Vikas Bahl

About

Vikas Bahl is a leading researcher in autonomous mobile robotics, with a focus on control systems for omni-directional and wheeled mobile robots. His work centers on path tracking, iterative learning control, and visual servoing, particularly for vehicles like the ODIS (Omni-Directional Inspection System) and USU T-series robots. Bahl’s major contributions include the development of the scalar ε-controller, a spatial path tracking algorithm that eliminates lag-related errors common in time-based approaches, and the design of a learning feedforward controller using a dilated B-spline network to enhance feedback control performance. His most cited paper, "Learning Feedforward Control Using a Dilated B-Spline Network" (43 citations), demonstrates his impact in iterative learning techniques. Bahl also advanced visual servoing for autonomous alignment with parking lot lines and integrated planning-based AI decision-making with supervisory control logic for intelligent behavior generation. His research, supported by the US Army TACOM Intelligent Mobility Program, has been instrumental in improving maneuverability and autonomy for unmanned ground vehicles, with over 150 total citations across his key publications.

Research Focus

Key Achievements

Top Papers

1. 1
   Learning Feedforward Control Using a Dilated B-Spline Network: Frequency Domain Analysis and Design

   43 citations · 2004
2. 2
   Modelling and control of a six-wheeled autonomous robot

   24 citations · 2000
3. 3
   The scalar ε-controller: a spatial path tracking approach for ODV, Ackerman, and differentially-steered autonomous wheeled mobile robots

   20 citations · 2002
4. 4
   <title>Iterative learning control technique for mobile robot path-tracking control</title>

   13 citations · 1999
5. 5
   Visual servoing of an omni-directional mobile robot for alignment with parking lot lines

   13 citations · 2003
6. 6
   Improved path following of USU ODIS by learning feedforward controller using dilated B-spline network

   10 citations · 2002
7. 7
   Spatial integration for a nonlinear path tracking control law

   9 citations · 2002
8. 8
   <title>Utah State University's T2 ODV mobility analysis</title>

   8 citations · 2000
9. 9
   <title>Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic</title>

   7 citations · 2002
10. 10
    WIRELESS VISUAL SERVOING FOR ODIS – AN UNDER CAR INSPECTION MOBILE ROBOT

    6 citations · 2002

Key Collaborators

Contact & Links