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Scopus ID: 54891921900
ResearcherID: C-3832-2013


Book Chapter

  1. S Saravanakumar, Thomas George, Asokan Thondiyath (2012), Obstacle avoidance using multipoint potential field approach for an Underactuted flatfish type AUV in dynamic environment, Trends in Intelligent Robotics, Automation and Manufacturing, Vol. 330, pp20-27, 2012 (Springer Berlin Hielderburg, DOI:10.1007/978-3-642-35197-6_3)
  2. Lakshmi Muralidharan and Asokan Thondiyath (2012), An Improved TDMA Scheduling Algorithm for Swarms of AUVs Using Electromagnetic Communication, Frontiers in Computer Education: Advances in Intelligent and Soft Computing, 2012, Volume 133/2012, 701-708 (Springer DOI: 10.1007/978-3-642-27552-4_93)
  3. Thareswari Nagarajan., Asokan Thondiyath  (2012), An Improved algorithm for constrained multirobot task allocation in cooperative robot tasks, Lecture Notes in Electrical Engineering, Volume 107 LNEE, 2012, Pages 455-466 (Springer, DOI: 10.1007/978-94-007-2598-0_48)
  4. G. Seet, S.K. Sim, W.C. Pang, Z.X Wu and T. Asokan, (2007), RoboSim: A Multimode 3D Simulator for Studying Mobile Robot Cooperation, Studies in Computational Intelligence (series), Autonomous Robots and Agents, Vol. 76/2007, ISBN 978-3-540-73423-9, Springer Verlag.
  5. 2. G. Seet, T. Asokan, M. Lau and E. Low, (2006)Dexterous underwater Inspection Manipulators: Design challenges and developmental issues, Nova Science Publishers Inc., USA.


  1. Ganeshram Nandakumar, Arjun Srinivasan, Asokan Thondiyath (2017), Theoretical and experimental investigations on the effect of overlap and offset on the design of a novel quadrotor configuration, VOOPS, Journal of Intelligent & Robotic Systems (accepted). IF 1.512
  2. Thiyagarajan Ranganathan, Vijendra Singh, Ranjith Nair, Asokan Thondiyath (2017), Design of a controllable variable buoyancy module and its performance analysis as cascaded system for selective underwater deployment, IMechE Journal of Engineering for the Maritime Environment (accepted, to appear in 2017) (IF: 0.90)
  3. Chandra S, Hayashibe M, Thondiyath A. Muscle Fatigue Induced Hand Tremor Clustering in Dynamic Laparoscopic Manipulation. IEEE Transaction on Sys. Man. Cybernetics (under review).   .
  4. Chandra S, Hayashibe M, Thondiyath A (2017) Empirical Mode Decomposition-Based Filtering for Fatigue Induced Hand Tremor in Laparoscopic Manipulation, Journal of Biomedical Signal Processing and Control V.31, 339–349 (IF 1.531).   .
  5. Karthik C., Asokan T., (2017) Design of a 2 DOF compliant tool tip for a handheld powered surgical tool, ASME Journal of Medical Devices, Vol.11 (1) (IF:0.62)
  6. V. Rakesh, Utkarsh Sharma, S. Murugan, S. Venugopal, and T. Asokan (2016), Optimizing force closure grasps on 3D objects using a modified genetic algorithm, Journal of Soft Computing, Print ISSN: 1432-7643 ; Online ISSN: 1433-7479; DOI:10.1007/s00500-016-2377- IF: 1.630  
  7. Chandra, S., Hayashibe, M., Thondiyath, A., and Ramalingam, M. (2016), Differential analysis of muscle fatigue induced elbow and wrist tremor in controlled laparoscopic maneuvering, Int J Med Robotics Comput Assist Surg, doi: 10.1002/rcs.1772 (IF 1.511)   .
  8. Manecius Selvakumar, Asokan T., (2016) Station Keeping Control of Underwater Robots using Disturbance Force Measurements, International Journal of Marine Science and Technology (Springer) 21:70–85. IF 0.86   .
  9. Sreeram TR, Asokan T. (2015), Combining Lean and Six Sigma in the context of Systems Engineering Design,  Int. Nat. Journal of Lean and Six Sigma, Accepted for publication, to appear in Vol:6, iss. 4   .
  10. Sourav Chandra, Mitsu Hayashibe, Asokan T. (2015), Empirical Mode Analysis for Characterization of Hand Tremor in the Design of Laparoscopic Tools,  ASME Journal of Medical Devices, 9(3), Sep., 2015, doi:10.1115/1.4030563 (IF:0.62).   .
  11. Thareswari Nagarajan · Asokan Thondiyath (2014), An algorithm for cooperative task allocation in scalable, constrained multiple robot systems,  Journal of Intelligent Service Robotics (Springer),  Vol. 7:157–174.
  12. Saravanakumar S., Thomas George, Asokan T (2014), Real time obstacle avoidance for an underactuated flat-fish type AUV in 3-D space, International Journal of Robotics and Automation (ACTA press), Vol.29, No.4 (DOI:10.2316/Journal.206.2014.4.206-4054).
  13. Saravanakumar S., Asokan T. (2013), Multipoint Potential Field Method for Path Planning of Autonomous Underwater Vehicles in 3D Space, Journal of Intelligent Service Robotics (Springer), Journal of Intelligent Service Robotics (Springer ), Vol. 6: 211-224  (DOI: 10.1007/s11370-013-0138-2).
  14. Santhakumar Mohan, Asokan T.(2012), Power Efficient Dynamic Station Keeping Control of a flat-fish type Autonomous Underwater Vehicle through Design Modifications of Thruster configuration, Ocean Engineering 58 (2012) 11–21(Elsevier).
  15. Saravanakumar Subramanian and Asokan Thondiyath (2012), An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles, Int. Nat. Journal of Ocean Systems Engineering, Vol. 2(3), 2012
  16. Periasamy T, Asokan T, Singaperumal M. (2012), Investigations on the Dynamic Coupling in AUV- Manipulator System and the Manipulator Trajectory Errors Using Bond Graph Method, International Journal of Systems Science, , Vol. 43 (6), pp. 1104-1122 DOI: 10.1080 / 00207721. 2010.543488.
  17. 2. Santhakumar Mohan, and Asokan Thondiyath (2011), A nonlinear tracking control scheme for an underactuated autonomous underwater robotic vehicle, Int. Nat. Journal of Ocean Systems Engineering 1(3), (2011) 120-135. (DOI 10.5574/IJOSE /2011.1.3.120)
  18.  Santhakumar M., Asokan T., (2011) Investigations on the dynamic station keeping of an underactuated autonomous underwater robot, International Journal of Simulation Modelling 10 (2011) 3, 145-157. (DOI 10.2507/IJSIMM10(3)4.185)
  19.  S. A. Salman, Sreenatha A. Anavatti , T. Asokan (2011), Adaptive fuzzy control of unmanned underwater vehicles, Journal of Geo-Marine Sciences, Vol. 40(2), April 2011, pp.168-175
  20. Santhakumar M., Asokan T. (2010) A self – tuning proportional – integral – derivative controller for an autonomous underwater vehicle, based on Taguchi method. Journal of Computer Science 6 (8): 862-871.
  21. Santhakumar M., Asokan T. (2010), Investigations on the Hybrid Tracking Control of an Underactuated Autonomous Underwater Robot, Advanced Robotics Vol. 24, No. 11, pp. 1529-1556.
  22. Santhakumar M., Asokan T. (2010), Planar Tracking Control of an Underactuated Autonomous Underwater Vehicle, International Journal of Mechanical, Industrial and Aerospace Engineering V 4(1), pp 32-37 .
  23. Santhakumar Mohan, Asokan T (2009), Non-linear Adaptive Control System for an Underactuated Autonomous Underwater Vehicle using Dynamic State Feedback,  Int. Journal of Recent Trends in Engineering, Vol. 2 (5), pp 380-384.
  24. Santhakumar Mohan, Asokan T and T. Sreeram (2009) Analysis of Parameter Sensitivity Using Robust Design Techniques for a Flatfish Type Autonomous Underwater Vehicle, Int. Nat. Journal of Quality, Systems and Reliability, Vol. 2009, pp1-11.
  25. V. Iastrebov, G. Seet, T. Asokan, Y. P. Chui, M.W.S. Lau. (2008) Vision Enhancement using Stereoscopic Telepresence for Remotely Operated Underwater Robotic Vehicles, Journal of Intelligent and Robotic Systems, 52: 139-154.
  26. T Asokan, G Seet, M Lau (2005) Optimum positioning of an Underwater Intervention robot for maximum dexterity at the operating point, Mechatronics, V15(6).
  27. T Asokan, K.H Tan, G Seet and V Iastrebov (2004), An interactive simulation system for Underwater Robotic Tasks, Journal of the Robotic Research Centre, Nanyang Technological University, Singapore. Feb., 2004, 23-26.
  28. T Asokan, G Seet, V Iastrebov, R Senanayake,(2003) "Kinematic design and analysis of a 7 degree  of freedom multistage inspection manipulator for sub sea applications", Journal of Intelligent and Robotic Systems, pp. 38: 277-295 (Kluwer, Netherlands).
  29. T Asokan, M Singaperumal and G Seet (2003) “Performance Analysis of an Electro hydraulic Impedance Controller for Robotic Interaction Control, Advanced Robotics, Vol.17 (8), pp. 791-806.
  30. T Asokan, G Seet and J Angeles, (2003) The Optimum dimensioning of an Underwater Manipulator for weld Inspection, IMechE Journal of Engineering for Maritime Environment, Vol. 217, pp 177-184.
  31. T Asokan, G Seet and S Choudhury (2002), “Design issues of a Dexterous Manipulator for Underwater Applications”, Journal of the Robotic Research Centre, Nanyang Technological University, Singapore. Feb., 2002, pp. 40-44
  32.  M. Singaperumal and T. Asokan (2001) Fluid Power in the Design of Controllers in the Physical Domain - an application, Fluid Power, Vol. 27, No. 2, pp 8-13
  33.  Asokan, T. and Singaperumal M., “Control of Interaction Impedance using Electro Hydraulic Servo System, An application to robotic deburring”, Journal for material Processing Technology 1997; 65: 172-178.
  34.  Asokan, T., and Singaperumal, M., “Damping variation through Electro hydraulic Servo System: An application to active impedance control”, Mechatronics 1996; Vol.6, No.6: 613-630.