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Research

A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the bottleneck of the process, especially if the robot is not dedicated to a single job. Programming a multi-purpose robot requires an on-the-fly mission scheduling capability that involves task identification and plan generation. The problem dimension increases if the robot accepts tasks from a human in natural language. Though recent advances in NLP and planner development can solve a variety of complex problems, their amalgamation for a dynamic robotic task handler is used in a limited scope.

Multi-Robot task allocation (MRTA) has gained significant attention over the past decade. A multi-robot system increases parallelism, thereby increasing system throughput compared to a single-robot system. Multirobot parallelism galvanizes to answer “which task is to be scheduled on which robot and when?”.

A popular technique to reduce overall data traffic in a WSN is to keep only a subset of nodes active at any point in time. Data for the sleeping nodes can be reproduced using the data from the active nodes. This reproduction utilizes the inherent spatio-temporal correlation amongst the nodes. Although correlation based sensor data estimation can reduce the overall data traffic significantly, without a complementary routing mechanism, the energy efficiency can be diminished significantly. Also special, routing mechanism is required for energy harvested networks and real-time networks.

 

Research
Publications

Publications

Granted Patents​

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  1. "Method and system for automated object packing", India patent # 402018. [pdf]

  2. "Systems and methods for optimizing scheduling of non-preemptive tasks in multi-robotic environment", US patent # 11383928.[pdf]

  3. "System and method for enabling robot to perceive and detect socially interacting groups", US patent # 11354531.[pdf]

  4. "Conversational systems and methods for robotic task identification using natural language", US patent # 11328726. [pdf]

  5. "Systems and methods for generating control system solutions for robotics environments", US patent # 11141856.[pdf]

  6. "Attention shifting of a robot in a group conversation using audio-visual perception based speaker localization", US patent # 11127401. [pdf]

  7. "Systems and methods for semantic knowledge based dynamic utility calculation", US patent # 11014235. [pdf]

  8. "Systems and methods for scalable multi-vehicle task allocation", US patent # 10948926.[pdf]

  9. "Systems and methods for scheduling a set of non-preemptive tasks in a multi-robot environment", US patent # 10929182.[pdf]

  10. "Method and system for online non-intrusive fatigue-state detection in a robotic co-working environment", US patent # 10588579. [pdf]

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Journal publications​

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  1. Pradip Pramanick, Chayan Sarkar, Sayan Paul, Ruddra dev Roychoudhury, and Brojeshwar Bhowmick, “DoRO: Disambiguation of Referred Object for Embodied Agents”, Robotics and Automation Letters (RA-L), IEEE, 2022.

  2. Prabhat Mahato, Sudipta Saha, Chayan Sarkar, and Md. Shaghil, “Consensus-based fast and energy-efficient multi-robot task allocation”, RAS, Elsevier, 2022.

  3. Pradip Pramanick, Chayan Sarkar, Snehasis Banerjee, and Brojeshwar Bhowmick, “Talk-to-Resolve: Combining scene understanding and spatial dialogue to resolve granular task ambiguity for a collocated robot”, RAS, Elsevier, 2022.

  4. Marichi Agarwal, Swagata Biswas, Chayan Sarkar, Sayan Paul, and Himadri Sekhar Paul, "Jampacker: An efficient and reliable robotic bin packing system for cuboid objects", Robotics and Automation Letters (RA-L), IEEE, 2021.

  5. R. Venkatesha Prasad, Vijay S. Rao, Chayan Sarkar, and Ignas G. Niemegeers, "ReNEW: A Practical Module for Reliable Routing in Networks of Energy-Harvesting Wireless Sensors", TGCN, IEEE, 2021. 

  6. Vijay S. Rao, R. Venkatesha Prasad, T. V. Prabhakar, Chayan Sarkar, Madhusudan Koppal, and Ignas Niemegeers, "Understanding and Improving the Performance of Constructive Interference using Destructive Interference in WSNs", IEEE/ACM Transactions on Networking, TON, 2019. 

  7. Rachel Cardell-Oliver and Chayan Sarkar, "BuildSense: Accurate, cost-aware, fault-tolerant monitoring with minimal sensor infrastructure", ACM Transactions on Sensor Networks, TOSN, ACM, 2019.

  8. Chayan Sarkar, R. Venkatesha Prasad, and Koen Langendoen, "FLEET: When time-bounded communication meets high energy-efficiency", IEEE Access, 2019.

  9. Anand Haridas, Vijay. S. Rao, R. Venkatesha Prasad, and Chayan Sarkar, "Opportunities and Challenges in using Energy-harvesting for NB-IoT", ACM SIGBED Review, 2018.

  10. Chayan Sarkar, Jan Jaap Treurniet, Sujay Narayana, R. Venkatesha Prasad, and Willem de Boer, "SEAT: Secure Energy-efficient Automated Public Transport Ticketing System", IEEE Transactions on Green Communications and Networking, TGCN, 2018.

  11. Luis Henrik John, Chayan Sarkar, and R. Venkatesha Prasad, "Where is PELE? Pervasive localization using wearable and handheld", ACM SIGBED Review, 2017.

  12. Chayan Sarkar, Vijay S. Rao, R. Venkatesha Prasad, Sankar Narayan Das, Sudip Misra, and Athanasios Vasilakos, "VSF: An Energy-Efficient Sensing Framework using Virtual Sensors", Sensors Journal, IEEE, 2016.

  13. Chayan Sarkar, Akshay Uttama Nambi S. N., R. Venkatesha Prasad, Abdur Rahim, Ricardo Neisse, and Gianmarco Baldini, "DIAT: A Scalable Distributed Architecture for IoT", Internet of Things Journal (IoTJ), IEEE, 2015.

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Conference publications

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  1. Pradip Pramanick, Chayan Sarkar, "Utilizing Prior Knowledge to Improve Automatic Speech Recognition in Human-Robot Interactive Scenarios", ACM/IEEE HRI, 2023.

  2. Pradip Pramanick, Chayan Sarkar, "Can visual context improve automatic speech recognition for an embodied agent?", EMNLP, 2022.

  3. Deepak Mohapatra, Aritra Pal, Ankush Ojha, Supratim Ghosh, Marichi Agarwal, and Chayan Sarkar, “A simulation-aided deep reinforcement learning approach for optimization of automated sorting center processes”, Winter Simulation Conference, 2022.

  4. Sourabha Bharadwaj, Karunakar Gonabattula, Sudipta Saha, Chayan Sarkar, and Rekha Raja, "Concurrent Transmission for Multi-Robot Coordination", Robocom (CCNC Workshop), IEEE, 2022.

  5. Abhijan Bhattacharyya, Ashis Sau, Ruddra Dev Roychoudhury, Snehasis Banerjee, Chayan Sarkar, Pradip Pramanick, Madhurima Ganguly, Brojeshwar Bhowmick, Balamuralidhar Purushothaman, "Teledrive: An Intelligent Telepresence Solution for Collaborative Multi-presence through a Telerobot", IEEE COMSNETS 2022.

  6. Snehasis Banerjee, Pradip Pramanick, Chayan Sarkar, and Balamuralidhar P, "OntoScene: Ontology Guided Indoor Scene Understanding for Cognitive Robotic Tasks", ISWC (Industry Track), 2021.

  7. Ankush Ojha, Marichi Agarwal, Aniruddha Singhal, Chayan Sarkar, Supratim Ghosh, and Rajesh Sinha, "A generalized algorithm and framework for online 3-dimensional bin packing in an automated sorting center", The Seventh Indian Control Conference (ICC-7), 2021.

  8. Pradip Pramanick, Hrishav Bakul Barua, and Chayan Sarkar, "DeComplex: Task planning from complex natural instructions by a collocating robot", IROS, IEEE, 2020.

  9. Hrishav Bakul Barua, Pradip Pramanick, Chayan Sarkar, and Theint Haythi Mg, "Let me join you! Real-time f-formation recognition by a socially aware robot", RO-MAN, IEEE, 2020.

  10. Ashish Sau, Ruddra Dev Roychoudhury, Hrishav Bakul Barua, Chayan Sarkar, Sayan Paul, Brojeshwar Bhowmick, Arpan Pal, and Balamuralidhar P, "Demo: Edge-centric Telepresence Avatar Robot for Geographically Distributed Environment", The 21st International Conference on Distributed Computing and Networking, ICDCN (Best Demo in Industry Track), ACM, 2020.

  11. Hrishav Bakul Barua, Himadri Sekhar Paul, Chayan Sarkar, and Ansuman Banerjee, "A study of approximation in a collaborative multi-agent system", The 21st International Conference on Distributed Computing and Networking, ICDCN, (SmartSensing Workshop), ACM, 2020.

  12. Pradip Pramanick, Chayan Sarkar, and Indrajit Bhattacharya, "Your instruction may be crisp, but not clear to me", RO-MAN, IEEE, 2019.

  13. Hrishav Bakul Barua, Chayan Sarkar, Achanna Anil Kumar, Arpan Pal, and Balamuralidhar P, "I can attend a meeting too! Towards a human-like telepresence avatar robot to attend meeting on your behalf", RO-MAN (WCIR Workshop), IEEE, 2019.

  14. Pradip Pramanick, Chayan Sarkar, Balamuralidhar P, Ajay Kattepur, Indrajit Bhattacharya and Arpan Pal, "Enabling human-like task identification from natural conversation", IROS, IEEE, 2019.

  15. Marichi Agarwal and Chayan Sarkar, "Cannot Avoid Penalty for Fluctuating Order Arrival Rate? Let's Minimize", IROS, IEEE, 2019.

  16. Chayan Sarkar and Marichi Agarwal, "Cannot avoid penalty? Let’s minimize", IEEE International Conference on Robotics and Automation, ICRA, IEEE, 2019.

  17. Vijay S. Rao, R. Venkatesha Prasad, Chayan Sarkar, Ignas Niemegeers, ”ReNEW: A Practical Module For Reliable Routing in Networks of Energy-harvesting Wireless Sensors”, GLOBECOM, IEEE, 2019. 

  18. Chayan Sarkar, Sounak Dey, and Marichi Agarwal, "Semantic knowledge driven utility calculation towards efficient multi-robot task allocation", 14th IEEE International Conference on Automation Science and Engineering, CASE, IEEE, 2018.

  19. Pradip Pramanick and Chayan Sarkar, "DeFatigue: Online non-intrusive fatigue detection by a robot co-worker", IEEE International Conference on Robot and Human Interactive Communication, RO-MAN, IEEE, 2018.

  20. Chayan Sarkar, Himadri Sekhar Paul, and Arindam Pal, "A scalable multi-robot task allocation algorithm", International Conference on Robotics and Automation, ICRA, IEEE, 2018.

  21. Rachel Cardell-Oliver and Chayan Sarkar, "BuildSense: Long-term, fine-grained building monitoring with minimal sensor infrastructure", The 4th ACM International Conference on Systems for Energy-Efficient Built Environments, BuildSys, ACM, 2017.

  22. Atul Pandaravila Biju, Chayan Sarkar, and R. Venkatesha Prasad, "An Energy-Harvesting Facade Optimization System for Built Environments", The 4th ACM International Conference on Systems for Energy-Efficient Built Environments, BuildSys, ACM, 2017. [Poster]

  23. Rachel Cardell-Oliver and Chayan Sarkar, "Robust sensor data collection over a long period using virtual sensing", First workshop on Time Series Analytics and Applications (TSAA 2016), Hobart, Australia, ACM, 2016.

  24. Chayan Sarkar, R. Venkatesha Prasad, Raj Thilak Rajan, and Koen Langendoen, "Sleeping Beauty: Efficient Communication for Node Scheduling", The 13th IEEE International Conference on Mobile Ad hoc and Sensor Systems (MASS), 2016.

  25. Vijay S. Rao, Madhusudan Koppala, R. Venkatesha Prasad, T. V. Prabhakar, Chayan Sarkar, and Ignas Neimegeers, "Murphy loves CI: Unfolding and Improving Constructive Interference in WSN", IEEE International Conference on Computer Communications (INFOCOM), 2016.

  26. Chayan Sarkar, Akshay Uttama Nambi S.N., and R. Venkatesha Prasad, "iLTC: Achieving Individual Comfort in Shared Spaces", International Conference on Embedded Wireless Systems and Networks (EWSN), ACM, 2016. 

  27. Alexander de Moes, Jens Joachim Pedersen, Chayan Sarkar, and R. Venkatesha Prasad, "Fine-tuned Lighting Control Leveraging Smartphone-based Occupancy Detection", International Conference on Embedded Wireless Systems and Networks (EWSN), ACM, 2016. [Demo] 

  28. Chayan Sarkar, Akshay Uttama Nambi S.N., and R. Venkatesha Prasad, "Learning Individual Preferences for Energy-Efficiency and Comfortable Living", Proceedings of the 2nd ACM International Conference on Embedded Systems for Energy-Efficient Built Environments, ACM, 2015. [Poster] 

  29. Jan Jaap Treurniet, Chayan Sarkar, R. Venkatesha Prasad, and Willem de Boer, "Energy Consumption and Latency in BLE Devices under Mutual Interference: An Experimental Study", 3rd International Conference on Future Internet of Things and Cloud (FiCloud), IEEE, 2015.

  30. Chayan Sarkar, Vijay S. Rao, R. Venkatesha Prasad, and Koen Langendoen, "Sleep-Route: Assured Sensing with Aggressively Sleeping Nodes", 11th International Conference on Mobile Ad Hoc and Sensor Systems MASS, IEEE, 2014. 

  31. Chayan Sarkar, Vijay S. Rao, and Prasad, R Venkatesha, "No-sense: Sense with dormant sensors", Twentieth National Conference on Communications NCC, IEEE, 2014. 

  32. Chayan Sarkar, Akshay Uttama Nambi S. N., R. Venkatesha Prasad, and Abdur Rahim, "A Scalable Distributed Architecture Towards Unifying IoT Applications", IEEE World Forum on Internet of Things, WF-IoT, 2014.

  33. Akshay Uttama Nambi S. N., Chayan Sarkar, R. Venkatesha Prasad, and Abdur Rahim, "A unified semantic knowledge base for IoT", IEEE World Forum on Internet of Things, WF-IoT, 2014.

  34. Chayan Sarkar, Vijay S. Rao, R. Venkatesha Prasad, Abdur Rahim, and Ignas Niemegeers, "A distributed model for approximate service provisioning in internet of things", Proceedings of the 2012 international workshop on Self-aware internet of things, Self-IoT, ACM, 2012.

  35. Chayan Sarkar, Stephan Rein, and Adam Wolisz, "Scalable video streaming with utilization of multiple radio interfaces: A customized method for signaling and bandwidth estimation", 8th International Symposium on Wireless Communication Systems, ISWCS, IEEE, 2011.

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Technical reports

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  1. Chayan Sarkar, "LWB and FS-LWB implementation for Sky platform using Contiki", arXiv preprint, 2016.

  2. Chayan Sarkar, "Virtualizing The Internet of Things", Ph.D. Thesis, Delft University of Technology, 2016.

  3. R. Venkatesha Prasad, Chayan Sarkar, Vijay S. Rao, A Rahim Biswas, and Ignas Niemegeers, "Opportunistic service provisioning in the future internet using cognitive service approximation", 28th WWRF Meeting, 2012. 

  4. Chayan Sarkar, "Efficient Support of Video Streaming to Mobile Devices with Utilization of Multiple Radio Interfaces and Scalable Video Coding", 2011. Master thesis.

  5. Chayan Sarkar, "Seminar Report on Data Center Network Design", 2010.

Product-Demo-Code

Product-Demo-Code

Contact

CONTACT

Personal Details

Dr. Chayan Sarkar

sarkar.chayan@tcs.com

chayan@ieee.org

TCS Research

Robotics Lab, Tata Consultancy Services, Okaya Center,

Sector 62, Noida, UP, India

 

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