Research Output // Peer Reviewed + Thesis Work

Research Dossier

Academic work in teleoperation, adaptive control, and autonomous systems, grounded in ROS2 simulation and vehicle-platoon coordination. This page frames the research as an engineering system: theory, validation, and operational outcomes.

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Primary research artifacts
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ACC conference year
FSU CAPS Lab // passivity, delay compensation, ROS validation
Research Topology

Theory to Validation Map

Research Lens

Why This Work Matters

Stability Layer

The work addresses a hard systems problem: maintaining stability in teleoperated systems when network delay is unavoidable and variable.

Performance Layer

Predictor techniques improve responsiveness without abandoning the stability guarantees of passivity-based methods.

Validation Layer

ROS2-based platoon simulations connect theory to the kind of distributed robotics problems found in production fleet and autonomous navigation systems.

Conference Paper Peer Reviewed July 4, 2024

Passive Stability and Adaptive Control of Teleoperated System using Wave Variables and Predictor Techniques

2024 American Control Conference · Pages 4365–4371

Teleoperation hardware setup

Addresses stable adaptive teleoperation under high communication delay using a passivity-based framework built on wave variables and predictor methods, with a focus on maintaining performance under difficult network conditions.

Teleoperation Wave Variables Passivity Adaptive Control
IEEE Xplore arXiv
Citation Rail
Venue
ACC 2024
DOI
10.23919/ACC60939.2024.10644849
Authors
N. Rajarajan, S. B. Mudhangulla, O. M. Anubi
Lab
Florida State University CAPS Lab
Graduate Thesis April 5, 2024

Internet Based Adaptive Teleoperation of Lead Vehicle in Platoon: Using Wave Variable and Predictor Techniques

Florida State University · MS Thesis · Department of ECE

Investigates stable internet-based teleoperation of a lead vehicle within a multi-vehicle platoon, combining consensus control, string stability, and delay compensation to preserve coordinated system behavior.

Focus
Vehicle platoons, consensus control, internet delay, adaptive teleoperation.
Advisor
Prof. Olugbenga Moses Anubi
Dossier Notes
Institution
Florida State University
Degree
MS in Electrical & Computer Engineering
Validation Context
Multi-agent and platoon coordination systems
Applied Themes

Research that maps back to systems building

The research connects directly to the rest of the portfolio: backend observability, robotics communication, system stability, distributed coordination, and production-minded validation.

Delay tolerance

Designing systems that remain stable and useful even when the network is imperfect.

Distributed coordination

Reasoning about agents, signals, and state when decisions happen across multiple nodes.

Robotics realism

Closing the gap between theoretical control frameworks and simulated deployment behavior.

Engineering mindset

Treating publication work as part of the same product systems discipline as software architecture.

Related Technical Writing

Research-adjacent articles and implementation notes

Preprint Route

ACC 2024 arXiv Entry

The fastest path to the conference paper in preprint form, useful for lightweight reading and citation sharing.
Knowledge Feed

Engineering Editorial

Related writing on systems design, product implementation, and the applied thinking that surrounds the research work.