Mangal Kothari

PhD (University of Leicester)

Email: mangal[AT]iitk.ac.in

Office Phone: 0512-259-6104

Professor, Department of Aerospace Engineering

Research Interest

Aerial Robotics:
- Flight Vehicle Guidance and Control (Fixed-Wing, Rotorcraft, Multi-rotor, VTOL)
- Autopilot development: Embedded Systems, RTOS
- Motion Planning, Coordinated control of UAVs/MAVs
- State Estimation: AHRS, Localization, GPS Denied Navigation, SLAM
- Machine learning: Deep and Reinforcement learning
- Computer vision
Spacecraft Mechanics
Optimal control, Nonlinear and Adaptive control
Stochastic Planning under Uncertainty (MDP/POMDP)

Education

PhD, University of Leicester
PhD thesis title: PhD thesis supervisor:
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Website(s)

Homepage

CV

+ - Selected Publications Click to collapse

Journal

Mangal Kothari, Ian Postlethwaite, and Da-Wei Gu, UAV Path Following in Windy Urban Environments, Journal of Intelligent and Robotic Systems, 2013, doi:10.1007/s10846-013-9873-z.
Ian Postlethwaite and Mangal Kothari, Multi-Agent Motion Planning for Nonlinear Gaussian Systems, International Journal of Control, 2013, doi: 10.1080/00207179.2013.826384.
Mangal Kothari, Rajnikant Sharma, Ian Postlethwaite, Randal W. Beard, and Daniel Pack, Cooperative Target-capturing with Incomplete Target Information, Journal of Intelligent and Robotic Systems, pp. 1-12, 2013, doi:10.1007/s10846-012-9808-0.
Mangal Kothari and Ian Postlethwaite, A Probabilistically Robust Path Planning Algorithm for UAVs using Rapidly-exploring Random Trees, Journal of Intelligent and Robotic Systems, pp. 1-23, 2012, doi: 10.1007/s10846-012-9776-4.
Mangal Kothari and Radhakant. Padhi, A Nonlinear Suboptimal Robust Guidance Scheme for Long Range Flight Vehicles with Solid Motors, Automatic Control in Aerospace, Vol. 3, No. 1, May 2010.
Mangal Kothari, Ian Postlethwaite, and Da-Wei Gu, A Suboptimal Path Planning Algorithm using Rapidly-exploring Random Trees, International Journal of Aerospace Innovation, Vol. 2, No. 1-2, pp. 93-104, 2010, doi: 10.1260/1757-2258.2.1-2.93.
Radhakant Padhi and Mangal Kothari, Model Predictive Static Programming: A Promising Real-time Suboptimal Control Design for a Class of Nonlinear System, International Journal of Innovative Computing, Information and Control, Vol. 5, No. 2, pp. 399-411, 2009.
Radhakant. Padhi and Mangal Kothari, An Optimal Dynamic Inversion Based Neuro-Adaptive Approach for Treatment of Chronic Myelogenous Leukemia, Journal of Computer Methods and Program in Biomedicine, Vol. 87, No. 3, pp. 208-224, 2007, doi: 10.1016/j.cmpb.2007.05.011.

Conference

Rajdeep Dutta, Liang Sun, Mangal Kothari, Rajnikant Sharma, and Daniel J. Pack, A Cooperative Formation Control Strategy Maintaining Connectivity of a Multi-agent System, accepted for publication in the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014).
Mangal Kothari, Joel G. Manathara, and Ian Postlethwaite, A Cooperative Pursuit-Evasion Game for Non-holonomic Systems, Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, August 25-29, 2014.
Kumar Pakki Bharani Chandra, Mangal Kothari, Da-Wei GU, and Ian Postlethwaite, Multi-Sensor State Estimation using SDRE Information Filters, Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, August 25-29, 2014.
Jean-Pierre Barbot, Driss Boutat, Krishna Busawon, and Mangal Kothari, High Order Sliding Mode Differentiator for Dynamical Inversion of Non-Involutive Systems, Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, August 25-29, 2014.
Mangal Kothari, Sujit P. B., and Ian Postlethwaite, A Distributed Closed-loop Probabilistic Robust Prioritized Motion Planning Algorithm, the IEEE Multi-conference on Systems and Control, Hyderabad, India, August 28-30, 2013.
Mangal Kothari, Jose Pinto, Vinayak S. Prabhu, Pedro Riberio, Joao Sousa, and Sujit P. B, Robust Mission Planning for Underwater Applications: Issues and Challenges, IFAC Workshop of Navigation, Guidance and Control of Underwater Vehicles, April 10-12, 2012, Porto, Portugal.
Ashwini Ratnoo, P. B. Sujit, and Mangal Kothari, Adaptive Optimal Path Following for High Wind Flights, Proceedings of the 18th IFAC World Congress, Milan, Italy, August 28-September 2, 2011, doi: 10.3182/20110828-6-IT-1002.03720.
Brandon Luders, Mangal Kothari, and Jonathan P. How, Chance Constrained RRT for Probabilistic Robustness to Environmental Uncertainty, Proceedings of the AIAA Guidance Navigation and Control Conference and Exhibit, Toronto, Canada, August 2-5, 2010, doi: 10.2514/6.2010-8160.
Rajnikant Sharma, Mangal Kothari, Clark N. Taylor, and Ian Postlethwaite, Cooperative Target-capturing with Inaccurate Target Information, Proceedings of the American Control Conference, Baltimore, USA, June 30-July 2, 2010.
Mangal Kothari, Ian Postlethwaite, and Da-Wei Gu, Multi-UAV Path Planning in Obstacle Rich Environments Using Rapidly-exploring Random Trees, Proceedings of the IEEE Conference on Conference on Decision and Control, Shanghai, China, December 16-18, 2009, doi: 10.1109/CDC.2009.5400108.
Mangal Kothari, Da-Wei Gu, and Ian Postlethwaite, An Intelligent Suboptimal Path Planning Algorithm Using Rapidly-exploring Random Trees, Proceedings of the European Control Conference, Budapest, Hungary, August 23-26, 2009.
Mangal Kothari, Ian Postlethwaite, and Da-Wei Gu, A Suboptimal Path Planning Algorithm Using Rapidly-exploring Random Trees, IISc centenary International Conference and Exhibition on Aerospace Engineering, Bangalore, India, May 18-22, 2009.
I. Postlethwaite, D.-W. Gu, Y. Kim, K. Natesan, M. Kothari, N. Khan, and R. Omar, A Robust Fault-tolerant Tracking Scheme, Realising Network Enabled Capability RNEC08, Leeds, United Kingdom, October 13-14, 2008.
Mangal Kothari and Radhakant Padhi, Energy-Insensitive Guidance of Solid Motor Propelled Long Range Flight Vehicles Using MPSP and Dynamic Inversion, Proceedings of the 17th IFAC World Congress, Seoul, South Korea, July 6-11, 2008, doi: 10.3182/20080706-5-KR-1001.02374.
Mangal Kothari and Radhakant Padhi, A Hybrid Energy-insensitive Explicit Guidance Scheme for Long Range Flight Vehicle With Solid Motors, Proceedings of the IFAC Symposium on Automatic Control in Aerospace, Tolosana, France, June 25-29, 2007, doi: 10.3182/20070625-5-FR-2916.00111.
Radhakant Padhi and Mangal Kothari, A Neuro-Adaptive Augmented Optimal Dynamic Inversion Approach for Effective and Efficient Treatment of Chronic Myelogenous Leukemia, Proceedings of the American Control Conference, Minneapolis, Minnesota, USA, June 14-16, 2006.
Radhakant Padhi and Mangal Kothari, A Closed Form Nonlinear Explicit Guidance Scheme for Long Range Flight Vehicles, Proceedings of the 29th National Systems Conference, Indian Institute of Technology (IIT)-Bombay, India, December 16-17, 2005.

+ - Contact Information Click to collapse

Office

Room No.
..........
IIT Kanpur-208016, Uttar Pradesh, India

Office Phone: 0512-259-6104 (O)

Email: mangal[AT]iitk.ac.in

+ - Keywords Click to collapse