• D. Bian, J. Wade, A. Swanson, A. Weitlauf, Z. Warren, and N. Sarkar, “Design of a Physiology-based Dynamic Difficulty Adjustment Virtual Reality Driving Platform and its Application in ASD Intervention,” ACM Transactions on Interactive Intelligent Systems (TiiS), 2017, Under review.
• J. Fan, J. Wade, A. Key, Z. Warren, and N. Sarkar, “EEG-based Affect and Workload Recognition in a Virtual Driving Environment for ASD Intervention,” IEEE Transactions on Biomedical Engineering (TBME), 2017.
• J. Wade, A. Weitlauf, N. Broderick, A. Swanson, L. Zhang, D. Bian, M. Sarkar, Z. Warren, and N. Sarkar, “A Pilot Study Assessing performance and visual attention of teenagers with ASD in a novel adaptive driving simulator,” Journal of Autism and Developmental Disorders (JADD), 2017.
• J. Wade, R. Boyles, P. Flemming, M. de Riesthal, T. Withrow, and N. Sarkar, “Exploring Novel Instrumented Cane Metrics for Fall Risk Assessment in Mobility-Impaired Older Adults,” IEEE Transactions on Biomedical Engineering (TBME), 2017, Under review.
• J. Wade, A. Sarkar, A. Swanson, A. Weitlauf, Z. Warren, and N. Sarkar, “Process Measures of Dyadic Collaborative Interaction for Social Skills Intervention in Individuals with Autism Spectrum Disorders,” ACM Transactions on Accessible Computing (TACCESS),  vol. 10, no. 4, Article 13, 2017.

• J. Wade, A. Vehorn, Z. Warren, and N. Sarkar, “The role of feature engineering in developing clinical diagnostic machine learning algorithms for ASD screening,” in International Meeting for Autism Research (IMFAR), San Francisco, CA, 2017.
• P. Flemming, J. Wade, M. de Riesthal, and N. Sarkar, “Utilization of an Instrumented Cane in a Neurological Physical Therapy Clinic,” in Combined Sections Meeting (CSM), San Antonio, TX, 2017.

• J. Wade, L. Zhang, D. Bian, J. Fan, A. Swanson, A. Weitlauf, M. Sarkar, Z. Warren, and N. Sarkar, “A Gaze-Contingent Adaptive Virtual Reality Driving Environment for Intervention in Individuals with Autism Spectrum Disorders,” ACM Transactions on Interactive Intelligent Systems (TiiS), vol. 6, Article 3, 2016.
• L. Zhang, J. Wade, D. Bian, J. Fan, A. Swanson, A. Weitlauf, Z. Warren, and N. Sarkar, “Cognitive load measurement in a Virtual Reality-based Driving System for Autism Intervention,” IEEE Transactions on Affective Computing, 2016.
• M. Lei, G. Meng, W. Zhang, J. Wade, and N. Sarkar, “Symplectic Entropy as a Novel Measure for Complex Systems,” Entropy, vol. 18, p. 412, 2016.

• D. Bian, J. Wade, Z. Warren, and N. Sarkar, “Online Engagement Detection and Task Adaptation in a Virtual Reality Based Driving Simulator for Autism Intervention,” in International Conference on Universal Access in Human-Computer Interaction, 2016, pp. 538-547.
• E. Bekele, J. Wade, D. Bian, J. Fan, A. Swanson, Z. Warren, and N. Sarkar, “Multimodal adaptive social interaction in virtual environment (MASI-VR) for children with Autism spectrum disorders (ASD),” in Virtual Reality (VR), 2016 IEEE, 2016, pp. 121-130.
• M. Lei, G. Meng, W. Zhang, J. Wade, and N. Sarkar, “Brain Gamma Oscillations of Healthy People During Simulated Driving,” in International Conference on Intelligent Robotics and Applications, 2016, pp. 453-458.
• Zhang, Lian, Megan Gabriel-King, Zachary Armento, Miles Baer, Qiang Fu, Huan Zhao, Amy Swanson, Medha Sarkar, Zachary Warren, and Nilanjan Sarkar. “Design of a Mobile Collaborative Virtual Environment for Autism Intervention.” In International Conference on Universal Access in Human-Computer Interaction, pp. 265-275. Springer International Publishing, 2016.

• N. Sarkar, T. Withrow, and J. Wade, “IntelliCane Instrumented Therapy System,” in Southeastern Medical Device Association (SEMDA), Nashville, TN, 2016.

• Zhi Zheng, Qiang Fu, Huan Zhao, Amy Swanson, Amy Weitlauf, Zachary Warren, and Nilanjan Sarkar. “Design of a Computer-assisted System for Teaching Attentional Skills to Toddlers with Autism“. The 17th International Conference on Human-Computer Interaction, 2015. (Best paper award)
• Zhi Zheng, Eric M. Young, Amy Swanson, Zachary Warren, and Nilanjan Sarkar. ” Robot-mediated Mixed Gesture Imitation Skill Training for Young Children with ASD.” In Advanced Robotics (ICAR), 2015 IEEE International Conference.
• Zhang, Lian, Amy Swanson, Amy Weitlauf, Zachary Warren, and Nilanjan Sarkar. “Design of a Collaborative Virtual Environment to Foster Collaborative Skills for Children with ASD”, International Meeting for Autism Research (IMFAR), 2015
• Lian Zhang, Joshua Wade, Amy Swanson, Amy Weitlauf, Zachary Warren, and Nilanjan Sarkar. “Cognitive State Measurement from Eye Gaze Analysis in an Intelligent Virtual Reality Driving System for Autism Intervention”, in Affective Computing and Intelligent Interaction (ACII), 2015 International Conference on, 2015, pp. 532-538.
• Lian Zhang, Joshua Wade, Dayi Bian, Jing Fan, Amy Swanson, Amy Weitlauf, Zachary Warren, and Nilanjan Sarkar. “Multimodal Fusion for Cognitive Load Measurement in an Adaptive Virtual Reality Driving Task for Autism Intervention” The 17th International Conference on Human-Computer Interaction, 2015
• J. Fan, J. W. Wade, D. Bian, A. P. Key, Z. E. Warren, L. C. Mion, N. Sarkar. “A Step Towards EEG-based Brain Computer Interface for Autism Intervention.” 37^th annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBS).In press.
• J. Wade, M. Beccani, A. Myszka, E. Bekele, P. Valdastri, P. Flemming, M. De Riesthal, T. Withrow and N. Sarkar 2015. Design and implementation of an instrumented cane for gait recognition. In Robotics and Automation (ICRA), 2015 IEEE International Conference on, 5904-5909.
• Joshua Wade, Dayi Bian, Jing Fan, Lian Zhang, Amy Swanson, Medha Sarkar, Amy Weitlauf, Zachary Warren, and Nilanjan Sarkar, ”A Virtual Reality Driving Environment for Training Safe Gaze Patterns: Applications in Individuals with ASD“. The 17th International Conference on Human-Computer Interaction, 2015
• Bian D., Wade J., Swanson A., Warren Z., and Sarkar N. (2015). Physiology-based Affect Recognition During Driving in Virtual Environment for Autism Intervention. In Proceedings of the 2nd International Conference on Physiological Computing Systems.
• Arpan Sarkar, Joshua Wade, and Zachary Warren. “Understanding and Improving Collaborative Skills among Individuals with Asd in a Distributed Virtual Environment.” In International Conference on Human-Computer Interaction. Los Angeles, CA: Springer, 2015.

• Lahiri, U., Bekele, E., Dohrmann, E., Warren, Z., & Sarkar, N. (2015). A Physiologically Informed Virtual Reality Based Social Communication System for Individuals with Autism. Journal of autism and developmental disorders, 45(4), 919-931.
• Peterman, J. S., Bekele, E., Bian, D., Sarkar, N., & Park, S. (2015). Complexities of emotional responses to social and non-social affective stimuli in schizophrenia. Frontiers in psychology, 6.

Posters

• Zhi Zheng, Qiang Fu, Huan Zhao, Amy Swanson, Amy Weitlauf, Zachary Warren, Nilanjan Sarkar. “A 3-D learning environment for infants and toddlers at-risk for ASD: Can technology improve early social communication vulnerabilities?”  International meeting for autism research, 2015.
• Joshua Wade, Dayi Bian, Jing Fan, Lian Zhang, Amy Swanson, Medha Sarkar, Zachary Warren, and Nilanjan Sarkar. “The Effect of Gaze-Contingent Feedback on the Performance of Adolescents with ASD in a Virtual Reality Driving Environment.” Paper presented at the International Meeting for Autism Research, Salt Lake City, UT, 2015.
• N. Sarkar, T. Withrow, and J. Wade, “IntelliCane,” in Southeastern Medical Device Association (SEMDA), Atlanta, GA, 2015.

• Zhi Zheng, Shuvajit Das, Eric M. Young, Amy Swanson,Zachary Warren, and Nilanjan Sarkar ” Autonomous Robot-mediated Imitation Learning for Children with Autism “. IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 2014.
• Joshua Wade, Dayi Bian, Lian Zhang, Amy Swanson, Medha Sarkar, Zachary Warren, Nilanjan Sarkar, “Design and Preliminary Assessment of a Virtual Reality Driving Environment for Adolescents with ASD“, in proceedings of International Meeting for Autism Research
• Joshua Wade, Dayi Bian, Lian Zhang, Amy Swanson, Medha Sarkar, Zachary Warren, Nilanjan Sarkar, “Design of a Virtual Reality Driving Environment to Assess Performance of Teenagers with ASD“, in 16th International Conference on Human-Computer Interaction, 2014
• Lian Zhang, Joshua W. Wade, Dayi Bian, Amy Swanson, Zachary Warren, Nilanjan Sarkar, “Data Fusion for Difficulty Adjustment in an Adaptive Virtual Reality Game System for Autism Intervention“, in 16th International Conference on Human-Computer Interaction, 2014
• Esubalew Bekele, Joshua W. Wade, Dayi Bian, Lian Zhang, Zhi Zheng, Amy Swanson, Medha Sarkar, Zachary Warren, Nilanjan Sarkar, “Multimodal Interfaces and Sensory Fusion in VR for Social Interactions“, in 16th International Conference on Human-Computer Interaction, 2014
• Bekele, E., Bian, D., Zheng, Z., Peterman, J., Park, S., & Sarkar, N. (2014). Responses during Facial Emotional Expression Recognition Tasks Using Virtual Reality and Static IAPS Pictures for Adults with Schizophrenia. InVirtual, Augmented and Mixed Reality. Applications of Virtual and Augmented Reality (pp. 225-235). Springer International Publishing.

Book Chapters

• Bekele, E., & Sarkar, N. (2014). Psychophysiological Feedback for Adaptive Human–Robot Interaction (HRI). In Advances in Physiological Computing (pp. 141-167). Springer London.
• Bekele, E., Lahiri, U., Welch K., Warren Z., & Sarkar, N. (2014). Adaptive Virtual Reality and Its Application in Autism Therapy. In Virtual Reality: Technologies, Medical Applications and Challenges (pp. 141-167). Nova Publishers New York.

Posters

• Bekele, E., Wade, J., Bian, D., Zhang, L., Sarkar, M., Valdastri, P., Warren, Z., & Sarkar, N. (2014). The Development of an Intelligent Virtual Reality Intervention Application. In International Meeting for Autism Research.
• Joshua Wade, Dayi Bian, Lian Zhang, Amy Swanson, Medha Sarkar, Zachary Warren, and Nilanjan Sarkar. “Design and Preliminary Assessment of a Virtual Reality Driving Environment for Adolescents with ASD.” Paper presented at the International Meeting for Autism Research, Atlanta, GA, 2014.

• B. Sokal, G. Uswatte, J. Barman, M. Brewer,E. Byrom,  J. Latten,J. Joseph, C. Serafi, T. Ghaffar, and  N.  Sarkar, “A Network of Movement and Proximity Sensors for Monitoring Upper-Extremity Motor Activity after Stroke: Proof of Principle,” (accepted for publication) in Archives of Physical Medicine and Rehabilitation, doi: 10.1016/j.apmr.2013.09.013, 2013.
• Zachary E. Warren, Zhi Zheng, Amy R. Swanson, Esubalew Bekele, Lian Zhang, Julie A. Crittendon, Amy F. Weitlauf, and Nilanjan Sarkar. “Can Robotic Interaction Improve Joint Attention Skills?” (accepted for publication) in Journal of Autism Development Disorders, DOI: 10.1007/s10803-013-1918-4. PMID: 24014194,2013.
• Bekele, E., Swanson, A., Davidson, J., Sarkar, N., and Warren, Z. “Pilot Clinical Application of an Adaptive Robotic System for Young Children with Autism” (accepted for publication) in Autism: International Journal of Research and Practice, DOI: 10.1177/1362361313479454. PMID: 24104517, 2013.
• Bekele, E., Crittendon, J., Zheng, Z., Swanson, A., Weitlauf, A., Warren, Z., & Sarkar, N. (2014). Assessing the Utility of a Virtual Environment for Enhancing Facial Affect Recognition in Adolescents with Autism. Journal of autism and developmental disorders, 44(7), 1641-1650.
• Tian Y. and Sarkar, N. “Control of a Mobile Robot Subject to Wheel Slip,” (accepted for publication) in Journal of Intelligent and Robotic Systems, 2013.
• D. Caleb Rucker, Jadav Das, Hunter Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar and Robert J. Webster III. “Sliding Mode Control of Steerable Needles”  IEEE Transactions on Robotics, vol. 29, issue 5, pp. 1289-1299, 2013.
• Tian, Y. and Sarkar, N. “Game-based Pursuit Evasion for Nonholonomic Wheeled Mobile Robots Subject to Wheel Slips,” (in press) Journal of Advanced Robotics, DOI: 10.1080/01691864.2013.805471.
• Sidek, N. and Sarkar, N. “Exploiting wheel slips of mobile robots to improve navigation performance” in Journal of Advanced Robotics, vol. 27, no. 8, pp. 629-639, 2013.
• Bekele, E., Zheng, Z., Swanson, A., Davidson, J., Warren, Z., and Sarkar, N. “Understanding How Adolescents with Autism Respond to Facial Expressions in Virtual Reality Environments”  IEEE Transactions on Visualization and Computer Graphics, vol. 19, no. 4, pp. 711-720, 2013.
• Das, J. and Sarkar, N. “Passivity-Based Target Manipulation Inside a Deformable Object,” Journal of Advanced Robotics, vol. 27, no. 12, pp. 861-875, 2013.
• Bekele, E., Lahiri, U., Swanson, A., Davidson, J., Warren, Z., and Sarkar, N., “A Step Towards Developing Adaptive Robot-Mediated Intervention Architecture (ARIA) for Children With Autism,” In IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 21, no. 2, pp. 289-299, 2013. DOI: 10.1109/TNSRE.2012.2230188
• Jones, C., Wang, F., Morrison, R., Sarkar, N., and Kamper D. “Design and Development of an Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke” in IEEE/ASME Transactions on Mechatronics, 2012. DOI: 10.1109/TMECH.2012.2224359
• Lahiri, U., Bekele, E., Dohrmann, E., Warren, Z., Sarkar, N. “Design of a Virtual Reality based Adaptive Response Technology for Children with Autism”  In IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.21, no. 1, pp. 55-64, 2013. PMID: 23033333. Back To Top

• Zhi Zheng, Lian Zhang, Esubalew Bekele, Amy Swanson, Julie A. Crittendon, Zachary Warren, and Nilanjan Sarkar,”Impact of Robot-mediated Interaction System on Joint Attention Skills for Children with Autism“, 2013 IEEE International Conference on Rehabilitation Robotics June 24-26, 2013 Seattle, Washington USA.
• S. Kuriakose, N. Sarkar, and U. Lahiri, “A Step Towards an Intelligent Human Computer Interaction: Physiology-based Affect-Recognizer” in 4th International Conference on Intelligent Human Computer Interaction 2012 (IHCI 2012), 2013, in press.
• Dayi Bian, Joshua Wade, Lian Zhang, Esubalew Bekele, Amy Swanson, Julie Crittendon, Medha Sarkar, Zachary Warren, Nilanjan Sarkar, “A Novel Virtual Reality Driving Environment for Autism Intervention” in 15th International Conference on Human-Computer Interaction, 2013, accepted for publication.
• Esubalew Bekele, Zhi Zheng, Amy Swanson, Julie Crittendon, Zachary Warren, and N. Sarkar, “Virtual Reality-based Facial Expressions Understanding for Teenagers with Autism” in 15th International Conference on Human-Computer Interaction, 2013, accepted for publication.
• Esubalew Bekele, Mary Young, Zhi Zheng, Lian Zhang, Amy Swanson, Rebecca Johnston, Julie Crittendon, Zachary Warren, Nilanjan Sarkar, “Adaptive multimodal virtual social interaction platform for children with Autism”, in 15th International Conference on Human-Computer Interaction, 2013, accepted for publication.
• Gokhale, A., Biswas, G., Sarkar, N., Sastry, S., Branicky, M. “CPS Laboratory-as-a-Service: Enabling Technology for Readily Accessible and Scalable CPS Education,” in First Workshop on Cyber-Physical Systems Education (CPS-Ed), Philadelphia, April 2013. Back To Top

• Barman, J., Uswatte, G., Ghaffari, T., Sokal, B., Ezekiel, B., Trinh, E., Brewer, M., Varghese, C., and Sarkar, N. “Sensor-Enabled RFID System for Monitoring Arm Activity: Reliability and Validity,” in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 20, no. 6, pp. 771-777, 2012. Back To Top

• Tian Y. and Sarkar, N. “Formation Control of Mobile Robots subject to Wheel Slip,” in the IEEE Int. Conf. Rob. and Automation, pp. 4553-4558, 2012.
• Bekele, E., Zheng, Z., Lahiri, U., Swanson, A., Davidson, J., Warren, Z., and Sarkar, N. “Design of a novel virtual reality-based autism intervention system for facial emotional expressions identification,” in International Conference on Disability, Virtual Reality and Associated Technologies, pp. 427-430, 2012. Back To Top

• Das. J., and Sarkar, N. “Target Point Manipulation inside a Deformable Object,” in Robotic Systems – Applications, Control and Programming, by IN-TECH, ISBN 978-953-307-941-7, 2012. Back To Top

• Barkana, D.E., Das, J., Wang, F., Groomes, T.E., and Sarkar, N. “Incorporating verbal feedback into a robot-assisted rehabilitation system,” in Robotica, volume 29, issue 03, pp. 433-443, 2011.
• Das, J. and Sarkar, N., “Autonomous Shape Control of a deformable object by Multiple Manipulators,” in Journal of Intelligent and Robotic Systems, vol. 62, No. 1, pp. 3-27, 2011.
• Das, J. and Sarkar, N., “Robust Shape Control of Deformable Objects using Model-based Techniques,” in Advanced Robotics, vol. 25, pp. 2099-2123, 2011.
• Lahiri, U., Warren, Z., Sarkar, N., “Design of a Gaze-sensitive Virtual Social Interactive System for Children with Autism,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.19, no. 4, pp. 443-452, 2011.
• Mallapragada, V., Sarkar, N. and Podder, T., “Toward a Robot Assisted Breast Intervention System,” in IEEE/ASME Transactions on Mechatronics, vol. 16, No. 6, pp. 1011-1020, 2011.
• Guo, L., Kwarciak, A., Rodriguez, R., Sarkar, N., and Richter, M., “Validation of a Biofeedback System for Wheelchair Propulsion Training,” in Rehabilitation Research and Practice, vol. 2011, Article ID 590780, pp. 1-7, 2011.  Back To Top

• Lahiri, U., Bekele, E., Dohrmann, E., Warren, Z., Sarkar, N., “Design of a Virtual Reality Based Adaptive Response Technology for Children with Autism Spectrum Disorder,” in Affective Computing and Intelligent Interaction (ACII, 2011), Springer,  pp. 165-174: 2011.
• Lahiri, U., Warren, Z., and Sarkar, N., “Dynamic gaze measurement with adaptive response technology in Virtual Reality based social communication for autism,” in International Conference on Virtual Rehabilitation (ICVR), pp. 1-8, 2011.
• Bekele, E., Lahiri, U., Davidson, J., Warren, Z., and Sarkar, N., “Development of a novel robot-mediated adaptive response system for joint attention task for children with autism,” in IEEE International Symposium on Robot Man Interaction (Ro-Man), pp. 276-281, 2011.
• Lahiri, U., Welch, K., Warren, Z., and Sarkar, N., “Understanding psychophysiological response to a Virtual Reality-based social communication system for children with ASD,”  in International Conference on Virtual Rehabilitation (ICVR), pp. 1-2, 2011.
• Wang, F., Shastri, M., Jones, C, Gupta, V., Osswald, C., Xuan, K., Kamper, D., and  Sarkar, N.,“Design and Control of an Actuated Thumb Exoskeleton for Hand Rehabilitation Following Stroke,” in IEEE Int. Conf. Robotics and Automation, pp. 3688-3693, 2011. 
• Barman, J., Uswatte, G., Sarkar, N., Ghaffari, T., and Sokal, G. “Sensor-enabled RFID system for monitoring arm activity in daily life,” in Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5219-5223, 2011.  Back To Top

• Barman, J., Uswatte, G., Ghaffari, T., Sarkar, N., Sokal, B., Byrom, E., Trinh, E., Varghese, C., Brewer, M., and Shih, A. “Sensor-enabled radio frequency identification tags for remotely monitoring everyday arm activity: sensitivity and specificity” [Abstract]. Archives of Physical Medicine and Rehabilitation, 92, 1696, 2011.
• Uswatte, G. Barman, J., Sarkar, N., Ghaffari, T., Sokal, B., Byrom, E., Trinh, E., Varghese, C., and  Shih, A. (2011, June). “Feasibility of remotely monitoring everyday upper-extremity activity by labeling objects with sensor-enabled radio frequency identification tags”. Paper presented at the 2^nd Biennial Conference of the Society for Ambulatory Assessment, Ann Arbor, MI.  Back To Top

• Lahiri, U., Warren, Z., Sarkar, N. “Virtual Reality Based Gaze Sensitive System for Children with Autism Spectrum Disorder: Implications on Behavioral Viewing Patterns”. San Diego, CA: International Meeting for Autism Research (IMFAR, 2011), 2011.
• Bekele, E., Lahiri, U., Davidson, J., Warren, Z., Sarkar, N. “Robot-Mediated Joint Attention Tasks for Children at Risk with ASD: A Step towards Robot-Assisted Intervention”. San Diego, CA: International Meeting for Autism Research (IMFAR), 2011.
• Barman, J., Uswatte, G., Ghaffari, T., Sarkar, N., Sokal, B., Byrom, E., Trinh, E., Varghese, C., Brewer, M., and Shih, A. (2011, October). “Sensor-enabled radio frequency identification tags for remotely monitoring everyday arm activity: sensitivity and specificity”. Poster presented at the Annual Meeting of the American Congress of Rehabilitation Medicine. Atlanta, GA. Back To Top

•  Welch, K., Lahiri, U., Sarkar, N. Warren, Z., Stone, W., and Liu, C.  “Affect-sensitive Computing and Autism,” in  Affective Computing and Interaction: Psychological, Cognitive and Neuroscientific Perspectives,  (to be published by IGI Global in 2010).
•  Welch, K., Sarkar, M., Sarkar, N., and Liu, C. “Affective Modeling for Children with Autism Spectrum Disorders: Application of Active Learning.” In L. Berhardt (Ed.), Advances in Medicine and Biology Volume 8. Nova Science Publishers, New York, 2010.
• Lahiri, U., Labadie, R.F., Liu, C., Majdani, O., and Sarkar, N. “A Step Towards Characterization of Surgical Actions Involved in Mastoidectomy,” In Tiwari, R., Shukla, A. (Eds.), Intelligent Medical Technologies and Biomedical Engineering: Tools and Applications, Publisher: IGI Global, ISBN 978-1-61520-977-4, Ch. 5, pp. 110-121, 2010. Back To Top

• Mallapragada, V., Sarkar, N. and Podder, T. “Toward a Robot Assisted Breast Intervention System,” in IEEE/ASME Transactions on Mechatronics (accepted 2010).
• Barkana, D.E., Das, J., Wang, F., Groomes, T.E., and Sarkar, N. “Incorporating Verbal Feedback into a Robot-assisted Rehabilitation System,” in Robotica (accepted 2010).
• Das, J. and Sarkar, N. “Autonomous Shape Control of a deformable object by Multiple Manipulators,” in Journal of Intelligent and Robotic Systems, (accepted 2010).
• Wang. F. Barkana, D.E., and Sarkar, N. “Impact of Visual Error Augmentation when integrated with Assist-as-needed Training Method in Robot-assisted Rehabilitation,” in IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol.18, No. 5, pp. 571-579, 2010.
• Welch, K. C., Lahiri, U., Sarkar, N., and Warren, Z. “An approach to the Design of Socially Acceptable Robots for Children with Autism Spectrum Disorders,” in International Journal of Social Robotics, Vol. 2, No. 4, pp. 391-403, 2010.
• Lahiri, U., Labadie, R.F., Liu, C., Balachandran, R., Majdani, O., and Sarkar, N. “A Step Towards Identification of Surgical Actions in Mastoidectomy,” in IEEE Transactions of Biomedical Engineering, Vol. 57, No. 2, pp. 479-487, 2010. Back To Top

• Jones, C., Wang, F., Osswald, C., Kang, X., Sarkar, N., and Kamper, D. “Control and Kinematic Performance Analysis of an Actuated Finger Exoskeleton for Hand Rehabilitation following Stroke,” submitted to IEEE Bio Robotics, 2010.
• Tian, Y. and Sarkar, N. “Near-Optimal Autonomous Pursuit Evasion for NonholonomicWheeled Mobile Robot Subject to Wheel Slip,” in Proc. IEEE International Conference on Robotics and Automation, Alaska, 2010.
• Das J. and Sarkar, N. “Planning and Control of Internal Point of Deformable Objects,” in Proc. IEEE International Conference on Robotics and Automation, Alaska, 2010.  Back To Top

• Mallapragada, V. and  Sarkar, N. “Towards a Robotic System for Minimally Invasive Breast Interventions,” in Recent Advances in Biomedical Engineering, by IN-TECH, ISBN 978-953-7619, 2009. Back To Top

• Liu, C., Rani, P., Sarkar, N, and Chen S. “Dynamic Difficulty Adjustment in Computer Games Through Real-Time Anxiety-Based Affective Feedback.” In International Journal of Human-Computer Interaction, Vol. 25, Issue 6, pp. 506 – 529, 2009.
• Mallapragada, V., Sarkar, N., and Podder, T. “Robot Assisted Real-time Tumor Manipulation for Breast Biopsy,” in IEEE Transactions on Robotics, Vol. 25, Issue 2, pp. 316-324, 2009.
• Barkana, D.E. and Sarkar, N. “Towards a Smooth Human-Robot Interaction for Rehabilitation Robotic Systems,” in Advanced Robotics, Vol. 23, pp. 1641-1662, 2009.
• Haldar, B. and Sarkar, N. “Analysis of order of redundancy relation for robust actuator fault detection,” in Control Engineering Practice, Vol. 17, pp. 966-973, 2009. Back To Top

•  Wang F., Barkana, D.E., and Sarkar, N.  “Integration of error augmentation training method to an assistive controller for rehabilitation robotic systems,” in Proc. IEEE International Conference on Rehabilitation Robotics (ICORR), pp. 463 – 468, 2009.
• Wang, F., Barkana, D.E., and Sarkar, N. “Evaluation of a Robot-Assisted Rehabilitation System with Assist-As-Needed and Visual Error Augmentation Training Methods,” in Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2009), Page(s): 3555 – 3560, 2009.
• Welch, K.C., Lahiri, U., Liu, C., Weller, R., Sarkar, N., and Warren, Z. “An Affect-sensitive Social Interaction Paradigm utilizing Virtual Reality Environments for Autism Intervention,” in Proc. 13th International Conference on Human-Computer Interaction (HCII 2009), pp. 703-712, 2009.
• Tian Y, Sidek, N. and Sarkar, N. “Modeling and Control of a Nonholonomic Wheeled Mobile Robot with Wheel Slip Dynamics,” in Proc. IEEE Symposium on Computational Intelligence in Control and Automation, Nashville, TN, pp. 7-14, 2009.
• Tian Y, Sidek, N. and Sarkar, N. “Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics,” in Proc. ASME Dynamic System and Control Conference, Paper No. DSCC2009-2569, Hollywood, California, 2009.
• Das J. and Sarkar N. “Shape Control of a Deformable Object by Multiple Manipulators,” in Proc. IEEE International Conference on Intelligent Robots and Systems, St. Louis, Missouri, USA, Page(s): 960 – 965, 2009. Back To Top

• Conn, K., Liu, C., Sarkar, N., Stone, W., and Warren, Z. “Towards  Affect-sensitive Assistive Intervention Technologies for Children with Autism,” Affective Computing: Focus on Emotion Expression, Synthesis and Recognition, Jimmy Or, (Ed.), Vienna, Austria: ARS/I-Tech Education and Publishing, 2008. Back To Top

• Liu, C., Conn, K., Sarkar, N., and Stone, W. “Online Affect Detection and Robot Behavior Adaptation for Intervention of Children with Autism,” IEEE Transactions on Robotics, Vol. 24, Issue 4, pp. 883-896, 2008.
• Liu, C., Conn, K., Sarkar, N., and Stone, W. “Physiology-Based Affect Recognition for Computer-assisted Intervention of Children with Autism Spectrum Disorder,” International Journal of Human-Computer Studies, Vol. 66, Issue 9, pp. 662-677, September 2008.
• Liu, C., Rani, P., Sarkar, N, “Dynamic Difficulty Adjustment in Computer Games through Real-Time Affective Feedback”, International Journal of Human-Computer Interaction, Accepted. 2008.
• Rani, P., Liu, C., Sarkar, N., “Interaction between Human and Robot – an Affect-inspired Approach”, Interaction Studies, vol. 9, no. 2, p230-257, 2008.
• Sidek N., Sarkar N., “Improving Maneuverability of Wheeled Mobile Robots by Exploiting Lateral Slip”, Submitted to Journal of Simulation Modeling Practice and Theory , Elsevier.
• Duygun Erol and Nilanjan Sarkar, “Coordinated Control of Assistive Robotic Devices for Activities of Daily Living Tasks”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.16, no.3, pp. 278-285, June 2008.
• Duygun Erol and Nilanjan Sarkar, “Intelligent Control for Robotic Rehabilitation after Stroke”, Journal of Intelligent and Robotic Systems, vol. 50, no.4, pp. 341-360, December 2007.
• Mallapragada, V., Sarkar, N., Podder, T., “Robot Assisted Real-time Tumor Manipulation for Breast Biopsy,” IEEE Transactions on Robotics (conditionally accepted). Back To Top

• Conn, K., Liu, C., Sarkar, N., Stone, W., & Warren, Z., “Affect-sensitive Assistive Intervention Technologies for Children with Autism: an Individual-specific Approach,“ in Proc. 17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2008), Munich, Germany, August 2008.
• Liu, C., Conn, K., Sarkar, N., & Stone, W., “Online Affect Detection and Adaptation in Robot Assisted Rehabilitation for Children with Autism,“ in Proc. 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007), Jeju Island, Korea, August 2007.
• Sidek N. , Sarkar N., “Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip”, The 3rd Int. Conf. on Systems (ICONS 08), pp 35-40, 13-18 April 2008.
• Sidek N., Sarkar N., “Inclusion of Wheel Slips in Mobile Robot Modeling to Enhance Robot Simulator Performance”, The 3rd Int. Conf. on Mechatronics (ICOM 08), 18-20 Dec. 2008.
• Duygun Erol and Nilanjan Sarkar, “Synchronization of arm and hand assistive robotics devices to impart activities of daily living tasks ”, 5th International Conference on Informatics in Control, Automation & Robotics (ICINCO 2008), 11-15 May 2008.
• Duygun Erol Barkana, Furui Wang, Jadav Das, Nilanjan Sarkar, Thomas Groomes, “A Step Toward Increasing Automation in Robot-Assisted Rehabilitation”, 2008 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona (accepted).
• Furui Wang, Nilanjan Sarkar, “Supervisory Controller Design for a Robot-Assisted Reach-to-Grasp Rehabilitation task”, 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2008), August 20-24, 2008, Vancouver, British Columbia, Canada.
• Mallapragada, V., Sarkar, N., Podder, T., “Autonomous Coordination of Imaging and Tumor Manipulation for Robot Assisted Breast Biopsy,” in Proc. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 676- 681, Oct 2008.
• Mallapragada, V., Sarkar, N., Podder, T., “Robotic System for Tumor Manipulation and Ultrasound Image Guidance During Breast Biopsy,” in Proc. International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5589 – 5592, Aug 2008.
• Mallapragada, V., Sarkar, N., Podder, T., “Robot Assisted Real-time Tumor Manipulation for Breast Biopsy,” in Proc. IEEE International Conference on Robotics and Automation, pp. 2515 – 2520, May 2008.
• Mallapragada, V., Sarkar, N., Podder, T., “A Robotic System for Real-time Tumor Manipulation During Image Guided Breast Biopsy,” in Proc. IEEE International Conference on Bioinformatics and Bioengineering, pp. 204 – 210, Oct 2007. Back To Top

• Mallapragada, V., “Control Strategies for Target Manipulation in Deformable Objects,” RASL Research Note, Department of Mechanical Engineering, Vanderbilt University, August 2007.
• Ji, M. and Sarkar, N.“Supervisory Fault Adaptive Control of a Mobile Robot and Its Application in Sensor-Fault Accommodation”, IEEE Transactions on Robotics and Automation, Vol. 23,  Issue 1,  Feb. 2007, pp. 174 – 178.
• Erol, D. and Sarkar, N. “Smooth Human-Robot Interaction in Robot-Assisted Rehabilitation”,IEEE 10th International Conference on Rehabilitation Robotics: Frontiers of the Human-Machine Interface (ICORR 2007), June 13-15, 2007, Noordwijk, Netherlands (accepted).
• Erol, D.  and Sarkar, N. “Design and Implementation of a Control Architecture for Rehabilitation Robotic Systems”, Rehabilitation Robotics, editor: Aleksandar Lazinica.
• Halder. B, Sarkar. N, “Robust Fault Detection of Robotic Manipulator,” International Journal of Robotics Research, vol. 26, no.3, pp. 273-285, 2007.
• Halder. B and Sarkar. N, “Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot,” International Journal of Automation and Computing, vol. 4, no.2, pp. 183-188, 2007.
• Erol, D. and Sarkar, N. “Design and Implementation of  Control Architecture for Rehabilitation Robotic Systems”, International Journal of Advanced Robotic Systems (accepted to be published in vol. 4 no.3, September 2007).
• Mallapragada, V., Erol, D., Sarkar, N., A New Method of Force Control for Unknown Environments, Advanced Robotic, International Journal of Advanced Robotic Systems (accepted to be published in vol.4 no.3, September 2007) .
• Erol, D., Sarkar, N., “Intelligent Control Framework for Robotic Rehabilitation after Stroke”, IEEE International Conference on Robotics and Automation (ICRA 2007). April 2007, Italy, pp. 1238-1243.
• Liu, C., Conn, K., Sarkar, N., & Stone, W., “Affect Recognition in Robot Assisted Rehabilitation of Children with Autism Spectrum Disorder,” In Proc. IEEE International Conference on Robotics and Automation (ICRA 2007). April 2007, Roma, Italy, pp. 1755-1760.
• Sidek, N., Sarkar, N., “Integrating Actuator Fault and Wheel Slippage Detections within FDI Framework”, WSEAS Transaction On Systems, Issue 2, Vol. 6, Feb.2007 (Note: The same paper also appears in the Proceeding: International Conf. of CSECS, Dallas, Texas, USA, Nov. 1-3, 2006). Back To Top

• Rani, P., Liu, C., Sarkar, N., “An Empirical Study of Machine Learning Techniques for Affect Recognition in Human-Robot Interaction,” Pattern Analysis and Applications Journal, vol. 9, no. 1, pp. 58-69, 2006
• Rani, P., Sarkar, N. Liu, C., “Maintaining Optimal Challenge in Computer Games Through Real-Time Physiological Feedback”, Chapter 4, Task Specific Information Processing in Operational and Virtual Environments, Foundations of Augmented Cognition, edited by Dylan D.Schmorrow, Lawrence Erlbaum Associates Publishers,2006, pp. 184-192.
• Rani, P., and Sarkar, N., “A New Approach to Implicit Human-Robot Interaction Using Affective Cues”, Mobile Robots, Moving Intelligence, editor: Aleksandar Lazinica.
• Mallapragada, V., Erol, D., Sarkar, N. “A New Method for Force Control for Unknown Environments”, IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2006), October 9-15, Beijing, China, 2006. pp:4509-4514.
• Liu, C., Rani, P., Sarkar, N., “Affective State Recognition and Adaptation in Human-Robot Interaction: A Design Approach”, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2006, China, pp:3099-3106..
• Erol, D., Sarkar, N., Halder, B., “A High-Level Controller for Robot-Assisted Rehabilitation”,IEEE/EMBS International Conference of the Engineering in Medicine and Biology Society, (EMBS 2006), August 30-September 3, New York, USA, 2006.
• Halder, B. and Sarkar, N,. “Robust fault detection and isolation in mobile robot,” Proceedings of IFAC, Beijing, China, August 30- September 01, 2006.
• Liu, C., Rani, P., Sarkar, N., “Human-Robot Interaction Using Affective Cues”, The 15th IEEE International Symposium on Robot and Human Interactive Communication – ROMAN 2006, September 2006, United Kingdom.
• Halder, B. and Sarkar, N., “Impact of the Order of Redundancy Relation in Robust Fault Detection of Robotic Systems,” Proceedings of CDC’, San Diego, California, June 13-15, 2006.
• Halder, B. and Sarkar, N., “Robust fault detection of robotic systems: New results and experiments,” Proceedings of ICRA, Orlando, Florida, May 15-19, 2006.
• Rani, P., Liu, C., Sarkar, N., “Affective Feedback in Closed Loop Human-Robot Interaction”, Human-Robot Interaction, March 2006, Salt Lake City, USA .
• Erol, D., Mallapragada, V., Sarkar, N., Uswatte, G., Taub, E., “Autonomously Adapting Robotic Assistance for Rehabilitation Therapy“, The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), February 20-22, 2006, Pisa, Italy. Back To Top

• Halder, B. and Sarkar, N., “Robust Fault Detection Based on Nonlinear Analytic Redundancy Techniques With Application to Robotics,” Proceedings of IMECE, Orlando, Florida, November 5-11, 2005.
• Erol, D., Mallapragada, V., Sarkar, N., “Adaptable Force Control in Robotic Rehabilitation”,14th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2005), August 13 – 15, 2005 Nashville, TN.
• Rani, P., Sarkar, N., “Making Robots Emotion-Sensitive – Preliminary Experiments and Results”, RO-MAN 2005, 14th IEEE International Workshop on Robot and Human Interactive Communication, August 2005, Nashville, USA
• Rani, P., Sarkar, M., “EMG-Based High Level Human-Robot Interaction System for People with Disability”, RO-MAN 2005, 14th IEEE International Workshop on Robot and Human Interactive Communication, August 2005, Nashville, USA .
• Liu, C., Rani, P., Sarkar, N., “Comparison of Machine Learning Techniques for Affect Detection in Human Robot Interaction,” IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2005, Canada.
• Erol, D., Mallapragada, V., Sarkar, N., Uswatte, G., Taub, E., ,”A New Control Approach for Robot Assisted Rehabilitation“, IEEE 9th International Conference on RehabilitationRobotics:Frontiers of the Human-Machine Interface (ICORR 2005) June 28 – July 1, 2005 Chicago,  Illinois.
• Rani, P., Sarkar, N., “Maintaining Optimal Challenge in Computer Games Through Real-Time Physiological Feedback “, HCI International, July 2005, Las Vegas, USA.
• Rani, P., Sarkar, N., “Operator Engagement Detection and Robot Behavior Adaptation in Human-Robot Interaction”, IEEE International Conference on Robotics and Automation, April 2005, Barcelona, Spain.        Back To Top

• Podder, T. and Sarkar, N. “A Unified Dynamics-Based Motion Planning Algorithm for Autonomous Underwater Vehicle-Manipulator Systems (UVMS),” in Robotica, Vol. 22, No.01, pp.117-128, 2004.
• Rani, P., Sarkar, N., Smith, C., and L. Kirby, “Anxiety Detecting Robotic Systems: Towards Implicit Human-Robot Collaboration,” in Robotica, Vol. 22, No. 1, pp. 85-95, 2004.
• Kawamura, K., Peters, A., Bodenheimer, B., Sarkar, N., Park, J. and Spratley, A, “A Parallel Distributed Cognitive Control System for a Humanoid Robot,” (), in the International Journal of Humanoid Robotics, Vol. 1, No. 1, pp. 65-94, March 2004.
• Chai, P., Rani, P., Sarkar, N. “An innovative high-level human-robot interactions for disabled persons,” IEEE International Conference on Robotics and Automation, New Orleans, USA, April 2004.
• Rani, P., Sarkar, N., “Emotion-Sensitive Robots- A New Paradigm for Human-Robot Interaction”, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), November 2004, Los Angeles, USA
• Halder, B., Zhang, Z. and Sarkar, N., “Fault Adaptive Formation Control of Mobile Robots,” Proceedings of IMECE, Anaheim, California, November 13-19, 2004.
• Erol, D., Rani P., Brackin, R.L., Sarkar, M.S.,  and Sarkar, N., “Robotic Aid to People with Disability By Means of an Innovative Communication Paradigm”, 9th Mechatronics Forum International Conference (Mechatronics 2004) , September 2004, Ankara, Turkey.
• Adams, J., Rani, P., Sarkar, N., “Mixed Initiative Interaction and Robotic Systems”, Workshop on           Supervisory Control of Learning and Adaptive Systems, Nineteenth National Conference on Artificial Intelligence (AAAI-04), San Jose, CA, July, 2004.
• Rani, P., Sarkar, M., Brackin, R., Sarkar, N., “Semi-Autonomous Human-Robot Interaction Using EMG-Based Modified Morse Code”, Workshop on Multi-point interaction in Robotics and Virtual Reality, IEEE International Conference on Robotics and Automation, New Orleans, USA, April 2004.
• Park, J., Ferguson, S., Sarkar, N., Kawamura, K., Bluethmann, B., Ambrose, R., and Alader, K., “Toward Intelligent System Health Monitoring for NASA Robonaut,” 4th IEEE/RAS International Conference on Humanoid Robots, Volume 2,  10-12 Nov. 2004, pp. 855 – 868.
• Podder, T. and Sarkar, N. “Frequency-based Partial and Total Decomposition Approaches for Trajectory Planning of Robotic Systems with Variable Dynamic Responses,” in the Proceedings of the International Symposium on Advances in Robot Dynamics and Control (ARDC 04), Paper no. IMECE2004-60137, ASME International Mechanical Engineering Congress and Exposition, 2004. Back To Top

• Ji, M.,Zhang,  Z., Biswas, G. and Sarkar, N. “Hybrid Fault Adaptive Control of a Wheeled Mobile Robot,” in the IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 2, pp. 226-233, 2003.
• Rani, P., Sarkar, N., Smith, C.”Anxiety Detection for Implicit Human-Robot Collaboration”, IEEE International Conference on Systems, Man & Cybernetics, Washington D.C., pp: 4896-4903, October 2003.
• Rani, P., Sarkar, N., Smith, C., “Affect-Sensitive Human-Robot Cooperation “Theory and Experiments”, IEEE International Conference on Robotics and Automation, pp: 2382-2387, Taiwan, September 2003.
• Zhang, Z., Ji, M. and N. Sarkar, N., “Dextrous Trajectory Control of a Mobile Robot,” in the Proceedings of the International Symposium on Advances in Robot Dynamics and Control (ARDC 03), Paper no. IMECE2003-43493, ASME International Mechanical Engineering Congress and Exposition, 2003.
• Podder, T. and Sarkar, N., “Motion Planning and Control of UVMS: A Unified Dynamics-Based Approach,” in the Proceedings of IEEE/MTS International Conference – OCEANS, pp. 2446-2453, San Diego, USA, September 22-26, 2003. Back To Top

• Antonelli, G., Sarkar, N. and Chiaverini, S. “Explicit Force Control for Underwater Vehicle-Manipulator Systems,” in Robotica, Vol. 20, No. 3, pp. 251-260, 2002.
• Sarkar, N., Podder, T. and Antonelli, G. “Fault-Accommodating Thruster Force Allocation of an AUV Considering Thruster Redundancy and Saturation,” in the IEEE Transactions on Robotics and Automation, Vol. 18, No. 2, pp. 223-233, 2002.
• Antonelli, G., Chiaverini, S. and N. Sarkar, N., “External Force Control for Underwater Vehicle-Manipulator Systems,”  in the IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 931-938, 2002.
• Sarkar, N., Sims, J., Vashishtha, D., Rani, P., Brackin, “Stress Detection for Implicit Human-Robot Cooperation”, World Automation Congress, Orlando, USA, June 2002.
• Ji, M., Zhang, Z., Biswas, G., and Sarkar, N.“Hybrid Fault Adaptive Control of a Mobile Robot,”  inthe Proceedings of the International Symposium on Advances in Robot Dynamics and Control (ARDC 02), Paper no. IMECE2002-32696, ASME International Mechanical Engineering Congress and Exposition, 2002.
• Sarkar, N. “Psychophysiological Control Architecture for Human-Robot Coordination – Concepts and Initial Experiments,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3719-3725, 2002.
• Rani, P,, Sims, J,, Brackin, R,, Sarkar, N. “Online Stress Detection using Psychophysiological Signal for Implicit Human-Robot Cooperation,” in Robotica, Vol. 20, No. 6, pp. 673-686, 2002. Back To Top

• Antonelli, G., Chiaverini, S., Sarkar, N. and West, M. “Adaptive Control of an Autonomous Underwater Vehicle: Experimental Results on ODIN,” in the IEEE Transactions on Control Systems Technology, Vol. 9, No. 5, pp. 756-765, 2001.
• Sarkar, N. and Podder, T., “Coordinated Motion Planning and Control of Autonomous Underwater Vehicle-Manipulator Systems Subject to Drag Optimization,” in the IEEE Journal on Oceanic Engineering, Vol. 26, No. 2, pp. 228-239, 2001
• Podder, T, and Sarkar, N. “Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster Redundancy,” in the Journal of Robotics and Autonomous Systems, Vol. 34, pp. 39-52, 2001.
• Cui, Y. and Sarkar, N.,“A Unified Force Control Approach to Autonomous Underwater Manipulation,” (in Robotica, Vol. 19, pp. 255-266, 2001.
• Podder, T., Antonelli, G. and N. Sarkar, N.  “An Experimental Investigation into the Fault-Tolerant Control of an Autonomous Underwater Vehicle,” in the Journal of Advanced Robotics, Vol. 15, No. 5, pp. 501-520, 2001.
• Thongchai, S., Goldfarb, M.,Sarkar, N., and Kawamura, K. , “A Frequency Modeling Method ofRubbertuators for Control Application in an IMA Framework,” in the Proceedings of the American Control Conference, pp. 1710-1714, Arlington, Virginia, June 25-27, 2001.
• Podder, T., Antonelli, G. and Sarkar, N., “Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster Redundancy: Simulations and Experiments,” in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1251-1256, San Francisco, 2000. This paper received the Anton Phillips Best Student Paper Award.
• Podder, T. and Sarkar, N. “A Fault Accommodating Control of an Autonomous Underwater Vehicle Under Thruster Redundancy and Saturation,” in the Proceedings of the 2001 ASME International Symposium on Advances in Robot Dynamics and Control, ASME International Mechanical Engineering Congress and Exposition, New York, 2001.
• Northrup, S., Sarkar, N., and Kawamura, K., “Biologically-Inspired Control Architecture for a Humanoid Robot,”  in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1100-1105, Maui, 2001.  Back To Top

• Podder, T. and Sarkar, N.“ Dynamic Trajectory Planning of an Underwater Vehicle-Manipulator System,” in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3461-3466, San Francisco, 2000.
• Cui, Y. and Sarkar, N. “A Unified Force Control Approach to Autonomous Underwater Manipulation,”  in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1263-1268, San Francisco, 2000.
• Thongchai, S., Suksakulchai, S., Wilkes, D. and N. Sarkar, N., “Sonar Behavior-Based Fuzzy Control for a Mobile Robot,” (in the Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Vol: 5, pp. 3532-3537, October 8-11, Nashville, 2000.
• Sarkar, N. and M. Sarkar, M., “An Introduction to Graph-Rewriting Framework for High-Level Robotic Task Planning,” in the International Journal of Intelligent Automation and Soft Computing, Vol. 5, No. 2, pp. 129-138, 1999.
• Sarkar, N., Yuh, J. and Podder, T., “Adaptive Control of Underwater Vehicle-Manipulator Systems Subject to Joint Limits,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 142-147, Korea, 1999.
• Antonelli, G., Chiaverini, S. and Sarkar, N.,“An Explicit Force Control Scheme for Underwater Vehicle-Manipulator Systems,”  in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 136-141, Korea, 1999.
• Cui, Y., Podder, T. and Sarkar, N., “Impedance Control of Underwater Vehicle-Manipulator Systems,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Korea, 148-153, 1999.
• Antonelli, G., Sarkar, N. and Chiaverini, S. “An External Force Control Scheme for Underwater Vehicle-Manipulator Systems,” in the Proceedings of the IEEE Conference on Decision and Control, pp. 2975-2980, 1999.
• Antonelli, G., Chiaverini, S., Sarkar, N., and West, M. “Adaptive Control of an Autonomous Underwater Vehicle: Experimental Results on ODIN,”  in the Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 64-69, California, 1999.
• Sarkar, N. and Podder, T.“Motion Coordination of Underwater Vehicle-Manipulator Systems Subject to Drag Optimization,” in the Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 387-392, Detroit, MI, May 1999.
• Podder, T. and Sarkar, N.,“Fault Tolerant Decomposition of Thruster Forces of an Autonomous Underwater Vehicle,”  in the Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 84-89, Detroit, MI, May 1999.
• Antonelli, G., Chiaverini, S., and Sarkar, N., “Explicit Force Control for Underwater Vehicle-Manipulator Systems with Adaptive Motion Control,”  in the Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control, pp. 361-366, Hong Kong, 1999.
• Sarkar, N., Yun, X. and Ellis, R. “Live-Constraint-Based Control for Contact Transitions,” in the IEEE Transactions on Robotics and Automation, Vol. 14, No. 5, pp. 743-754, October 1998.
• Sarkar, N. and M. Sarkar, M., “A Graph-Rewriting Approach to High-Level Task Planning – An Introduction,”  in the Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 661-666, Victoria, Canada 1998.
• Yuh, J., Choi, S., Ikehara, C., Kim, J., McMurtry, G., Nejhad, M., Sarkar, N., and Sugihara, K. “Design of a Semi-Autonomous Underwater Vehicle for Intervention Mission,”  in the Proceedings of the 1998 International Symposium on Underwater Technology, pp. 63-68, Tokyo, Japan, 1998.
• Sarkar, N. and Yun, X. “Traction Control of Wheeled Vehicles Using Dynamic Feedback Approach,” in the Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 413-418, Victoria, Canada.
• Yun, X. and Sarkar, N., “Unified Formulation of Robotic Systems with Holonomic andNonholonomic Constraints,”  in the IEEE Transactions on Robotics and Automation, Vol. 14, No. 4, pp. 640-650, August 1998.
• Sarkar, N., Yun, X. and Kumar, V., “Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation,” IEEE Transactions on Robotics and Automation, Vol. 13, No. 3, pp. 364-376, 1997.
• Sarkar, N., Yun, X. and Kumar, V., “Control of Contact Interactions with AcatastaticNonholonomic Constraints, “InternationalJournal of Robotics Research, Vol 16, No.3, June l997: 357-374.
• Sarkar, N., Yun, X. and Ellis, R., “Live-Constraint-Based Control for Contact Transitions,”  in the Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 353-360, Monterey, CA, July 1997.
• Sarkar, N., Ellis, R., and Moore, T. “Backlash Detection in Geared Mechanisms: Modeling, Simulation, and Experimentation,” in the Journal of Mechanical Systems and Signal Processing (Academic Press), Vol. 11, No. 3, pp. 391-408, June 1997.
• Ellis, R., Sarkar, N. and Jenkins, M. “Numerical Methods for the Force Reflection of Contact,”  in the Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 119, No. 4, pp. 768-774, December 1997.
• Sarkar, N. and Kumar, V., “Velocity and Acceleration Analysis of Contact between Three-Dimensional Rigid Bodies,” ASME Journal of Applied Mechanics, Vol. 63, Dec. 1996: 974-1984.
• Ricker, L., Sarkar, N. and Rudie, K., “A Discrete-Event Systems Approach to Modeling DextrousManipulation,”  in the Robotica (Cambridge University Press), Vol. 14, Part 5, pp. 515-525, December 1996.
• Sarkar, N. and Yun, X., “Design of a Continuous Controller for Contact Transition Task Based on Impulsive Constraint Analysis,” in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2000-2005, Minneapolis, Minnesota, 1996.
• Ellis, R., Sarkar, N. and Jenkins, M. “Numerical Methods for the Haptic Presentation of Contact: Theory, Simulations, and Experiments,”  in the Proceedings of the ASME Dynamic Systems and Control Division, The Fifth Annual Symposium on Haptic Interfaces for Virtual Environment andTeleoperator Systems, The Winter Annual Meeting of the ASME, Atlanta 1996, DSC-Vol 58, pp. 413-420.
• Yun, X. and Sarkar, N., “Dynamic Feedback Control of Vehicles with Two Steerable Wheels,”  in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3105-3110, Minneapolis, Minnesota, 1996.
• Ricker, L., Sarkar, N. and Rudie, K., “A Discrete Event Systems Approach to Modeling DextrousManipulation,”  in the Proceedings of the 33rd Annual Allerton Conference on Communication, Control and Computing, pp. 156-165, Illinois, October 1995.
• Ellis, R., Sarkar, N. and Moore, T., Detection of Incipient Backlash in Robotic Mechanisms,” in the Proceedings of the 8th International Congress on Condition Monitoring and Diagnostic Engineering Management, Vol 2, pp. 527-534, Kingston, Ontario, June 1995.
• Sarkar, N., Yun, X. and Kumar, V., “Control of Mechanical Systems with Rolling Constraints: Application to Dynamic Control of Mobile Robots,”  in the International Journal of Robotics Research (MIT Press), Vol. 13, No. 1, pp. 55-69, February 1994.
• Sarkar, N. and Kumar, V., “Velocity and Acceleration Analysis of Contact between Three-Dimensional Rigid Bodies,” 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, DE-Vol. 70, 1994, pp. 433-440.
• Sarkar, N., Yun, X. and Kumar, V., “Control of a Single Robot in a Decentralized Multi-Robot System,” in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 896-901, San Diego, California, 1994.
• Sarkar, N., Yun, X. and Kumar, V., “Control of Rolling Contacts in Two-Arm Manipulation,” IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993.
• Sarkar, N., Yun, X. and Kumar, V., “Dynamic Control of a Robot in a Multiagent Framework,” IEEE International Conference on Robots and Intelligent Systems, Tokyo, June, 1993.
• Sarkar, N., Yun, X. and Kumar, V., “Control of a Single Robot in a Cooperative Multi-Robot Framework,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1645-1652, Yokohama, Japan, 1993.
• Sarkar, N., Yun, X. and Kumar, V., “Dynamic Path Following: A New Control Algorithm for Mobile Robots,” 32nd IEEE International Conference on Decision and Control, San Antonio, Texas, December 15-17, 1993.
• Wang, C-C., Sarkar, N. and Kumar, V. , “Rate Kinematics of Mobile Manipulators,” Robotics, Spatial Mechanisms, and Mechanical Systems, ASME Pub. no. DE-Vol. 46, Eds. Kinzel et al. Proceedings of the 22nd Biennial ASME Mechanisms Conference, Phoenix, Sep., 1992, pp. 225-232.
• Yun, X., Kumar, V., Sarkar, N., and Paljug, E. , “Control of Multiple Arm Systems with Rolling Constraints,” IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2193-2198.
• Kumar, V., Yun, X., Paljug, E., and Sarkar, N., “Control of Contact Conditions for Manipulation with Multiple Robotic Systems,” Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 170-175. Back To Top