R. Ahmadzadeh, and K. Jerath

Adaptive and Learning Agents Workshop 2021, London (virtual)

Allan Variance-based Granulation Technique for Large Temporal Databases

Conference

L. Sinanaj, H. Haeri, L. Gao, S. S. P. Maddipatla, C. Chen, K. Jerath, C. Beal, S. Brennan

13th International Conference on Knowledge Management and Information Systems, 25-27 Oct 2021 (virtual)

Thermodynamics-inspired Macroscopic States of Bounded Swarms

Journal

H. Haeri, K. Jerath, and J. Leachman

ASME Letters in Dynamic Systems and Control, vol. 1, pp 11-15

Congestion-aware Cooperative Adaptive Cruise Control and Mitigation of Self-Organized Traffic Jams

Journal

T. Kim and K. Jerath

IEEE Transactions on Intelligent Transportation Systems

Fast Allan Variance (FAVAR) and Dynamic Fast Allan Variance (D-FAVAR) Algorithms for both Regularly and Irregularly Sampled Data

Journal

S. S. P. Maddipatla, H. Haeri, K. Jerath, S. Brennan

IFAC-PapersOnLine, vol. 54, no. 20, pp. 26-31

Observability Variation in Emergent Dynamics: A Study using Krylov Subspace-based Model Order Reduction

Conference

Z. Yang and K. Jerath

American Control Conference 2020, Denver, CO, USA

Near-optimal Moving Average Estimation at Characteristic Timescales: An Allan Variance Approach

Journal

H. Haeri, C. Beal, and K. Jerath

IEEE Control Systems Letters, vol. 5, no. 5, pp. 1531-1536

Information-based Multi-robot Navigation, Exploration and Coverage using Adaptive Occupancy Grids

Thesis

M. Scott

M.S. Thesis, School of Mechanical and Materials Engineering, Washington State University

Mission Performance Evaluation of Low-speed Small Unmanned Aerial Systems using Virtual Range and Stereo Camera Sensors

Conference

M. Scott and K. Jerath

AIAA Unmanned Systems Conference, 2018, Kissimmee, FL, USA

Multi-robot Exploration and Coverage: Entropy-based Adaptive Maps with Adjacency Control Laws

Conference

M. Scott and K. Jerath

American Control Conference 2018, Milwaukee, WI, USA

Examining the Observability of Emergent Behavior as a Function of Reduced Model Order

Conference

Z. Yang and K. Jerath

American Control Conference 2018, Milwaukee, WI, USA

Bridging the gap between sensor noise modeling and sensor characterization

Journal

K. Jerath, S. Brennan, and C. Lagoa

Measurement, vol. 116, pp 350-366

Cooperative Adaptive Cruise Control: Impact on Self-organized Traffic Jams

Thesis

T. Kim

M.S. Thesis, School of Mechanical and Materials Engineering, Washington State University

Canonical Knowledge Structures and Complexity in the Design of Artificial Intelligence

Abstract

C. Pezeshki and K. Jerath

Collective Intelligence Conference, Brooklyn, NY, USA

Simulation Framework for UAS Conceptual Design

Conference

K. Jerath, and J. Langelaan

AIAA Modeling and Simulation Technologies Conference, 2016, San Diego, CA, USA

Mitigation of self-organized traffic jams using cooperative adaptive cruise control

Conference

T. Kim, and K. Jerath

2016 International Conference on Connected Vehicles and Expo (ICCVE), 2016, Seattle, WA, USA

Identification of locally influential agents in self-organizing multi-agent systems

Conference

K. Jerath and S. Brennan

American Control Conference 2015, Chicago, IL, USA

Dynamic prediction of vehicle cluster distribution: A statistical mechanics-inspired approach

Journal

K. Jerath, A. Ray, S. Brennan, and V. V. Gayah

IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 5

Next Generation Vehicle Positioning Techniques for GPS-Degraded Environments to Support Vehicle Safety and Automation Systems

Report

Auburn University, Stanford Research Institute, The Pennsylvania State University, and Kapsch TrafficCom Inc.

Technical Report for Federal Highway Administration (FHWA)

Statistical Mechanics-inspired Framework for Studying the Effects of Mixed Traffic Flows on Highways

Conference

K. Jerath, A. Ray, S. Brennan, and V. Gayah

American Control Conference, 2014, Portland, OR, USA

Influential Subspaces of Connected Vehicles in Highway Traffic

Conference

K. Jerath, V. V. Gayah, and S. Brennan

Symposium Celebrating 50 Years of Traffic Flow Theory, TRB Committee on Traffic Flow Theory and Characteristic, 2014, Portland, OR, USA

Influential subspaces in self-organizing multi-agent systems

Dissertation

K. Jerath

Ph.D. dissertation, Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, 2014

Cooperative Intelligent Vehicles: Are we there yet?

Essay

K. Jerath

ITSA Student Essay Competition

2012

Human detection to increase safety in complex construction environments

Report

S. Brennan, P. Vemulapalli, K. Jerath, M. Robinson, M. Guo

Technical Report for Volvo Construction Equipment

2012

GPS-Free Terrain-based Vehicle Tracking on Road Networks

Conference

K. Jerath and S. Brennan

American Control Conference, 2012, Montreal, Canada

Analytical Prediction of Self-Organized Traffic Jams as a Function of Increasing ACC Penetration

Journal

K. Jerath and S. Brennan

IEEE Transactions on Intelligent Transportation Systems, vol. 13, no. 4, 2012

GPS-Free Terrain-based Vehicle Tracking Performance as a function of Inertial Sensor Noise Characteristics

Conference

K. Jerath and S. Brennan

Dynamic Systems and Control Conference, 2011, Arlington, VA, USA

Adaptive Cruise Control: Towards higher traffic flows, at the cost of increased susceptibility to congestion

Conference

K. Jerath and S. Brennan

10th International Symposium on Advanced Vehicle Control (AVEC10), 2010, Loughborough, UK

A Failure Rate Analysis of Complex Vehicles

Journal

J. Yutko, K. Jerath, and S. Brennan

International Journal of Heavy Vehicles and Systems, vol. 17, no. 1, 2010

Impact of Adaptive Cruise Control on the Formation of Self-organized Traffic Jams on Highways

Thesis

K. Jerath

M.S. Thesis, Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, 2010

Study of the relationship between results of the Bus Testing Program and in-service performance of buses

Report

S. Brennan, K. Jerath, D. Klinikowski, S. Muthiah, and J. Yutko

Technical Report for Federal Transit Administration (FTA)

Intellectual Property Monetization by R&D Organizations in India and China

Conference

R. Deshpande, D. Johar, A. Kasyap, C. Feng, K. Jerath, and Z. Li

International Symposium on the Management of Technology, 2007, Hangzhou, PRC.