Preprints

S. Sivashangaran, A. Khairnar and A. Eskandarian, “Exploration Without Maps via Zero-Shot Out-of-Distribution Deep Reinforcement Learning,” arXiv preprint arXiv:2402.05066, Feb. 2024. (Link)

Journal Articles

S. Sivashangaran and A. Eskandarian, “Deep Reinforcement Learning for Autonomous Ground Vehicle Exploration Without A-Priori Maps," Advances in Artificial Intelligence and Machine Learning, 3 (2), 1198-1219, Jun. 2023. (Link) (Preprint)

G. Mehr, P. Ghorai, C. Zhang, A. Nayak, D. Patel, S. Sivashangaran and A. Eskandarian, “X-CAR: An Experimental Vehicle Platform for Connected Autonomy Research," IEEE Intelligent Transportation Systems Magazine, 15(2), 41-57, May 2022. (Link) (Preprint)

Conference Proceedings

S. Sivashangaran and A. Eskandarian, “XTENTH-CAR: A Proportionally Scaled Experimental Vehicle Platform for Connected Autonomy and All-Terrain Research,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition (IMECE), Volume 6: Dynamics, Vibration, and Control, V006T07A068, American Society of Mechanical Engineers, New Orleans, LA, USA, Oct. 29-Nov. 2 2023. (Link) (Preprint)

A. Khairnar, S. Sivashangaran and A. Eskandarian, “A Comparison of Motion Planning Methods for Autonomous Ground Vehicle Exploration and Search,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition (IMECE), Volume 6: Dynamics, Vibration, and Control, V006T07A069, American Society of Mechanical Engineers, New Orleans, LA, USA, Oct. 29-Nov. 2 2023. (Link)

S. Sivashangaran, A. Khairnar and A. Eskandarian, “AutoVRL: A High Fidelity Autonomous Ground Vehicle Simulator for Sim-to-Real Deep Reinforcement Learning," IFAC-PapersOnLine, vol. 56, no. 3, pp. 475-480, Dec. 2023. (Link) (Preprint)

S. Sivashangaran, D. Patel and A. Eskandarian, “Nonlinear Model Predictive Control for Optimal Motion Planning in Autonomous Race Cars," IFAC-PapersOnLine, vol. 55, no. 37, pp. 645-650, Nov. 2022. (Link)

S. Sivashangaran and M. Zheng, “Intelligent Autonomous Navigation of Car-Like Unmanned Ground Vehicle via Deep Reinforcement Learning," IFAC-PapersOnLine, vol. 54, no. 20, pp. 218-225, Dec. 2021. (Link)

K. Hulme, A. Estes, M. Schmid, E. Torres, C. Hendrick and S. Sivashangaran, “Game-based Proving-grounds Simulation to Assess Driving & Learning Preferences,” Proceedings of the Interservice/Industry Training, Simulation and Education Conference (I/ITSEC), Orlando, FL, USA, Nov. 26-30 2018. (Link)

Conference Posters and Tutorials

S. Sivashangaran, A. Khairnar and A. Eskandarian, “Cognitive Navigation for Search and Rescue Autonomous Ground Vehicle using Soft Actor-Critic,” The American Control Conference (ACC), Poster, San Diego, CA, USA, May 31-Jun. 2 2023. (Link)

K. Hulme, E. Torres, C. Hendrick and S. Sivashangaran, “The Science of Thrills: Applied M&S in the Entertainment Industry,” The Interservice/Industry Training, Simulation and Education Conference (I/ITSEC), Tutorial, Orlando, FL, USA, Nov. 26-30 2018. (Link)

Theses

S. Sivashangaran, “Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning,” Virginia Polytechnic Institute and State University, Doctoral Dissertation, Jun. 2024. (Link)

S. Sivashangaran, “Application of Deep Reinforcement Learning for Intelligent Autonomous Navigation of Car-Like Mobile Robot," State University of New York at Buffalo, Master's Thesis, Feb. 2021. (Link)