Jay Katupitiya

Associate Professor

Associate Professor Jayantha Katupitiya is from the School of Mechanical and Manufacturing Engineering. His research interests include:

Autonomous Large Vehicle Guidance
The research in this area is directed at automating large scale ground vehicles that operate on the agricultural fields and their autonomous navigation to conform to traversing specifications. They are, in general, articulated vehicle systems, in which a large tractor is providing propulsion and steering, and large implements are passively dragged behind. The control inputs to such a system are inadequate to guide the implements to follow a specified path. The research is aimed at providing the necessary control inputs at the implements to enable the precision autonomous navigation of the entire system. Research includes: i) the kinematic modelling of articulated systems taking into account the lateral and longitudinal wheels slips, ii) determination of force inputs using approximate dynamic models and the kinematic system responses, and iii) the design of controllers.

Cooperative Control of Heterogeneous Autonomous Vehicles
The research aims to achieve asynchronous cooperative control between one air vehicle and a fleet of ground vehicles. The goal is to navigate the ground vehicles to concurrently carry out a single task or to carry out a spatially distributed set of sub tasks that forms parts of a major task, under the supervision and coordination of the aerial vehicle. The fleet of ground vehicles are assumed to be distributed at different locations. In the case of a single task, the ground vehicles are assumed to have complementary capabilities. In the case of multiple tasks the ground vehicles may possess identical or complementary task execution capabilities. A practical scenario is bush fire containment. The research issues involve task identification and localisation through sensing carried out by the aerial vehicle, task scheduling, terrain mapping using the aerial vehicle, path planning for ground vehicles using terrain data and autonomous navigation of ground vehicles to their scheduled destinations. In particular, the research aims at developing a software architecture for the cooperative control of the group of vehicles and the development of methodologies for the direct navigation and control of ground vehicles under the continuous and direct command of aerial vehicles without the use of GPS data.

Vectored Thrust Aerial Vehicles

A Vectored Thrust Aerial Vehicle (VTAV) is similar to a VTOL aircraft yet it is meant for hover and near hover operation. The research platform is centred around an aircraft with three thrusters. Each thruster is realized using a torque cancelling ducted fan. One of the thrusters is fixed with respect to the VTAV body and the other two thrusters can be independently vectored around a common axis. The VTAV is a lot more stable platform than a helicopter and hence has a simpler dynamic model. In addition, the dynamic models of the hover and low speed cruise are almost identical and hence cruise to low speed flight transition is easier. The research consists of dynamic model building, experimental system identification, model validation and controller design to achieve low speed, zero-roll and zero-pitch flights so that the VTAV can be used for laser based terrain mapping.


Force Controlled Ground Vehicles
This research is motivated by the need to drive an off-road vehicle very accurately in an agricultural field to follow a predefined path. The research platform is a four wheel driven four wheel steered ground vehicle that has force sensors at each wheel measuring all forces and torques. The aim is to develop a comprehensive dynamic model and to validate its parameters through experimental system identification. The control task it to vector the four drive forces and the directions of the drive forces and the side slip forces (lateral forces) so that the actual trajectory of the instantaneous centre of rotation of the vehicle will follow a desired trajectory of the instantaneous centre of rotation with constant velocity.

Spacecraft engineering approaches for robotic assembly of very large radar antennas in Earth orbit - Systems Design

The Australian Centre for Spacecraft Engineering Research at UNSW is designing a large synthetic aperture radar (SAR) spacecraft for measuring various Australian natural resources, principally soil moisture and forest biomass. In order to achieve the high spatial resolution of less than a few tens of metres, a very large antenna (approximately 16m x 4m) is required. To achieve the required revisit rate of three days or less, two spacecraft would be required. The launch vehicle cost would be tens of millions of dollars each; the volume of the current design does not allow two spacecraft to fit into the launch fairing of any launch vehicle, although in terms of mass alone two spacecraft could easily be launched on one vehicle. If the volume problem could be solved, the potential savings to a SAR spacecraft program would be considerable.  One potential approach is to assemble the two radars, after the stack has achieved orbit, from large numbers of compact radar modules. Such an approach offers the possibility of radically more compact launch configurations, and reduction in some masses such as structure and attitude control components. Fundamental challenges to robotic on-orbit assembly include design of the launch configuration, manipulator and robot design, structural approaches, robotic perception and mission sequence, autonomy and teleoperation considerations, attitude control, thermal control and communications during assembly, and satellite component design.

Given a particular mechatronic approach, the mechanical aspects of the radar modules, spacecraft buses, and ancillary components (stiffeners, tracks, etc.) still need to be designed for rapid, highly reliable assembly. Methods for transmitting power and control signals to the radar modules, and collecting received radar data from the modules, must be integrated with the mechanical components. A geometric and mechanical approach for achieving a compact launch configuration able to tolerate launch conditions must be designed.  Methods must be developed for component manipulation, component condition assessment, and partially-assembled structure attitude control in the unique dynamics of the space environment. Nominal conditions of force, torque, geometry, temperature and electrical power demand must be calculated for each assembly step.

The project will research options for mechanical design and flight compatibility for on-orbit assembly. Existing and developmental components, various launch and deployed configurations, and mission sequences will be traded off, with the goal of identifying a cost-effective, reliable assembly approach. Such a breakthrough will lead to numerous space missions taking advantage of the approach. Through this research, the student will make an important contribution to robotic space operations.

Mechatronic approaches for robotic assembly of very large radar antennas in Earth orbit - Control Systems

The Australian Centre for Spacecraft Engineering Research at UNSW is designing a large synthetic aperture radar (SAR) spacecraft for measuring various Australian natural resources, principally soil moisture and forest biomass. In order to achieve the high spatial resolution of less than a few tens of metres, a very large antenna (approximately 16m x 4m) is required. To achieve the required revisit rate of three days or less, two spacecraft would be required. The launch vehicle cost would be tens of millions of dollars each; the volume of the current design does not allow two spacecraft to fit into the launch fairing of any launch vehicle, although in terms of mass alone two spacecraft could easily be launched on one vehicle. If the volume problem could be solved, the potential savings to a SAR spacecraft program would be considerable.  One potential approach is to assemble the two radars, after the stack has achieved orbit, from large numbers of compact radar modules. Such an approach offers the possibility of radically more compact launch configurations, and reduction in some masses such as structure and attitude control components. Fundamental challenges to robotic on-orbit assembly include design of the launch configuration, manipulator and robot design, structural approaches, robotic perception and mission sequence, autonomy and teleoperation considerations, attitude control, thermal control and communications during assembly, and satellite component design.

Given a particular configuration of the radar modules, spacecraft buses, and ancillary components (stiffeners, tracks, etc.), the mechatronic approach still needs to be designed for rapid, highly reliable assembly. Considerations of weight, span, operating envelope, thermal management, power, and operation consistent with spacecraft attitude control requirements must be incorporated. The design must be able to tolerate launch conditions.  Procedures must be developed for component manipulation sequences. Sensors must be integrated for the determination of force, torque, geometry, temperature and electrical power demand at each assembly step.

The project will research mechatronic options for on-orbit assembly. Existing and developmental components, various launch and deployed configurations, and mission sequences will be traded off, with the goal of identifying a cost-effective, reliable assembly approach. Such a breakthrough will lead to numerous space missions taking advantage of the approach. Through this research, the student will make an important contribution to robotic space operations.

PhD Completions to date (March 2016) : 12

Current Research Students and Topics

Name Topic Supervisors
Jayakody, Hiranya Robust Control of Vectored Thrust Aerial Vehicles (PhD) Jay Katupitiya (primary supervisor), Jose Guivant (co-supervisor)
Teng, Kuang Yee Task Allocation for Bush Fire Fighting Autonomous Vehicles (PhD) Jay Katupitiya (primary suervisor), Jose Guivant (co-supervisor)
Dai, Penglei Autonomous Guidance of Four-wheel-steer Four-wheel-drive Vehicles (PhD) Jay Katupitiya (primary supervisor), Ray Eaton (co-supervisor)
Lam, Stanley Atonomous Public Transportation Systems (PhD) Jay Katupitiya (primary supervisor)
Taghia, Javad Robust Large-scale Off-road Vehicle Guidance Systems (PhD) Jay Katupitiya (primary supervisor), Ray Eaton (co-supervisor)
 Shi, Lingling Robust control of Space Robotic Platforms (PhD) Nathank Kinkaid (primary supervisor), Jay Katupitiya (joint supervisor)
Kayastha,  Sharmila  Robust Control of Flexible Robot Arms on Spacecraft (PhD) Jay Katupitiya (primary supervisor), Nathan Kinkaid (joint supervisor)
Hirayama, Masami Autonomous Komatsu Bulldozers for Mining Land Reclamation (PhD) Jay Katupitiya (primary supervisor), Jose Guivant (joint supervisor), Mark Whitty (co-supervisor). 
Wang, Xu Nonlnear Model Predictive Controllers for Autonomous Guidance of Large Field Vehicles (ME by research) Jay Katupitiya (primary supervisor). 
Journal articles
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Ahmed AM; Katupitiya J, 2021, 'Modeling and Control of a Novel Vectored-Thrust Quadcopter', JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, vol. 44, pp. 1399 - 1409, http://dx.doi.org/10.2514/1.G005467
2021
Karam LJ; Katupitiya J; Milanes V; Pitas I; Ye J, 2021, 'Autonomous Driving: Part 2-Learning and Cognition [From the Guest Editors]', IEEE Signal Processing Magazine, vol. 38, pp. 20 - 21, http://dx.doi.org/10.1109/MSP.2020.3033086
2021
Wang X; Shi L; Katupitiya J, 2021, 'A strategy to decelerate and capture a spinning object by a dual-arm space robot', Aerospace Science and Technology, vol. 113, http://dx.doi.org/10.1016/j.ast.2021.106682
2021
Wang X; Shi L; Katupitiya J, 2020, 'Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space', Acta Astronautica, vol. 176, pp. 99 - 110, http://dx.doi.org/10.1016/j.actaastro.2020.02.028
2020
Karam LJ; Katupitiya J; Milanes V; Pitas I; Ye J, 2020, 'Autonomous Driving: Part 1-Sensing and Perception [From the Guest Editors]', IEEE Signal Processing Magazine, vol. 37, pp. 11 - 13, http://dx.doi.org/10.1109/MSP.2020.2990330
2020
Tan Q; Shi L; Katupitiya J, 2019, 'A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle', Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 233, pp. 1480 - 1494, http://dx.doi.org/10.1177/0954407018760433
2019
Hirayama M; Guivant J; Katupitiya J; Whitty M, 2019, 'Artificial intelligence in path planning for autonomous bulldozers: Comparison with manual operation', International Journal of Innovative Computing, Information and Control, vol. 15, pp. 825 - 844, http://dx.doi.org/10.24507/ijicic.15.03.825
2019
Hirayama M; Guivant J; Katupitiya J; Whitty M, 2019, 'Path planning for autonomous bulldozers', Mechatronics, vol. 58, pp. 20 - 38, http://dx.doi.org/10.1016/j.mechatronics.2019.01.001
2019
Tan Q; Dai P; Zhang Z; Katupitiya J, 2018, 'MPC and PSO based control methodology for path tracking of 4WS4WD vehicles', Applied Sciences (Switzerland), vol. 8, http://dx.doi.org/10.3390/app8061000
2018
Dai P; Katupitiya J, 2018, 'Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC', Vehicle System Dynamics, vol. 56, pp. 1682 - 1716, http://dx.doi.org/10.1080/00423114.2018.1435888
2018
Shi L; Katupitiya J; Kinkaid NM, 2018, 'Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation', IEEE Transactions on Aerospace and Electronic Systems, vol. 54, pp. 1253 - 1264, http://dx.doi.org/10.1109/TAES.2017.2780558
2018
Hirayama M; Whitty M; Katupitiya J; Guivant J, 2018, 'An optimized approach for automatic material distribution operations of bulldozers', International Journal of Advanced Robotic Systems, vol. 15, pp. 1 - 10, http://dx.doi.org/10.1177/1729881418764716
2018
Shi L; Jayakody H; Katupitiya J; Jin X, 2018, 'Coordinated Control of a Dual-Arm Space Robot: Novel Models and Simulations for Robotic Control Methods', IEEE Robotics and Automation Magazine, vol. 25, pp. 86 - 95, http://dx.doi.org/10.1109/MRA.2018.2864717
2018
Dai P; Taghia J; Lam S; Katupitiya J, 2018, 'Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle', Autonomous Robots, vol. 42, pp. 553 - 568, http://dx.doi.org/10.1007/s10514-017-9649-6
2018
Tan Q; Wang X; Taghia J; Katupitiya J, 2017, 'Force control of two-wheel-steer four-wheel-drive vehicles using model predictive control and sequential quadratic programming for improved path tracking', International Journal of Advanced Robotic Systems, vol. 14, http://dx.doi.org/10.1177/1729881417746295
2017
Duggan L; Dowzard J; Katupitiya J; Chan KC, 2017, 'A rapid deployment big data computing platform for cloud robotics', International Journal of Computer Networks and Communications, vol. 9, pp. 77 - 88, http://dx.doi.org/10.5121/ijcnc.2017.9606
2017
Taghia J; Wang X; Lam S; Katupitiya J, 2017, 'A sliding mode controller with a nonlinear disturbance observer for a farm vehicle operating in the presence of wheel slip', AUTONOMOUS ROBOTS, vol. 41, pp. 71 - 88, http://dx.doi.org/10.1007/s10514-015-9530-4
2017
Zhu C; Katupitiya J; Wang J, 2017, 'Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics', Industrial Robot, vol. 44, pp. 776 - 787, http://dx.doi.org/10.1108/IR-12-2016-0368
2017
Shi L; Kayastha S; Katupitiya J, 2017, 'Robust coordinated control of a dual-arm space robot', Acta Astronautica, vol. 138, pp. 475 - 489, http://dx.doi.org/10.1016/j.actaastro.2017.06.009
2017
Shi L; Kinkaid N; Katupitiya J, 2016, 'Robust Control for Satellite Attitude Regulation During On-Orbit Assembly', IEEE Transactions on Aerospace and Electronic Systems, vol. 52, pp. 49 - 59, http://dx.doi.org/10.1109/TAES.2016.140472
2016
Jayakody HS; Shi L; Katupitiya J; Kinkaid N, 2016, 'Robust adaptive coordination controller for a spacecraft equipped with a robotic manipulator', Journal of Guidance, Control, and Dynamics, vol. 39, pp. 2699 - 2711, http://dx.doi.org/10.2514/1.G002145
2016
Lam S; Taghia J; Katupitiya J, 2016, 'Evaluation of a transportation system employing autonomous vehicles', Journal of Advanced Transportation, vol. 50, pp. 2266 - 2287, http://dx.doi.org/10.1002/atr.1458
2016
Lim K; Katupitiya J; Chan KC; Martin M, 2014, 'Design of an IT Capstone Subject - Cloud Robotics', INFORMATION TECHNOLOGY IN INDUSTRY, vol. 2, pp. 104 - 110, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000414870800005&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a29b250adbe88d1
2014
Matveev AS; Hoy M; Katupitiya J; Savkin AV, 2013, 'Nonlinear sliding mode control of an unmanned agricultural tractor in the presence of sliding and control saturation', Robotics and Autonomous Systems, vol. 61, pp. 973 - 987, http://dx.doi.org/10.1016/j.robot.2013.05.003
2013
Guivant J; Cossell S; Whitty MA; Katupitiya J, 2012, 'Internet-based operation of autonomous robots: The role of data replication, compression, bandwidth allocation and visualization', Journal of Field Robotics, vol. 29, pp. 793 - 818, http://dx.doi.org/10.1002/rob.21432
2012
Milton GE; Katupitiya J, 2012, 'Fabrication of arbitrary precision micro profiles by nano-grinding', International Journal of Nanomanufacturing, vol. 8, pp. 231 - 246, http://dx.doi.org/10.1504/IJNM.2012.047030
2012
Balwinder-Singh ; Humphreys E; Eberbach PL; Katupitiya A; Yadvinder-Singh ; Kukal SS, 2011, 'Growth, yield and water productivity of zero till wheat as affected by rice straw mulch and irrigation schedule', Field Crops Research, vol. 121, pp. 209 - 225, http://dx.doi.org/10.1016/j.fcr.2010.12.005
2011
Kodagoda S; Ruiz D; Katupitiya J; Dissanayake G, 2010, 'Classification of bidens in wheat farms', International Journal of Computer Applications in Technology, vol. 39, pp. 123 - 129, http://dx.doi.org/10.1504/IJCAT.2010.034740
2010
Howarth B; Katupitiya J; Eaton R; Kodagoda S, 2010, 'A machine learning approach to crop localisation using spatial information', INTERNATIONAL JOURNAL OF COMPUTER APPLICATIONS IN TECHNOLOGY, vol. 39, pp. 101 - 108, http://dx.doi.org/10.1504/IJCAT.2010.034737
2010
Zhang Z; Kodagoda S; Ruiz D; Katupitiya J; Dissanayake G, 2010, 'Classification of Bidens in wheat farms', International Journal of Computer Applications in Technology, vol. 39, pp. 123 - 129, http://dx.doi.org/10.1504/IJCAT.2010.03474
2010
Eaton RP; Katupitiya J; Siew KW; Howarth B, 2010, 'Autonomous farming: modelling and control of agricultural machinery in a unified framework.', International Journal of Intelligent Systems Technologies and Applications, vol. 8, pp. 444 - 457, http://dx.doi.org/10.1504/IJISTA.2010.030223
2010
Howarth B; Katupitiya J; Eaton RP; Kodagoda S, 2010, 'A machine learning approach to crop localisation using spatial information.', International Journal of Computer Applications in Technology, vol. 39, pp. 101 - 108, http://dx.doi.org/10.1504/IJCAT.2010.034737
2010
Mak LC; Kumon M; Whitty MA; Katupitiya J; Furukawa T, 2009, 'Design and Development of Micro Aerial Vehicles and their Cooperative Systems for Target Search and Tracking', International Journal of Micro Air Vehicles, vol. 1, pp. 139 - 153, http://dx.doi.org/10.1260/175682909789498251
2009
Milton GE; Gharbia Y; Katupitiya J, 2005, 'Mechanical fabrication of precision microlenses on optical fiber endfaces', Optical Engineering, vol. 44, pp. 1 - 8, http://dx.doi.org/10.1117/1.2148428
2005
Ilic S; Ninic D; Tordon MJ; Katupitiya J, 2005, 'Effect of road conditions on the fatigue life of an automatic transmission output shaft.', Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 219, pp. 337 - 344, http://dx.doi.org/10.1243/095440705X6560
2005
Gharbia Y; Katupitiya J, 2004, 'Experimental determination of optimum parameters for nano-grinding of optical fibre end faces', International Journal of Machine Tools and Manufacture, vol. 44, pp. 725 - 731, http://dx.doi.org/10.1016/j.ijmachtools.2004.02.003
2004
Gharbia Y; Katupitiya J, 2003, 'Loose abrasive blasting as an alternative to slurry polishing of optical fibre end faces', International Journal of Machine Tools and Manufacture, vol. 43, pp. 1413 - 1418, http://dx.doi.org/10.1016/S0890-6955(03)00181-0
2003
Hanafi D; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'Visual servoing of a conventional CNC machine using an external axis controller', Journal of Systemics, Cybernetics and Informatics, vol. 1, pp. 1 - 6
2003
Lee S; Kim I; Katupitiya J, 2002, 'A fuzzy-logic controller for an electrically driven steering system for a motor car', International Journal of Korean Society of Mechanical Engineers, vol. 16(8), pp. 1039 - 1059, http://dx.doi.org/10.1007/BF02984013
2002
Chua A; Katupitiya J; De Schutter J, 2001, 'Random execution of a set of contacts to solve the grasping and contact uncertainties in robotic tasks.', Robotica, vol. 19, pp. 199 - 207, http://dx.doi.org/10.1017/S0263574700002903
2001
De Schutter J; Bruyninckx H; Dutre S; De Geeter J; Katupitiya J; Demey S; Lefebvre T, 1999, 'Estimating geometric parameters and monitoring contact transitions during force-controlled compliant motion', International Journal of Robotics Research, vol. 18, pp. 1161 - 1184, http://dx.doi.org/10.1177/02783649922067780
1999
Magdy MA; Katupitiya J, 1988, 'A simple algorithm for self-tuning control of low-order models', Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 202, pp. 301 - 303, http://dx.doi.org/10.1243/PIME_PROC_1988_202_123_02
1988
De Schutter J; Katupitiya J; Vanherck P; Van Brussel H, 1987, 'Active force feedback in industrial robotic assembly: A case study', The International Journal of Advanced Manufacturing Technology, vol. 2, pp. 27 - 40, http://dx.doi.org/10.1007/BF02601491
1987
Conference Papers
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Gnanasekera M; Katupitiya J, 2020, 'A time optimal reactive collision avoidance method for UAVs based on a modified collision cone approach', in IEEE International Conference on Intelligent Robots and Systems, pp. 5685 - 5692, http://dx.doi.org/10.1109/IROS45743.2020.9341259
2020
Gnanasekera M; Savkin AV; Katupitiya J, 2020, 'Range Measurements Based UAV Navigation for Intercepting Ground Targets', in 2020 6th International Conference on Control, Automation and Robotics, ICCAR 2020, pp. 468 - 472, http://dx.doi.org/10.1109/ICCAR49639.2020.9108013
2020
Kayastha S; Katupitiya J; Pearce G, 2018, 'Control of a Space Robot with Flexible Manipulator using Generalized Decoupling Technique', in 2018 2nd International Conference on Robotics and Automation Sciences, ICRAS 2018, Wuhan, China, pp. 123 - 128, presented at International Conference on Robotics and Automation Sciences, Wuhan, China, 23 June 2018 - 25 June 2018, http://dx.doi.org/10.1109/ICRAS.2018.8443266
2018
Kayastha S; Shi L; Katupitiya J; Pearce G, 2018, 'Post-impact Motion Control of a Space Robot with Flexible Manipulator', in 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, Singapore, pp. 710 - 715, presented at The 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, Singapore, 18 November 2018 - 21 November 2018, http://dx.doi.org/10.1109/ICARCV.2018.8581178
2018
Zhang Y; Huang J; Katupitiya J, 2018, 'Dynamics and oscillation control of helicopters carrying large-size loads', in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 250 - 255, http://dx.doi.org/10.1109/AIM.2018.8452276
2018
Hirayama M; Guivant J; Katupitiya J; Whitty M, 2017, 'Path planning for autonomous bulldozers', in Australasian Conference on Robotics and Automation, ACRA, Sydney, pp. 233 - 238, presented at Australasian Conference on Robotics and Automation 2017, Sydney, 11 December 2017 - 13 December 2017
2017
Kayastha S; Katupitiya J; Pearce G, 2017, 'A length offset based model for trajectory tracking of two-link planar robot arms', in 9th Australasian Congress on Applied Mechanics, ACAM 2017, UNSW, presented at ACAM9, UNSW, 27 November 2017 - 29 November 2017
2017
Kayastha S; Shi L; Katupitiya JAY; Pearce GARTH, 2017, 'Nonlinear Model Predictive Control of a Planar Three-link Space Manipulator', in 2017 Asian Control Conference, ASCC 2017, Gold Coast, pp. 635 - 640, presented at The 2017 Asian Control Conference, Gold Coast, 17 December 2017 - 20 December 2017, http://dx.doi.org/10.1109/ASCC.2017.8287244
2017
Taghia J; Wang X; Lam S; Katupitiya J, 2017, 'A sliding mode controller with a nonlinear disturbance observer for a farm vehicle operating in the presence of wheel slip', in Autonomous Robots, pp. 71 - 88, http://dx.doi.org/10.1007/s10514-015-9530-4
2017
Shi L; Katupitiya J; Kinkaid N, 2016, 'Robust Attitude Controller for a Spacecraft Equipped with a Robotic Manipulator', in Proceedings of the American Control Conference, Boston Marriott Copley Place, Boston, USA, pp. 4966 - 4971, presented at 2016 American Control Conference, Boston Marriott Copley Place, Boston, USA, 06 July 2016 - 08 July 2016, http://dx.doi.org/10.1109/ACC.2016.7526140
2016
Shi L; Jayakody H; Kinkaid N; Katupitiya J, 2016, 'Attitude Regulation of a Free-Flying Space Robot during Contact Operations', in Aerospace Conference, 2016 IEEE, Yellowstone Conference Center, Big Sky, Montana, presented at IEEE Aerospace Conference, Yellowstone Conference Center, Big Sky, Montana, 05 March 2016 - 12 March 2016, http://dx.doi.org/10.1109/AERO.2016.7500819
2016
Katupitiya J; Wang X; Taghia J, 2016, 'Robust Model Predictive Control for Path Tracking of a Tracked Vehicle with a Steerable Trailer in the Presence of Slip', in IFAC-PapersOnLine, Seattle, WA, USA, pp. 469 - 474, presented at IFAC Agricontrol 2016, Seattle, WA, USA, 14 August 2016 - 17 August 2016, http://dx.doi.org/10.1016/j.ifacol.2016.10.085
2016
Woods MR; Guivant J; Katupitiya J, 2015, 'Terrain Classification and Segmentation using Non-Semantic Range Data', in Australasian Conference on Robotics and Automation, ACRA, Canberra, Australia, presented at Australasian Conference on Robotics and Automation (ACRA), Canberra, Australia, 02 December 2015 - 04 December 2015
2015
Faul B; Katupitiya J, 2015, 'Dynamic Modelling and Simulation of a Vectored Thrust Quad-Rotor', in Australasian Conference on Robotics and Automation, ACRA
2015
Katupitiya J; Taghia J, 2015, 'Path Following Control of an Off-Road Track Vehicle Towing a Steerable Driven Implement', in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Korea, pp. 713 - 718, presented at IEEE Advanced Intelligent Mechatronics, Korea, 07 July 2015 - 11 July 2015, http://dx.doi.org/10.1109/AIM.2015.7222621
2015
Katupitiya J; Jayakody H, 2015, 'An Adaptive Variable Structure Control Methodology for Attitude and Position Control of a Vectored Thrust Aerial Vehicle', in IEEE Advanced Intelligent Mechatronics, Busan, Korea, pp. 1014 - 1019, presented at IEEE Advanced Intelligent Mechatronics, Busan, Korea, 07 July 2015 - 11 July 2015, http://dx.doi.org/10.1109/AIM.2015.7222672
2015
Dai P; Katupitiya J, 2015, 'Force Control of a 4WS4WD Vehicle for Path Tracking', in IEEE Advanced Intelligent Mechatronics, Busan, Korea, pp. 238 - 243, presented at IEEE Advanced Intelligent Mechatronics, Busan, Korea, 07 July 2015 - 11 July 2015, http://dx.doi.org/10.1109/AIM.2015.7222538
2015
Dai P; Katupitiya J, 2015, 'Online Path Tracking and Motion Optimization of a 4WS4WD Vehicle', in IEEE IROS (ed.), IEEE International Conference on Intelligent Robotics and Systems, Hamburg, Grmany, pp. 4133 - 4139, presented at IEEE International Conference on Intelligent Robots and Systems, Hamburg, Grmany, 28 September 2015 - 02 October 2015, http://dx.doi.org/10.1109/IROS.2015.7353961
2015
Dai P; Katupitiya J, 2014, 'Path Planning and Tracking of a 4WD4WS Vehicle to be Driven Under Force Control', in Fu Y (ed.), 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014, IEEE, Tianjin, China, pp. 1709 - 1715, presented at International Conference on Mechatronics and Automation, Tianjin, China, 03 August 2014 - 06 August 2014, http://dx.doi.org/10.1109/ICMA.2014.6885958
2014
Jayakody HS; Katupitiya J, 2014, 'A Gain Adaptive Variable Structure Control Methodology for Second Order Nonlinear Dynamic Systems', in Astolfi A (ed.), 2014 IEEE 53rd Annual Conference on Decision and Control (CDC 2014), IEEE, J.W.Marriott Hotel, Los Angeles, USA, pp. 4391 - 4397, presented at 53rd IEEE Conference on Decision and Control (CDC 2014), J.W.Marriott Hotel, Los Angeles, USA, 15 December 2014 - 17 December 2014, http://dx.doi.org/10.1109/CDC.2014.7040074
2014
Teng K; Katupitiya J, 2014, 'Market-based task assignment strategies for multi-agent systems deployed for bushfire fighting', in IEEE International Conference on Control and Automation, ICCA, pp. 25 - 31, http://dx.doi.org/10.1109/ICCA.2014.6870890
2014
Briquet-Kerestedjian N; Taghia J; Katupitiya J, 2014, 'Derivation of error models incorporating slippage for a tracked vehicle coupled to a steerable trailer', in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1054 - 1060, http://dx.doi.org/10.1109/AIM.2014.6878220
2014
Dai P; Katupitiya J, 2014, 'Path Planning and Force Control of a 4WD4WS Vehicle', in echatronics and Automation (ICMA), 2014 IEEE International Conference, Melbourne, presented at Australasian Conference on Robotics and Automation (ACRA). 2014, Melbourne, 02 December 2014 - 04 December 2014, http://dx.doi.org/10.1109/ICMA.2014.6885958
2014
Katupitiya J, 2014, 'An Autonomous Seeder for Broad Acre Crops', in American Society of Agricultural and Biological Engineers Annual International Meeting 2014, ASABE 2014, Montreal, Canada, pp. 169 - 176, presented at 2014 ASABE and CSBE/SCGAB Annual International Meeting, Montreal, Canada, 13 July 2014 - 16 July 2014
2014
Pereida Perez K; Guivant , 2013, 'PWL Approximation for Dense Mapping and Associated Dijkstra Processes for the Concurrent Synthesis of Multiple Full Cost-to-Go Functions', in Katupitiya (ed.), Proceedings of the 2013 Australasian Conference on Robotics & Automation, University of New South Wales, presented at Australasian Conference on Robotics and Automation (ACRA), University of New South Wales, 02 December 2013 - 04 December 2013
2013
Woods MR; Katupitiya J, 2013, 'Modelling of a 4WS4WD vehicle and its control for path tracking', in Proceedings of the 2013 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013, pp. 155 - 162, http://dx.doi.org/10.1109/CICA.2013.6611677
2013
Taghia J; Katupitiya J, 2013, 'Wheel Slip Identifcation and its Use in the Robust Control of Articulated Off -Road Vehicles', in Guivant J (ed.), Wheel Slip Identifcation and its Use in the Robust Control of Articulated Off -Road Vehicles, Sydney, presented at Australasian Conference on Robotics and Automation (ACRA), Sydney, 02 December 2013 - 04 December 2013, http://www.javadtaghia.com/
2013
Katupitiya J; Jayakody H, 2013, 'Sliding Mode Based Position and Attitude Controller for a Vectored Thrust Aerial Vehicle', in Guivant J (ed.), Proceedings of the 2013 Australasian Conference on Robotics & Automation, Australian Robotics and Automation Association, Sydney, Australia, presented at Australasian Conference on Robotics and Automation, Sydney, Australia, 02 December 2013 - 04 December 2013, http://www.araa.asn.au/acra/acra2013/papers/pap125s1-file1.pdf
2013
Yuan W; Katupitiya J, 2013, 'Dynamic modelling and control of a vectored thrust aerial vehicle', in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, pp. 1361 - 1366, http://dx.doi.org/10.1109/AIM.2013.6584284
2013
Guivant J; Katupitiya ; Woods M, 2013, 'Terrain Classification using Depth Texture Features', in Eaton R (ed.), Terrain Classification using Depth Texture Features, Sydney, presented at Australasian Conference on Robotics and Automation (ACRA), Sydney, 02 December 2013 - 05 December 2013
2013
Guivant J; Cossell S, 2013, 'An Optimised GPU-Based Robot Motion Planner', in J. Katupitiya ; eaton (ed.), Proceedings of the 2013 Australasian Conference on Robotics & Automation, Sydney, presented at 2013 Australasian Conference on Robotics and Automation (ACRA), Sydney, 02 December 2013 - 04 December 2013
2013
Guivant J; Cossell S, 2013, 'A GPU-Based Concurrent Motion Planning Algorithm for 3D Euclidean Configuration Spaces', in Katupitiya J; Eaton R (ed.), Proceedings of the 2013 Australasian Conference on Robotics & Automation, Sydney, presented at 2013 Australasian Conference on Robotics and Automation (ACRA), Sydney, 02 December 2013 - 04 December 2013
2013
Taghia J; Katupitiya J, 2013, 'A sliding mode controller with disturbance observer for a farm vehicle operating in the presence of wheel slip', in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, presented at 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 09 July 2013 - 12 July 2013, http://dx.doi.org/10.1109/aim.2013.6584313
2013
Zhao J; Katupitiya J; Ward JR, 2012, 'Global correlation based ground plane estimation using V-disparity image', in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2012, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, USA, pp. 529 - 534, presented at 2012 IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, 14 May 2012 - 18 May 2012, http://dx.doi.org/10.1109/ROBOT.2007.363041
2012
Yuan W; Katupitiya J, 2012, 'A two-stage method for the parametric identification of scale-model helicopter dynamics', in AIAA Atmospheric Flight Mechanics Conference 2012, http://dx.doi.org/10.2514/6.2012-4733
2012
Huynh VT; Smith RN; Kwok NM; Katupitiya J, 2012, 'A nonlinear PI and backstepping-based controller for tractor-steerable trailers influenced by slip', in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2012, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, USA, pp. 245 - 252, presented at 2012 IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, 14 May 2012 - 18 May 2012, http://dx.doi.org/10.1109/ICRA.2012.6224567
2012
Ward JR; Katupitiya J, 2012, 'Free space mapping and motion planning in configuration space for mobile manipulators.', in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2012, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, USA, pp. 4981 - 4986, presented at 2012 IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, 14 May 2012 - 18 May 2012, http://dx.doi.org/10.1109/ROBOT.2007.364247
2012
Yuan W; Katupitiya J, 2012, 'Design of a μ synthesis controller to stabilize an unmanned helicopter', in 28th Congress of the International Council of the Aeronautical Sciences 2012, ICAS 2012, pp. 3317 - 3325
2012
Yuan W; Katupitiya J, 2012, 'Centralized robust controllers using signal-based H∞ and μ-synthesis for an unmanned helicopter', in AIAA Atmospheric Flight Mechanics Conference 2012, http://dx.doi.org/10.2514/6.2012-4417
2012
Kumon M; Katupitiya J; Mizumoto I, 2011, 'Robust attitude control of Vectored Thrust Aerial Vehicles', in Proceedings of the 18th IFAC World Congress 2011, International Federation of Automatic Control, Milan, Italy, pp. 2607 - 2613, presented at 18th IFAC World Congress, Milan, Italy, 28 August 2011 - 02 September 2011, http://dx.doi.org/10.3182/20110828-6-IT-1002.03445
2011
Yuan W; Katupitiya J, 2011, 'A time-domain grey-box system identification procedure for scale model helicopters', in Proceedings of the 2011 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Queensland, Australia, pp. 8 p., presented at 2011 Australasian Conference on Robotics and Automation, Melbourne, VIC., 07 December 2011 - 09 December 2011
2011
Kumon M; Cover H; Katupitiya J, 2010, 'Hovering control of vectored thrust aerial vehicles', in 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Institute of Electrical and Electronics Engineers (IEEE), USA, pp. 1149 - 1154, presented at 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, 03 May 2010 - 08 May 2010, http://dx.doi.org/10.1109/ROBOT.2010.5509917
2010
Huynh VT; Katupitiya J; Kwok NM; Eaton RP, 2010, 'Derivation of an error model for tractor-trailer path tracking', in Proceedings of 2010 IEEE International Conference on Intelligent Systems and Knowledge Engineering, ISKE 2010, IEEE, USA, pp. 60 - 66, presented at 2010 IEEE International Conference on Intelligent Systems and Knowledge Engineering, ISKE 2010, Hangzhou, China, 15 November 2010 - 16 November 2010, http://dx.doi.org/10.1109/ISKE.2010.5680795
2010
Howarth B; Katupitiya J; Guivant J; Szwec A, 2010, 'Novel robotic 3D surface mapping using range and vision fusion', in 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Piscataway, New Jersey, USA, pp. 1539 - 1544, presented at 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18 October 2010 - 22 October 2010, http://dx.doi.org/10.1109/IROS.2010.5648844
2010
Whitty MA; Cossell S; Dang KS; Guivant J; Katupitiya J, 2010, 'Autonomous Navigation using a Real-Time 3D Point Cloud', in Proceedings of the 2010 Australasian Conference on Robotics & Automation, Australian Robotics and Automation Association, http://www.araa.asn.au/acra/acra2010/index.html, pp. 1 - 10, presented at 2010 Australasian Conference on Robotics and Automation, ACRA 2010, Brisbane, QLD, 01 December 2010 - 03 December 2010, http://www.araa.asn.au/acra/acra2010/papers/pap151s1-file1.pdf
2010
Dang KS; Katupitiya J; Eaton RP; Kwok NM, 2009, 'Modelling and control of the GreenWeeder for crop row tracking.', in ICAR2009 - 14th International conference on Advanced Robotics Conference Proceedings, Institute of Electrical and Electronics Engineers (IEEE), USA, presented at Able Robots, Munich, Germany, 22 June 2009 - 27 June 2009
2009
Eaton RP; Katupitiya J; Pota HR; Siew KW, 2009, 'Robust sliding mode control of an agricultural tractor under the influence of slip', in Proceedings of the 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Institute of Electrical and Electronics Engineers (IEEE), USA, pp. 1873 - 1878, presented at IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, 14 July 2009 - 17 July 2009, http://dx.doi.org/10.1109/AIM.2009.5229796
2009
Eaton RP; Pota HR; Katupitiya J, 2009, 'Path tracking control of vehicles with compensation for steering dynamics', in Proceedings of the 48th IEEE Conference on Decision and Control, IEEE, Piscataway, NJ, USA, pp. 7357 - 7362, presented at Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, 16 December 2009 - 18 December 2009, http://dx.doi.org/10.1109/CDC.2009.5399528
2009
Pota HR; Siew KW; Katupitiya J; Eaton RP, 2009, 'Simulation of an articulated tractor-implement-trailer model under the influence of lateral disturbances.', in Proceedings of the 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Institute of Electrical and Electronics Engineers (IEEE), USA, pp. 951 - 956, presented at IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, 14 July 2009 - 17 July 2009, http://dx.doi.org/10.1109/AIM.2009.5229888
2009
Zhao J; Whitty MA; Katupitiya J, 2009, 'Detection of non-flat ground surfaces using V-Disparity images', in Kuehnle J (ed.), 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4584 - 4589, 11 October 2009 - 15 October 2009, http://dx.doi.org/10.1109/IROS.2009.5354207
2009
Eaton RP; Katupitiya J; Siew KW, 2008, 'Autonomous Farming : Modeling and Control of Agricultural Machinery in a Unified Framework', in Proceedings of the 15th International Conference on Mechatronics and Machine Vision in Practice, Auckland New Zealand, pp. 499 - 504, presented at 15th International Conference on Mechatronics and Machine Vision, Auckland New Zealand, 02 December 2008 - 04 December 2008, http://dx.doi.org/10.1109/MMVIP.2008.4749583
2008
Katupitiya J; Eaton R, 2008, 'Precision autonomous guidance of agricultural vehicles for future autonomous farming', in American Society of Agricultural and Biological Engineers Annual International Meeting 2008, ASABE 2008, pp. 6059 - 6068
2008
Howarth B; Katupitiya J; Eaton RP; Kodagoda S, 2008, 'Localization of visually indistinguishable mature lettuce heads using spatial information', in Proceedings of the 15th International Conference on Mechatronics and Machine Vision in Practice, Auckland New Zealand, pp. 17 - 22, presented at 15th International Conference on Mechatronics and Machine Vision, Auckland New Zealand, 02 December 2008 - 04 December 2008, http://dx.doi.org/10.1109/MMVIP.2008.4749500
2008
Eaton RP; Katupitiya J; Dang KS; Siew KW, 2008, 'Precision guidance of agricultural tractors for autonomous farming', in 2008 IEEE International Systems Conference Proceedings, SysCon 2008, pp. 314 - 321, presented at IEEE International Systems Conference Proceedings, SysCon 2008 2008, 07 April 2008 - 10 April 2008, http://dx.doi.org/10.1109/SYSTEMS.2008.4519026
2008
Katupitiya J; Eaton RP, 2008, 'Precision autonomous guidance of agricultural vehicles for future autonomous farming', in ASABE (ed.), The 2008 ASABE Annual International Meeting, 2008 ASABE Annual International Meeting, Rhode Island, USA, pp. 1 - 6, presented at 2008 ASABE Annual International Meeting, Rhode Island, USA, 29 June 2008 - 02 July 2008
2008
Gharbia YA; Katupitiya J, 2008, 'Nano-indentation and sctrach tests on optical fiber material to determine ductile mode crtical depth of cut', in Proceedings of the 23rd Annual Meeting of the American Society for Precision Engineering, ASPE 2008 and the 12th ICPE
2008
Zhang Z; Kodagoda S; Ruiz D; Katupitiya J; Dissanayake G, 2008, 'Classification of bidens in wheat farms', in Proceedings of the 15th International Conference on Mechatronics and Machine Vision in Practice, Auckland New Zealand, pp. 505 - 510, presented at 15th International Conference on Mechatronics and Machine Vision, Auckland New Zealand, 02 December 2008 - 04 December 2008, http://dx.doi.org/10.1109/MMVIP.2008.4749584
2008
Katupitiya J; Eaton RP; Yaqub T, 2007, 'Systems engineering approach to agricultural automation: new developments', in Engineering Complex Integrated Systems and System-of-systems - implications for Systems Engineering, Systems Integration, and Systems Thinking, Honolulu, Hawaii, pp. 298 - 304, presented at Engineering Complex Integrated Systems and System-of-systems - implications for Systems Engineering, Systems Integration, and Systems Thinking, Honolulu, Hawaii, 09 April 2007 - 12 April 2007, http://dx.doi.org/10.1109/SYSTEMS.2007.374688
2007
Gharbia YA; Milton GE; Katupitiya J, 2007, 'Nano-grinding of micro profiles and microlenses on optical fibers endfaces for use in optical-fiber sensors', in Optical Fiber Sensors, Napoli, Italy, presented at Optical Fiber Sensors, Napoli, Italy, 04 July 2007 - 07 July 2007, http://dx.doi.org/10.1117/12.738542
2007
Yaqub T; Katupitiya J, 2007, 'Laser scan matching for measurement update in a particle filter', in Advanced Intelligent Mechatronics, Zurich, Switzerland, presented at Advanced Intelligent Mechatronics, Zurich, Switzerland, 04 September 2007 - 07 September 2007, http://dx.doi.org/10.1109/AIM.2007.4412490
2007
Pota H; Eaton R; Katupitiya J; Pathirana SD, 2007, 'Agricultural robotics: A streamlined approach to realization of autonomous farming', in ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings, pp. 85 - 90, http://dx.doi.org/10.1109/ICIINFS.2007.4579153
2007
Katupitiya J; Eaton RP; Pota HR, 2007, 'Simulation of a tractor-implemtn model under the influence of lateral disturbances', in 46th IEEE Conference on Decision and Control (CDC 2007), 46th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, presented at 46th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, 12 December 2007 - 14 December 2007
2007
Pota HR; Katupitiya J; Eaton RP, 2007, 'Simulation of a tractor-implement model under the influence of lateral disturbances', in 46th IEEE Conference on Decision and Control (CDC 2007), New Orleans, Louisiana, USA, pp. 596 - 601, presented at 46th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, 12 December 2007 - 14 December 2007, http://dx.doi.org/10.1109/CDC.2007.4434953
2007
Zhao J; Katupitiya J, 2007, 'A multi-window stereo vision algorithm with improved performance at object borders', in Computational Intelligence in Image and Signal Processing, Honolulu, Hawaii, pp. 66 - 71, presented at Computational Intelligence in Image and Signal Processing, Honolulu, Hawaii, 01 April 2007 - 05 April 2007, http://dx.doi.org/10.1109/CIISP.2007.369295
2007
Ward JR; Katupitiya J, 2006, 'Mobile manipulator motion planning towards multiple goal configuration', in Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, pp. 2283 - 2288, presented at Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, 09 October 2006 - 15 October 2006, http://dx.doi.org/10.1109/IROS.2006.282633
2006
Yaqub T; Eaton RP; Katupitiya J, 2006, 'Development of parametric model for environment of a mobile robot', in Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, pp. 1285 - 1290, presented at Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, 09 October 2006 - 15 October 2006, http://dx.doi.org/10.1109/IROS.2006.281891
2006
Gulrez T; Challa S; Yaqub T; Katupitiya J; Khan NM; Ramer R, 2006, 'Sensor relevance validation for autonomous mobile robot navigation', in IFIP 17th World Computer Congress, Bangkokj, Thailand, presented at Robotics, Automation and Mechatronics, Bangkokj, Thailand, 07 June 2006 - 09 June 2006, http://dx.doi.org/10.1109/RAMECH.2006.252710
2006
Yaqub T; Tordon MJ; Katupitiya J, 2006, 'A procedure to make the probabilistic odometry motion model of an autonomous wheelchair', in Mechatronics and Automation, Luoyang, China, pp. 526 - 531, presented at Mechatronics and Automation, Luoyang, China, 25 June 2006 - 28 June 2006, http://dx.doi.org/10.1109/ICMA.2006.257608
2006
Hanafi D; Katupitiya J, 2006, 'Very low compliance force control on a CNC lathe machine', in Humanitarian Robotics, Orlando, Florida, USA, pp. 4002 - 4006, presented at Humanitarian Robotics, Orlando, Florida, USA, 15 May 2006 - 19 May 2006, http://dx.doi.org/10.1109/ROBOT.2006.1642316
2006
Zhao J; Katupitiya J, 2006, 'A fast stereo vision algorithm with improved performance at object borders', in Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, pp. 5309 - 5314, presented at Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, 09 October 2006 - 15 October 2006, http://dx.doi.org/10.1109/IROS.2006.282033
2006
Zhao J; Katupitiya J, 2006, 'A dynamic programming approach based stereo vision algorithm improving object border performance', in Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, pp. 5315 - 5320, presented at Fusion of Human and Robot Intelligence in our Cyber Society, Beijing, China, 09 October 2006 - 15 October 2006, http://dx.doi.org/10.1109/IROS.2006.282034
2006
Yaqub T; Tordon MJ; Katupitiya J, 2006, 'Line segment based scan matching for concurrent mapping and localization of a mobile robot', in Control, Automation, Robotics and Vision, Singapore, presented at 9th International Conference on Control, Automation, Robotics and Vision 2006, Singapore, 05 December 2006 - 08 December 2006, http://dx.doi.org/10.1109/ICARCV.2006.345101
2006
Yaqub T; Katupitiya J, 2006, 'Modelling the environment of a mobile robot using feature-based principal component analysis', in IFIP 17th World Computer Congress, Bangkokj, Thailand, presented at Robotics, Automation and Mechatronics, Bangkokj, Thailand, 07 June 2006 - 09 June 2006, http://dx.doi.org/10.1109/RAMECH.2006.252645
2006
Gock K; Katupitiya J, 2005, 'Backwards neural network optimisation', in IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 215 - 220, http://dx.doi.org/10.3182/20050703-6-cz-1902.01114
2005
Eaton RP; Katupitiya J; Cole AM; Meyer C, 2005, 'Architecture of an automated agricultural tractor: hardware, software and control systems.', in 16th IFAC World Congress, Prague, Czech Republic, pp. 97 - 102, presented at 16th World Congress of IFAC, Prague, Czech Republic, 04 July 2005 - 08 July 2005
2005
Katupitiya J; Eaton RP; Meyer C; Rodnay G; Cole AM, 2005, 'Automation of an Agricultural Tractor for Fruit Picking', in Robots get closer to humans, Barcelona, Spain, pp. 3201 - 3206, presented at IEEE international Conference on Robotics and Automation 2005, Barcelona, Spain, 18 April 2005 - 22 April 2005, http://dx.doi.org/10.1109/ROBOT.2005.1570603
2005
Katupitiya J; Gock KW, 2005, 'Neural network based iterative prediction of multivariable processes', in ION Meeting Proceedings, pp. 2043 - 2048
2005
Gulrez T; Challa S; Yaqub T; Katupitiya J, 2005, 'Relevant opportunistic information extraction and scheduling in heterogeneous sensor networks', in IEEE CAMSAP 2005 - First International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, pp. 161 - 164, http://dx.doi.org/10.1109/CAMAP.2005.1574209
2005
Hanafi D; Katupitiya J, 2005, 'Stiff-contact force control on a CNC machine', in Proceedings of the Eighth IASTED International Conference on Intelligent Systems and Control, ISC 2005, pp. 183 - 187
2005
Zhao J; Tow J; Katupitiya J, 2005, 'On-tree fruit recognition using texture properties and color data', in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 263 - 268, http://dx.doi.org/10.1109/IROS.2005.1545592
2005
Ilic S; Tordon MJ; Katupitiya J, 2004, 'Data compression in single board computer based data acquisition system.', in Symposium on Mechatronic Systems, Symposium on Mechatronic Systems, Sydney, presented at Symposium on Mechatronic Systems, Sydney, 06 September 2004 - 08 September 2004
2004
Luong-Van DM; Katupitiya J, 2004, 'An adaptive Kalman filter with quadrature encoder quantization compensation', in Symposium on Mechatronic Systems, Symposium on Mechatronic Systems, Sydney, presented at Symposium on Mechatronic Systems, Sydney, 06 September 2004 - 08 September 2004
2004
Milton GE; Gharbia Y; Katupitiya J, 2004, 'Automated precision centering of optical fibers for nano-grinding.', in Symposium on Mechatronic Systems, Symposium on Mechatronic Systems, Sydney, presented at Symposium on Mechatronic Systems, Sydney, 06 September 2004 - 08 September 2004
2004
Ilic S; Katupitiya J; Tordon MJ, 2004, 'Data acquisition system design with applications to fatigue analysis of an automatic transmission system', in Callaos N; Chambah M; Gaburro Z; Loutfi M (eds.), 8TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL XII, PROCEEDINGS, INT INST INFORMATICS & SYSTEMICS, Orlando, FL, pp. 353 - 358, presented at 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Orlando, FL, 18 July 2004 - 21 July 2004, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000227690500067&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a29b250adbe88d1
2004
Milton GE; Gharbia Y; Katupitiya J, 2004, 'Vision based ultra-precision centering of optical fibers for microlens fabrication', in Intelligent Robots and Systems, Sendai, Japan, pp. 3045 - 3049, presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 28 September 2004 - 02 October 2004
2004
Kang SP; Katupitiya J, 2004, 'A hand gesture controlled semi-autonomous wheelchair', in Intelligent Robots and Systems, Sendai, Japan, pp. 3565 - 3570, presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 28 September 2004 - 02 October 2004
2004
Kang SP; Tordon MJ; Katupitiya J, 2004, 'Curvature based hand shape recognition for a virtual wheelchair control interface', in Environmental Robotics: Technical Innovations and Cutting Edge Technologies in Robotics and Automation for Environment Clean up and Ecosystem Management, New Orleans, Louisiana, USA, pp. 2049 - 2054, presented at Environmental Robotics: Technical Innovations and Cutting Edge Technologies in Robotics and Automation for Environment Clean up and Ecosystem Management, New Orleans, Louisiana, USA, 26 April 2004 - 01 May 2004, http://www.sciencedirect.com/science/article/B6WPV-4CV89B1-R6/2/4038b62b8126f5bd3f8dd475a93fb944
2004
Nguyen CQ; Tordon MJ; Katupitiya J, 2004, 'A new approach to switching robust adaptive control.', in Parisini T (ed.), Conference on Decision and Control, Paradise Island, The Bahamas, pp. 3247 - 3252, presented at 43rd IEEE Conference on Decision and Control, Paradise Island, The Bahamas, 14 December 2004 - 17 December 2004
2004
Luong-Van DM; Tordon MJ; Katupitiya J, 2004, 'Covariance shaping for an adaptive Kalman filter to suppress sensor quantization effects.', in Parisini T (ed.), Conference on Decision and Control, Paradise Island, The Bahamas, pp. 2680 - 2685, presented at 43rd IEEE Conference on Decision and Control, Paradise Island, The Bahamas, 14 December 2004 - 17 December 2004
2004
Milton G; Gharbia Y; Katupitiya J, 2004, 'Mechanical fabrication of precision micro-lenses on optical fiber endfaces', in Proceedings of SPIE - The International Society for Optical Engineering, pp. 311 - 320, http://dx.doi.org/10.1117/12.560264
2004
Ilic S; Katupitiya J; Tordon M, 2004, 'In-vehicle data logging system for fatigue analysis of drive shaft', in Proceedings of the 2004 International Workshop on Robot Sensing, pp. 30 - 34
2004
Hanafi D; Tordon MJ; Katupitiya J, 2003, 'An active axis control system for a conventional CNC machine', in Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, pp. 1188 - 1193, presented at Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, 20 July 2003 - 24 July 2003, http://dx.doi.org/10.1109/AIM.2003.1225511
2003
Hanafi D; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'Automatic off-line tool path generation for shear spinning using active vision', in Intelligent control of complex systems, Houston, Texas, pp. 405 - 410, presented at Intelligent control of complex systems, Houston, Texas, 05 October 2003 - 08 October 2003
2003
Gharbia Y; Milton GE; Katupitiya J, 2003, 'The effect of optical fiber endface surface rughness on light couplings', in Geyl R; Rimmer D; Wang L (eds.), Optical fabrication, testing and metrology, St Etienne, France, pp. 201 - 208, presented at Optical fabrication, testing and metrology, St Etienne, France, 30 September 2003 - 03 October 2003, http://dx.doi.org/10.1117/12.516522
2003
Kang SP; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'Geometric parameters of hand gesture images for wheelchair control', in Intelligent control of complex systems, Houston, Texas, pp. 630 - 635, presented at Intelligent control of complex systems, Houston, Texas, 05 October 2003 - 08 October 2003
2003
Kang SP; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'A hand gesture based virtual interface for wheelchair control', in Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, pp. 778 - 783, presented at Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, 20 July 2003 - 24 July 2003, http://dx.doi.org/10.1109/AIM.2003.1225441
2003
Hanafi D; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'Visual scanning for off-line automatic tool path generation for shear spinning', in Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, pp. 1182 - 1187, presented at Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, 20 July 2003 - 24 July 2003, http://dx.doi.org/10.1109/AIM.2003.1225510
2003
Hanafi D; Rodnay G; Katupitiya J, 2003, 'Retrofitting a visual profile tracking system to a conventional CNC machine', in International Institute of Informatics and Systemics (ed.), World Multiconference on Systemics, Cybernetics and Informatics (SCI 2003, INT INST INFORMATICS & SYSTEMICS, Orlando, Florida, USA, pp. 92 - 97, presented at World Multiconference on Systemics, Cybernetics and Informatics (SCI 2003, Orlando, Florida, USA, 27 July 2003 - 30 July 2003, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000189331500019&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a
2003
Hanafi D; Rodnay G; Tordon MJ; Katupitiya J, 2003, 'Identification of image feature edge gradients during visual scanning to improve edge profile accuracy', in Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, pp. 987 - 992, presented at Practice of system integration - a new era in advanced mechatronics, Kobe, Japan, 20 July 2003 - 24 July 2003, http://dx.doi.org/10.1109/AIM.2003.1225476
2003
Hanafi D; Tordon MJ; Katupitiya J, 2002, 'Enhancing object profile resolution when using low resolution machine vision for shear spinning.', in Callaos N; Zhou J; Nobesawa S (eds.), SCI 2002: 6th World Multiconference on Systemics, Cybernetics and Informatics, INT INST INFORMATICS & SYSTEMICS, Orlando, Florida, USA, pp. 33 - 38, presented at SCI 2002: 6th World Multiconference on Systemics, Cybernetics and Informatics, Orlando, Florida, USA, 14 July 2002 - 18 July 2002, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000178869100007&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a
2002
Rao RS; Conn K; Jung SH; Katupitiya J; Kientz T; Kumar V; Ostrowski J; Patel S; Taylor CJ, 2002, 'Human rotor interaction: Application to smart wheelchairs', in Lee G (ed.), IEEE Robotics and Automation, Washington DC, USA, pp. 3583 - 3588, presented at IEEE Robotics and Automation, Washington DC, USA, 11 May 2002 - 15 May 2002, http://dx.doi.org/10.1109/ROBOT.2002.1014265
2002
Rao RS; Conn K; Jung SH; Katupitiya J; Kientz T; Kumar V; Ostrowski J; Patel S; Taylor CJ, 2002, 'Virtual interface development and sensor-based door navigation for nonholonomic vehicles', in Keates S; Langdon P; Clarkson PJ; Robinson P (eds.), UNIVERSAL ACCESS AND ASSISTIVE TECHNOLOGY, SPRINGER-VERLAG LONDON LTD, CAMBRIDGE, ENGLAND, pp. 245 - 256, presented at 1st Cambridge Workshop on Universal Access and Assistive Technology (CWUAAT), CAMBRIDGE, ENGLAND, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000176122700024&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a29b250adbe88d1
2002
Chua A; Katupitiya J; De Schutter J, 1999, 'Random contact strategy using the Kalman Filter to solve the robotic contact uncertainty problem', in IEEE/ASME conference on advanced intelligent mechatronics, IEEE/ASME conference on advanced intelligent mechatronics, Atlanta, Georgia USA, pp. 764 - 769, presented at IEEE/ASME conference on advanced intelligent mechatronics, Atlanta, Georgia USA, 19 September 1999 - 23 September 1999
1999
Chua A; Katupitiya J, 1998, 'Kalman filters for the identification of uncertainties in robotic contact', in Proceedings of the IEEE Conference on Decision and Control, IEEE, TAMPA, FL, pp. 2013 - 2018, presented at 37th IEEE Conference on Decision and Control, TAMPA, FL, 16 December 1998 - 18 December 1998, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000079708900398&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a29b250adbe88d1
1998
Katupitiya J; Yiu M; Springford D; Pathirana S, 1998, 'A mechatronics approach to human skill duplication', in Pacific Congress on Manufacturing and Management 1998, Pacific Congress on Manufacturing and Management 1998, Brisbane, Qld, presented at Pacific Congress on Manufacturing and Management 1998, Brisbane, Qld, 18 August 1998 - 20 August 1998
1998
Katupitiya J; Yiu M; Springford D, 1998, 'Automation of metal spinning machines using CNC controllers and human skill integration', in MOVIC: The 4th International Conference on Motion and Vibration Control, MOVIC: The 4th International Conference on Motion and Vibration Control, ETH-Zurich, Switzerland, pp. 1219 - 1224, presented at MOVIC: The 4th International Conference on Motion and Vibration Control, ETH-Zurich, Switzerland, 25 August 1998 - 28 August 1998
1998
Tordon MJ; Willgoss RA; Katupitiya J; Sanderson CJ, 1997, 'Courseware for mechatronic engineering at UNSW', in Ito Y; Shinno H (ed.), Trans-Pacific Workshop on Mechatronic Engineering, Trans-Pacific Workshop on Mechatronic Engineering, Tokyo, Japan, pp. 10 pages, presented at Trans-Pacific Workshop on Mechatronic Engineering, Tokyo, Japan, 25 February 1997 - 28 February 1997
1997
Radajewski RW; Katupitiya J; Tordon MJ; Sanderson CJ, 1997, 'Implementation of a pc based controller for the puma robot', in Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP), Toowoomba, Qld, pp. 14 - 19, presented at Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP), Toowoomba, Qld, 23 September 1997 - 25 September 1997
1997
Katupitiya J; Springford D; Lee S, 1997, 'A fuzzy logic based supervisory controller for an electric steering system', in 30th International Symposium on Automative Technology and Automation, 30th International Symposium on Automative Technology and Automation, Florence, Italy, presented at 30th International Symposium on Automative Technology and Automation, Florence, Italy, 16 June 1997 - 19 June 1997
1997
Springford D; Katupitiya J, 1997, 'A teleoperated teach mechanism for a computer controlled metal spinning machine', in Akkok M (ed.), CIRP Design and Production of Dies and Moulds, CIRP Design and Production of Dies and Moulds, Istanbul, Turkey, pp. 265 - 270, presented at CIRP Design and Production of Dies and Moulds, Istanbul, Turkey, 19 June 1997 - 21 June 1997
1997
Katupitiya J; Dutre S; Demey S; De Geeter J; De Schutter J, 1996, 'Estimating contact and grasping uncertainties using kalman filters in force controlled assembly', in International Conference on Intelligent Robots and Systems, I E E E, Osaka, Japan, pp. 696 - 703, presented at International Conference on Intelligent Robots and Systems, Osaka, Japan, 02 November 1996, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:A1996BH13L00096&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a
1996
De Schutter J; Bruyninckx H; Demay S; Dutre S; De Geeter J; Katupitiya J, 1996, 'Force Control', in Int Summer School of Modelling and Control of Mechanicsm and Robots, International Summer School of Modelling and Control of Mechanicsm and Robots, Bertinoro, Italy, presented at International Summer School of Modelling and Control of Mechanicsm and Robots, Bertinoro, Italy, 22 July 1996 - 26 July 1996
1996
WILLGOSS RA; PRITCHARD DJ; KATUPITIYA J, 1993, 'SYSTEM SIMULATION USING OCCAM', in Goodwin GC; Evans RJ (ed.), AUTOMATIC CONTROL - WORLD CONGRESS 1993, VOL 2, PERGAMON PRESS LTD, SYDNEY, AUSTRALIA, pp. 805 - 810, presented at 12th Triennial World Congress of the International-Federation-of-Automatic-Control, SYDNEY, AUSTRALIA, 18 July 1993 - 23 July 1993, http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:A1994BB85P00176&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=891bb5ab6ba270e68a29b250adbe88d1
1993
Katupitiya J; Van Brussel H, 1992, 'Manipulation of Kalman filter covariance matrices to stabilize the performance of a vision assisted tracker', in National Conference Publication - Institution of Engineers, Australia, pp. 295 - 308
1992
Book Chapters
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Taghia J; Katupitiya J, 2020, 'Conclusion', in Springer Tracts in Advanced Robotics, pp. 119 - 120, http://dx.doi.org/10.1007/978-3-030-42359-9_6
2020
Taghia J; Katupitiya J, 2020, 'Introduction', in Springer Tracts in Advanced Robotics, ACADEMIC PRESS LTD, pp. 1 - 3, http://dx.doi.org/10.1007/978-3-030-42359-9_1
2020
Tordon MJ; Katupitiya J, 2018, 'System interfaces', in Mechatronic System Control, Logic, and Data Acquisition, pp. 20-1-20-14
2018
Wang X; Taghia ; Katupitiya , 2017, 'Adaptive Min-max Model Predictive Control for Field Vehicle Guidance in the Presence of Wheel Slip', in Bin (ed.), Robotics and Mechatronics for Agriculture, CRC Press, pp. 157 - 185, http://dx.doi.org/10.1201/9781315203638
2017
Tordon MJ; Katupitiya J, 2017, 'System interfaces', in Mechatronics: An Introduction, http://dx.doi.org/10.1201/9781420037241
2017
Yaqub T; Katupitiya J, 2007, 'Parametric representation of the environment of a mobile robot for measurement update in a particle filter.', in Kozlowski K (ed.), Robot Motion and Control 2007, Springer-Verlag London Ltd, London, United Kingdom, pp. 227 - 237, http://dx.doi.org/10.1007/978-1-84628-974-3_20
2007
Tordon MJ; Katupitiya J, 2002, 'System Interfaces', in Bishop RH (ed.), The Mechatronics Handbook, CRC Press, USA, pp. 1 - 14, http://dx.doi.org/10.1201/9781420009026
2002
Tordon MJ; Katupitiya J, 2002, 'System interfaces', in The Mechatronics Handbook, pp. 37-1-37-14
2002
Books
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Taghia J; Katupitiya J, 2020, Implementation of Controllers, http://dx.doi.org/10.1007/978-3-030-42359-9_5
2020
Taghia J; Katupitiya J, 2020, Offset Models of Vehicles, http://dx.doi.org/10.1007/978-3-030-42359-9_3
2020
Taghia J; Katupitiya J, 2020, Preface
2020
Taghia J; Katupitiya J, 2020, Design of Controllers, http://dx.doi.org/10.1007/978-3-030-42359-9_4
2020
Taghia J; Katupitiya J, 2020, Modelling Vehicle Systems, http://dx.doi.org/10.1007/978-3-030-42359-9_2
2020
Taghia J; Katupitiya J, 2020, Applied Guidance Methodologies for Off-road Vehicles, Springer Nature
2020
Katupitiya J; Bentley K, 2006, Interfacing with C++ - Programming real-world applications, Original, Springer-Verlag, The Netherlands
2006
Conference Proceedings (Editor of)
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Fitch R; Katupitiya J; Whitty M, (eds.), 2019, '6th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture AGRICONTROL 2019', Elsevier, Sydney, Australia, Vol. 52, presented at 6th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture AGRICONTROL 2019, Sydney, Australia, 04 December 2019 - 06 December 2019, http://dx.doi.org/10.1016/S2405-8963(19)32551-0
2019
Katupitiya J; Guivant JE; Eaton R, (eds.), 2013, 'Australasian Conference on Robotics and Automation 2013', Australian Robotics and Automation Association, Sydney, Australia, presented at Australasian Conference on Robotics and Automation, Sydney, Australia, 02 December 2013 - 04 December 2013, http://www.araa.asn.au/acra/acra2013/foreword.html
2013
Other
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Smart D; Tomkins A (ed.), 2011, Spatially Smart Wine – Testing Geospatial Technologies for Sustainable Wine Production, Chartered Institution of Civil Engineering Surveyors, http://www.surco.uk.com/publications/
2011

Industrial automation; automatic controls; robotics; computer controlled systems; microlens fabrication on optical fibres, virtual interfaces for wheelchairs.