Researcher
Robotics & Autonomous Systems,
Royal Military Academy
Address
Avenue De La Renaissance 30, 1000 Brussels, Belgium
Contact Information
Call: –
Email: Soumic.Sarkar@mil.be
Soumic is a robotic researcher at the Robotics & Autonomous Systems unit of the Department of Mechanics of the Belgian Royal Military Academy. His research focuses on developing solutions for heterogeneous robot fleet management in tough environments.
He received his Master’s Degree in Mechatronics from the Mechanical Department of Bengal Engineering and Science University Shibpur [BESUS], now Indian Institute of Engineering, Science, and Technology in 2009. Then he received his Doctoral Degree in Control and Automation from the Electrical Engineering Department of Indian Institute of Technology Delhi in 2016 with a thesis on “Formation topologies and cooperative control of multi-agent systems". After his Doctoral study, he worked as a postdoctoral researcher at LAI-Robotics Lab of University of Cassino and Southern Lazio in Italy on the localization of a streamer of hydrophones attched to the Folaga underwater vehicle in the framework of the WiMUST H2020 project. Then he joined DIMES of University of Calabria in Italy to work on underwater communication and predictive control. Afterwards, he worked on autonomous driving of an IVECO truck in an off-road environment in the Institute of Software Technology of Technical University of Graz in Austria. Then he was at the LARIAT lab of the University of Dubrovnik in Croatia to work on the optimal coverage control of an underwater vehicle in the framework of the H2020 project SeaClear.
His research interests include modelling, estimation, planning and control of multi-agent dynamical systems which find applications across land, air and maritime domain.
In 2022, Soumic joined the Belgian Royal Military Academy to participate in the iMUGS project that aims to develop and deploy a modular, standardized, and open system architecture for manned-unmanned team of robots to support armed forces on the field.
Publications
2019
- F. Tedesco, S. Sarkar, and A. Casavola, “Turn-Based Supervision Architectures for Dynamic Networks involving Plug-and-Play Operations," IFAC-PapersOnLine, vol. 52, iss. 3, pp. 90-95, 2019.
[BibTeX] [Abstract] [Download PDF] [DOI]
In this note, we consider a novel supervision algorithm for the distributed management of interconnected linear systems sharing coupling coordination constraints. The proposed supervision approach is based on the recently developed Turn-Based Command Governor strategy (Casavola et al. (2018)) where the agents in the networks follow a particular round-robin policy in updating their commands. Such a strategy is here extended to deal with so called Plug-and-Play (PnP) operations. Such a problem has been faced in a formal way by providing the conditions that allow PnP operations without violating existing constraints. In this respect, the notation of Pluggability of systems that aim at joining the same network is introduced as a structural property. A final example is presented to illustrate the effectiveness of the proposed strategy.
@article{TEDESCO201990, title = {Turn-Based Supervision Architectures for Dynamic Networks involving Plug-and-Play Operations}, journal = {IFAC-PapersOnLine}, volume = {52}, number = {3}, pages = {90-95}, year = {2019}, note = {15th IFAC Symposium on Large Scale Complex Systems LSS 2019}, issn = {2405-8963}, doi = {https://doi.org/10.1016/j.ifacol.2019.06.016}, url = {https://www.sciencedirect.com/science/article/pii/S2405896319301004}, author = {Francesco Tedesco and Soumic Sarkar and Alessandro Casavola}, abstract = {In this note, we consider a novel supervision algorithm for the distributed management of interconnected linear systems sharing coupling coordination constraints. The proposed supervision approach is based on the recently developed Turn-Based Command Governor strategy (Casavola et al. (2018)) where the agents in the networks follow a particular round-robin policy in updating their commands. Such a strategy is here extended to deal with so called Plug-and-Play (PnP) operations. Such a problem has been faced in a formal way by providing the conditions that allow PnP operations without violating existing constraints. In this respect, the notation of Pluggability of systems that aim at joining the same network is introduced as a structural property. A final example is presented to illustrate the effectiveness of the proposed strategy.} }
2018
- F. Arrichiello, S. Sarkar, S. Chiaverini, and G. Antonelli, “Localization of an Array of Hydrophones Towed by an Autonomous Underwater Vehicle," in 2018 26th Mediterranean Conference on Control and Automation (MED), 2018, p. 601–606.
[BibTeX]@inproceedings{arrichiello2018localization, title={Localization of an Array of Hydrophones Towed by an Autonomous Underwater Vehicle}, author={Arrichiello, Filippo and Sarkar, Soumic and Chiaverini, Stefano and Antonelli, Gianluca}, booktitle={2018 26th Mediterranean Conference on Control and Automation (MED)}, pages={601--606}, year={2018}, organization={IEEE} }
2017
- F. Arrichiello, S. Sarkar, S. Chiaverini, and G. Antonelli, “Dynamic modelling of a streamer of hydrophones towed with an autonomous underwater vehicle," in International Workshop on Modelling and Simulation for Autonomous Systems, 2017, p. 179–192.
[BibTeX]@inproceedings{arrichiello2017dynamic, title={Dynamic modelling of a streamer of hydrophones towed with an autonomous underwater vehicle}, author={Arrichiello, Filippo and Sarkar, Soumic and Chiaverini, Stefano and Antonelli, Gianluca}, booktitle={International Workshop on Modelling and Simulation for Autonomous Systems}, pages={179--192}, year={2017}, organization={Springer} }
2016
- S. Sarkar and I. N. Kar, “Formation of multiple groups of mobile robots: multi-timescale convergence perspective," Nonlinear Dynamics, vol. 85, iss. 4, p. 2611–2627, 2016.
[BibTeX]@article{sarkar2016formation, title={Formation of multiple groups of mobile robots: multi-timescale convergence perspective}, author={Sarkar, Soumic and Kar, Indra Narayan}, journal={Nonlinear Dynamics}, volume={85}, number={4}, pages={2611--2627}, year={2016}, publisher={Springer} } - S. Sarkar, “Formation topologies and cooperative control of multi-agent systems," PhD Thesis, 2016.
[BibTeX]@phdthesis{sarkar2016formation2, title={Formation topologies and cooperative control of multi-agent systems}, author={Sarkar, Soumic}, year={2016} }
2015
- S. Sarkar and I. N. Kar, “Formation of multiple groups of mobile robots using sliding mode control," in 2015 54th IEEE Conference on Decision and Control (CDC), 2015, p. 2993–2998.
[BibTeX]@inproceedings{sarkar2015formation, title={Formation of multiple groups of mobile robots using sliding mode control}, author={Sarkar, Soumic and Kar, Indra Narayan}, booktitle={2015 54th IEEE Conference on Decision and Control (CDC)}, pages={2993--2998}, year={2015}, organization={IEEE} } - S. Sarkar and I. N. Kar, “Three time scale behaviour analysis of the Leader Follower formation of multiple groups of nonholonomic robots," in 2015 American Control Conference (ACC), 2015, p. 44–49.
[BibTeX]@inproceedings{sarkar2015three, title={Three time scale behaviour analysis of the Leader Follower formation of multiple groups of nonholonomic robots}, author={Sarkar, Soumic and Kar, Indra Narayan}, booktitle={2015 American Control Conference (ACC)}, pages={44--49}, year={2015}, organization={IEEE} }
2014
- S. Sarkar and I. N. Kar, “On the Topologies Conforming Singular Perturbation in Formation Control of Nonholonomic Robots," IFAC Proceedings Volumes, vol. 47, iss. 1, p. 781–786, 2014.
[BibTeX]@article{sarkar2014topologies, title={On the Topologies Conforming Singular Perturbation in Formation Control of Nonholonomic Robots}, author={Sarkar, Soumic and Kar, Indra Narayan}, journal={IFAC Proceedings Volumes}, volume={47}, number={1}, pages={781--786}, year={2014}, publisher={Elsevier} }
2013
- S. Sarkar and I. N. Kar, “Formation control of multiple groups of robots," in 52nd IEEE Conference on Decision and Control, 2013, p. 1466–1471.
[BibTeX]@inproceedings{sarkar2013formation, title={Formation control of multiple groups of robots}, author={Sarkar, Soumic and Kar, Indra Narayan}, booktitle={52nd IEEE Conference on Decision and Control}, pages={1466--1471}, year={2013}, organization={IEEE} } - S. Sarkar and I. N. Kar, “Formation control of multiple groups of nonholonomic wheeled mobile robots," in Proceedings of Conference on Advances In Robotics, 2013, p. 1–6.
[BibTeX]@inproceedings{sarkar2013formation2, title={Formation control of multiple groups of nonholonomic wheeled mobile robots}, author={Sarkar, Soumic and Kar, Indra Narayan}, booktitle={Proceedings of Conference on Advances In Robotics}, pages={1--6}, year={2013} }
2010
- S. Sarkar, S. N. Shome, and S. Nandy, “An intelligent algorithm for the path planning of autonomous mobile robot for dynamic environment," in FIRA RoboWorld Congress, 2010, p. 202–209.
[BibTeX]@inproceedings{sarkar2010intelligent, title={An intelligent algorithm for the path planning of autonomous mobile robot for dynamic environment}, author={Sarkar, Soumic and Shome, Sankar Nath and Nandy, S}, booktitle={FIRA RoboWorld Congress}, pages={202--209}, year={2010}, organization={Springer} }