arXiv subjects

Kamalakar Karlapalem

Publications and source records attributed to Kamalakar Karlapalem.

At least 19 recordsLinked to original sources

arXiv2026

Who Sits Where? Automated Detection of Director Interlocks in Indian Companies

Interlocking directorships-where individuals simultaneously serve on the boards of multiple corporations-can facilitate the exchange of expertise and strategic alignment but also present risks, including conflicts of interest, economic 'oligarchy', and regulatory non-compliance. In contexts such as large, family-controlled corporate conglomerates in India, the manual detection of interlocks is hindered by the high volume of corporate entities and the complex involvement of extended familial networks. This study introduces a scalable, graph-theoretic framework for the systematic identification and analysis of interlocking directorships. Using Breadth-First Search (BFS) traversal, we examined a curated dataset comprising over 50,000 directors, 85,000 companies, and 300,000 director-company affiliations, yielding a comprehensive representation of corporate network structures. Large Language Models (LLMs) were integrated into the analytical pipeline to characterize both personal and professional linkages among directors. Empirical results indicate that 17% of directors hold positions in exactly two companies, while 58.6% maintain directorships in two or more companies. The combined BFS-LLM methodology enables the detection of recurrent director-company clusters, indicative of strong network cohesion, and provides qualitative insights into potential underlying drivers of these interlocks. The proposed approach enhances the capacity for automated, data-driven detection of complex intercorporate relationships, offering actionable implications for corporate governance, regulatory monitoring, and systemic risk assessment.

cs.SI↗

arXiv2025

Maintaining the Level of a Payload carried by Multi-Robot System on Irregular Surface

In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built robots with a linear actuator (pistons) mounted on top of each robot. The system continuously monitors the payload's orientation and computes the required piston height of each robot to maintain the desired orientation of the payload. In this work, we propose an open loop controller coupled with a closed loop PID controller to achieve the goal. As our modelling makes no assumptions on the type of terrain, the system can work on any unknown and uneven terrains and inclinations. We showcase the efficacy of our proposed controller by testing it on various simulated environments with varied and complex terrains.

cs.RO↗

arXiv2025

Iti-Validator: A Guardrail Framework for Validating and Correcting LLM-Generated Itineraries

The rapid advancement of Large Language Models (LLMs) has enabled them to generate complex, multi-step plans and itineraries. However, these generated plans often lack temporal and spatial consistency, particularly in scenarios involving physical travel constraints. This research aims to study the temporal performance of different LLMs and presents a validation framework that evaluates and improves the temporal consistency of LLM-generated travel itineraries. The system employs multiple state-of-the-art LLMs to generate travel plans and validates them against real-world flight duration constraints using the AeroDataBox API. This work contributes to the understanding of LLM capabilities in handling complex temporal reasoning tasks like itinerary generation and provides a framework to rectify any temporal inconsistencies like overlapping journeys or unrealistic transit times in the itineraries generated by LLMs before the itinerary is given to the user. Our experiments reveal that while current LLMs frequently produce temporally inconsistent itineraries, these can be systematically and reliably corrected using our framework, enabling their practical deployment in large-scale travel planning.

cs.CL↗

arXiv2023

A Case for Competent AI Systems $-$ A Concept Note

The efficiency of an AI system is contingent upon its ability to align with the specified requirements of a given task. How-ever, the inherent complexity of tasks often introduces the potential for harmful implications or adverse actions. This note explores the critical concept of capability within AI systems, representing what the system is expected to deliver. The articulation of capability involves specifying well-defined out-comes. Yet, the achievement of this capability may be hindered by deficiencies in implementation and testing, reflecting a gap in the system's competency (what it can do vs. what it does successfully). A central challenge arises in elucidating the competency of an AI system to execute tasks effectively. The exploration of system competency in AI remains in its early stages, occasionally manifesting as confidence intervals denoting the probability of success. Trust in an AI system hinges on the explicit modeling and detailed specification of its competency, connected intricately to the system's capability. This note explores this gap by proposing a framework for articulating the competency of AI systems. Motivated by practical scenarios such as the Glass Door problem, where an individual inadvertently encounters a glass obstacle due to a failure in their competency, this research underscores the imperative of delving into competency dynamics. Bridging the gap between capability and competency at a detailed level, this note contributes to advancing the discourse on bolstering the reliability of AI systems in real-world applications.

cs.CY↗

arXiv2023

Scenic Routes in $R^d$

In this work, we introduce the problem of scenic routes among points in Rd. The key development is the nature of the problem in terms of both defining the concept of scenic points and scenic routes and then coming up with algorithms that meet different criteria for the generated scenic routes. The scenic routes problem provides a visual trajectory for a user to comprehend the layout of high-dimensional points. The nature of this trajectory and the visual layout of the points have applications in comprehending the results of machine learning supervised and unsupervised learning techniques. We study the problem in 2D and 3D (with two color points) before exploring the issues in Rd. The red/blue points in our examples could be to be in a class or not to be in a class. The applications could include landscape design to adhere to the scenic beauty of the artifacts on the ground. The generation of equally separated layouts for designing composite hardware where interference could be an issue.

cs.CG↗

arXiv2023

Scenic Routes with Weighted Points in 2D

In a given 2D space, we can have points with different levels of importance. One would prefer viewing those points from a closer/farther position per their level of importance. A point in 2D from where the user can view two given points per his/her preference of distance is termed a scenic point. We develop the concept of scenic paths in a 2D space for two points that have weights associated with them. Subsequently, we propose algorithms to generate scenic routes a traveler can take, which cater to certain principles which define the scenic routes. Following are the contributions of this paper: (1) mathematical formulation of a scenic point, (2) introduction of scenic routes formed by such scenic points in two-class point configurations in 2D spaces, and (3) design of scenic route generation algorithms that fulfill certain defined requirements.

cs.CG↗

arXiv2023

Scenic Routes over Points in 2D Space

Consider a 2D coordinate space with a set of red and a set of blue points. We define a scenic point as a point that is equidistant to a red point and a blue point. The set of contiguous scenic points form a scenic path. The perpendicular bisectors to the line joining a red point and a blue point forms a scenic path between the red point and the blue point. A scenic route is a traversal made from scenic paths. In this paper, we address this novel problem by (i) designing algorithms for scenic route generation, (ii) studying the algorithms different properties and (iii) analyzing the routes generated by these algorithms. Scenic routes have applications in geo-spatial visualizations and visual analytics.

cs.CG↗

arXiv2023

Analysis of h-index for research awards

In order to advance academic research, it is important to assess and evaluate the academic influence of researchers and the findings they produce. Citation metrics are universally used methods to evaluate researchers. Amongst the several variations of citation metrics, the h-index proposed by Hirsch has become the leading measure. Recent work shows that h-index is not an effective measure to determine scientific impact - due to changing authorship patterns. This can be mitigated by using h-index of a paper to compute h- index of an author. We show that using fractional allocation of h-index gives better results. In this work, we reapply two indices based on the h-index of a single paper. The indices are referred to as: hp-index and hp-frac-index. We run large-scale experiments in three different fields with about a million publications and 3,000 authors. We also compare h-index of a paper with nine h-index like metrics. Our experiments show that hp-frac-index provides a unique ranking when compared to h-index. It also performs better than h-index in providing higher ranks to the awarded researcher.

cs.DL↗

arXiv2020

Multi-Robot Formation Control Using Reinforcement Learning

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation among a number of agents (robots) while moving towards a desired goal. This is achieved by training our agents to track two agents of the group and maintain the formation with respect to those agents. We consider all agents to be homogeneous and model them as unicycle [1]. In contrast to the leader-follower approach, where each agent has an independent goal, our approach aims to train the agents to be cooperative and work towards the common goal. Our motivation to use this method is to make a fully decentralized multi-agent formation system and scalable for a number of agents.

cs.RO↗

arXiv2019

Energy Conscious Over-actuated Multi-Agent Payload Transport Robot: Simulations and Preliminary Physical Validation

In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled as an actuated multi-agent system, with each wheel-motor pair as an agent. Kinematic and dynamic models are developed to ensure that the payload transport system moves as desired. We design optimization formulations to decide on the number of wheels to be active and which of the wheels to be active so that the battery is conserved and the wear on the motors is reduced. Our multi-level control framework over the agents ensures that near-optimal number of agents is active for the payload transport system to function. Through simulation studies we show that our solution ensures energy efficient operation and increases the distance traveled by the payload transport system, for the same battery power. We have built the payload transport system and provide results for preliminary experimental validation.

cs.RO↗

arXiv2019

Loosely Coupled Payload Transport System with Robot Replacement

In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We design a multi-robot system with loosely coupled robots that ensures the system lasts much longer than the battery life of an individual robot. A system level optimization is presented, to decide on the operational state (charging or discharging) of each robot in the system. The charging state implies that the robot is not in a formation and is kept on charge whereas the discharging state implies that the robot is a part of the formation. Robot battery recharge hubs are present along the trajectory. Robots in the formation can be replaced at these hub locations with charged robots using a replacement mechanism. We showcase the efficacy of the proposed scheduling framework through simulations and experiments with real robots.

cs.RO↗

arXiv2019

Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios

In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The planner is designed as a quadratic program, subject to constraints on robot dynamics and obstacle avoidance. Repulsive potential field functions are employed to avoid obstacles. The novelty of our approach lies in embedding these non-linear potential field functions as constraints within a convex optimization framework. Our method convexifies non-convex constraints and dependencies, by replacing them as pre-computed external input forces in robot dynamics. The proposed algorithm additionally incorporates different methods to avoid field local minima problems associated with using potential field functions in planning. The motion planner does not enforce predefined trajectories or any formation geometry on the robots and is a comprehensive solution for cooperative obstacle avoidance in the context of multi-robot target tracking. We perform simulation studies in different environmental scenarios to showcase the convergence and efficacy of the proposed algorithm. Video of simulation studies: \url{https://youtu.be/umkdm82Tt0M}

cs.RO↗

arXiv2019

Active Perception based Formation Control for Multiple Aerial Vehicles

Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an algorithmic back-end that estimates full body human pose and shape from the saved videos. In this paper we present a novel front-end for our aerial mocap system that consists of multiple micro aerial vehicles (MAVs) with only on-board cameras and computation. In previous work, we presented an approach for cooperative detection and tracking (CDT) of a subject using multiple MAVs. However, it did not ensure optimal view-point configurations of the MAVs to minimize the uncertainty in the person's cooperatively tracked 3D position estimate. In this article we introduce an active approach for CDT. In contrast to cooperatively tracking only the 3D positions of the person, the MAVs can now actively compute optimal local motion plans, resulting in optimal view-point configurations, which minimize the uncertainty in the tracked estimate. We achieve this by decoupling the goal of active tracking as a convex quadratic objective and non-convex constraints corresponding to angular configurations of the MAVs w.r.t. the person. We derive it using Gaussian observation model assumptions within the CDT algorithm. We also show how we embed all the non-convex constraints, including those for dynamic and static obstacle avoidance, as external control inputs in the MPC dynamics. Multiple real robot experiments and comparisons involving 3 MAVs in several challenging scenarios are presented (video link : https://youtu.be/1qWW2zWvRhA). Extensive simulation results demonstrate the scalability and robustness of our approach. ROS-based source code is also provided.

cs.RO↗

arXiv2019

Traffic Management Strategies for Multi-Robotic Rigid Payload Transport Systems

In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport system (PTS) moves in various kinds of environments with obstacles. We ensure each PTS completes its given task by avoiding collisions with other payload systems and obstacles as well. Each PTS has one leader and multiple followers and the followers maintain a desired distance and angle with respect to the leader using a decentralized leader-follower control architecture while moving in the traffic. We showcase, through simulations the time taken by each PTS to traverse its respective trajectory with and without other PTS and obstacles. We show that our strategies help manage the traffic for a large number of PTS moving from one place to another.

cs.MA↗

arXiv2019

Multiple Drones driven Hexagonally Partitioned Area Exploration: Simulation and Evaluation

In this paper, we simulated a distributed, cooperative path planning technique for multiple drones (~200) to explore an unknown region (~10,000 connected units) in the presence of obstacles. The map of an unknown region is dynamically created based on the information obtained from sensors and other drones. The unknown area is considered a connected region made up of hexagonal unit cells. These cells are grouped to form larger cells called sub-areas. We use long range and short range communication. The short-range communication within drones in smaller proximity helps avoid re-exploration of cells already explored by companion drones located in the same subarea. The long-range communication helps drones identify next subarea to be targeted based on weighted RNN (Reverse nearest neighbor). Simulation results show that weighted RNN in a hexagonal representation makes exploration more efficient, scalable and resilient to communication failures.

cs.MA↗

arXiv2019

Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems

In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to define a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the defined convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. This approach facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments. Simulation video: https://youtu.be/9EKj7RwRs_4.

cs.RO↗

arXiv2018

A hybrid deep learning approach for medical relation extraction

Mining relationships between treatment(s) and medical problem(s) is vital in the biomedical domain. This helps in various applications, such as decision support system, safety surveillance, and new treatment discovery. We propose a deep learning approach that utilizes both word level and sentence-level representations to extract the relationships between treatment and problem. While deep learning techniques demand a large amount of data for training, we make use of a rule-based system particularly for relationship classes with fewer samples. Our final relations are derived by jointly combining the results from deep learning and rule-based models. Our system achieved a promising performance on the relationship classes of I2b2 2010 relation extraction task.

cs.LG↗

arXiv2016

Design and Evaluation of Alternate Enumeration Techniques for Subset Sum Problem

The subset sum problem, also referred as SSP, is a NP-Hard computational problem. SSP has its applications in broad domains like cryptography, number theory, operation research and complexity theory. The most famous algorithm for solving SSP is Backtracking Algorithm which has exponential time complexity. Therefore, our goal is to design and develop better alternate enumeration techniques for faster generation of SSP solutions. Given the set of first n natural numbers which is denoted by Xn and a target sum S, we propose various alternate enumeration techniques which find all the subsets of Xn that add up to sum S. In this paper, we present the mathematics behind this exponential problem. We analyze the distribution of power set of Xn and present formulas which show definite patterns and relations among these subsets. We introduce three major distributions for power set of Xn: Sum Distribution, Length-Sum Distribution and Element Distribution. These distributions are prepossessing procedures for various alternate enumeration techniques for solving SSP. We propose novel algorithms: Subset Generation using Sum Distribution, Subset Generation using Length-Sum Distribution, Basic Bucket Algorithm, Maximum and Minimum Frequency Driven Bucket Algorithms and Local Search using Maximal and Minimal Subsets for enumerating SSP. We compare the performance of these approaches against the traditional backtracking algorithm. The efficiency and effectiveness of these algorithms are presented with the help of these experimental results. Furthermore, we studied the over solution set of subsets generated by various algorithms to get the complete solution for subset sum problem. Finally, we present a conjecture about upper bound on the number of subsets that has to be enumerated to get all solutions for Subset Sum Problem.

cs.DS↗