Dr. Rahul Kala

Department:

Department of Information Technology

Current Designation:

Assistant Professor

Educational Qualification:

Personal Website:

Mobile:

+91-75210 50744

Email:

rkala[at]iiitm[dot]ac[dot]in, rkala001[at]gmail[dot]com

Office Address:

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Motion Planning
- Socially-aware Robot Motion Planning (Learning-based techniques)
- Socially-aware Robot Motion Planning (Model-based techniques)
- Sampling-based Motion Planning
- Multi-Robot Motion Planning
- Path Planning for Mobile Robots
Autonomous Vehicles and Intelligent Transportation Systems
- Behaviour-Driven Intelligent Transportation Systems
- Intelligent Transportation Systems
- Motion Planning for Multiple Autonomous Vehicles
Task and Mission Planning
- Robot Mission Planning
Vision and Machine Learning
- Simultaneous Localization and Mapping (SLAM)
- Soft Computing
Papers at Scholar
- Socially-aware Robot Motion Planning (Learning-based techniques)
Key Publications: Socially-aware Robot Motion Planning
- R. Kala (2023) Autonomous Mobile Robots: Planning, Navigation and Simulation, Elsevier
- SMH Jafri, R. Kala (2023) "Dynamic Head-on Robot Collision Avoidance Using LSTM", Neural Processing Letters 55: 1173–1208.
- SMH Jafri, R. Kala (2022) "End-to-end human inspired learning based system for dynamic obstacle avoidance", Complex and Intelligent Systems 8: 5065–5086.
- A. Malviya, R. Kala (2022) "Learning-based simulation and modeling of unorganized chaining behavior using data generated from 3D human motion tracking", Robotica, 40(3), 544-569.
- S. Beohar, F. Heinrich, R. Kala, H. Ritter, A. Melnik, "Solving Learn-to-Race Autonomous Racing Challenge by Planning in Latent Space", ICML’22 Workshop on Safe Learning For Autonomous Driving.
- M. Vallecha, R. Kala (2022) "Group and Socially Aware Multi-Agent Reinforcement Learning", 30th Mediterranean Conference on Control and Automation (MED), pp. 73-78, Athens, Greece.
- I. Sethi, A. Trivedi, P. Singhal, M. Bhawe, R. Agarwal, R. Kala, G. C. Nandi (2022) "Group-Aware Human Trajectory Prediction", IEEE 6th Conference on Information and Communication Technology (CICT), pp. 1-5.
- A. Khare, R. Motwani, S. Akash, J. Patil, R. Kala (2018) "Learning the Goal Seeking Behaviour for Mobile Robots", 3rd Asia-Pacific Conference on Intelligent Robot Systems, IEEE, Singapore, pp. 56-60.
Key Publications: Behaviour-Driven Intelligent Transportation Systems
- R. Kala (2023) Autonomous Mobile Robots: Planning, Navigation and Simulation, Elsevier
- R. Chandra, M. Mahajan, R. Kala, R. Palugulla, C. Naidu, A. Jain, D. Manocha (2023) "METEOR: A Dense, Heterogeneous, and Unstructured Traffic Dataset with Rare Behaviors", IEEE ICRA, pp. 9169-9175, London, UK.
- A. Malviya, R. Kala (2022) "Risk Modeling of the Overtaking Behavior in the Indian Traffic", IEEE ITSC, pp. 2882-2887, Macau, China.
- R. B. Jha, A. Rai, R. Kala (2021) "Predictive Risk Analysis using Deep Learning in Indian Traffic", IEEE ITSC, pp. 258-263.

Simultaneous Localization and Mapping (SLAM)
- R. Kala (2023) Autonomous Mobile Robots: Planning, Navigation and Simulation, Elsevier
- V. Paturkar, R. Yadav, R. Kala (2024) "Sequential visual place recognition using semantically-enhanced features", Multimedia Tools and Applications, DOI: 10.1007/s11042-023-17404-4.
- R. Yadav, V. Pani, A. Mishra, N. Tiwari, R. Kala (2023) "Locality-constrained continuous place recognition for SLAM in extreme conditions", Applied Intelligence 53: 17593–17609.
- L. Kenye, R. Kala (2023) "Low-Cost Simultaneous Localization and Mapping Using Occupancy Grid, Place Recognition and Semantic Priors", IEEE RO-MAN 2023, pp. 1083–1088, Busan, Korea.
- R. Yadav, R. Kala (2022) "Fusion of Visual Odometry and Place Recognition for SLAM in Extreme Conditions", Applied Intelligence 52: 11928–11947.
- L. Kenye, R. Kala (2022) "Improving RGB-D SLAM in Dynamic Environments using Semantic Aided Segmentation", Robotica, 40(6), 2065–2090.
- L. Kenye, R. Kala (2022) "Feature-Based Correspondence Filtering Using Structural Similarity Index for Visual Odometry", International Journal of Pattern Recognition and Artificial Intelligence 36(9): 2255013.
- L. Kenye, R. Kala (2022) "An Ensemble of Spatial Clustering and Temporal Error Profile Based Dynamic Point Removal for Visual Odometry", Multimedia Tools and Applications 81: 23259–23288.
- R. Gautam, H. Harsh Jain, M. Poply, R. Jain, M. Anand, R. Kala (2018) "Experience based localization in wide open indoor environments", Paladyn, Journal of Behavioral Robotics 9(1): 82–94.
- U. Kumar, R. Kala, G.C. Nandi (2023) "Low-Cost Domain Adaptive Experience Based Localization for Autonomous Robots", 6th International Conference on Advances in Robotics, Article 11, pp. 1–6, Ropar, India.
- A. Agrawal, D. Agarwal, M. Arora, R. Mahajan, S. Beohar, L. Kenye, R. Kala (2022) "SLAM and Map Learning using Hybrid Semantic Graph Optimization", MED 2022, pp. 731–736, Athens, Greece.
- L. Kenye, R. Palugulla, M. Arora, B. Bhat, R. Kala, A. Nayak (2020) "Re-localization for Self-Driving Cars using Semantic Maps", IEEE IRC 2020, Taichung, Taiwan, pp. 75–78.
Socially-aware Robot Motion Planning (Model-based techniques)
- R. Kala (2023) Autonomous Mobile Robots: Planning, Navigation and Simulation, Elsevier
- R. Kala (2021) "Video Lecture on Multi-Agent Simulations, Swarm and Evolutionary Robotics (34 Hour Video Lecture Series)", Center of Intelligent Robotics, IIIT Allahabad. Available at: http://www.rkala.in/books/#als
- V. Malviya, R. Kala (2023) "Navigation with a Cooperative Social Robot for a Group of Visitors using Face Detection and a ‘Stop and Wait’ Scheme", Journal of Scientific & Industrial Research 82: 1009–1021.
- V. Malviya, R. Kala (2023) "Socialistic 3D tracking of humans from a mobile robot for a ‘human following robot’ behaviour", Robotica 41(5): 1407–1435.
- V. Malviya, R. Kala (2022) "Trajectory Prediction and Tracking using a Multi-Behaviour Social Particle Filter", Applied Intelligence 52: 7158–7200.
- A.K. Reddy, V. Malviya, R. Kala (2021) "Social Cues in the Autonomous Navigation of Indoor Mobile Robots", International Journal of Social Robotics 13: 1335–1358.
- A. Malviya, R. Kala (2021) "Social robot motion planning using contextual distances observed from 3D human motion tracking", Expert Systems with Applications 184: 115515.
- U. Kumar, A. Banerjee, R. Kala (2020) "Collision avoiding decentralized sorting of robotic swarm", Applied Intelligence 50: 1316–1326.
- V. Malviya, A.K. Reddy, R. Kala (2020) "Autonomous Social Robot Navigation using a Behavioral Finite State Social Machine", Robotica 38(12): 2266–2289.
- V. Malviya, R. Kala (2016) "Tracking Vehicle and Faces: Towards Socialistic Assessment of Human Behaviour", Conference on Information and Communication Technology, Jabalpur, India, 2018, pp. 1–6.