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Nikil Krishnakumar

dblp:405/4690 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2025
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Legged, aerial and field robots · 33% Motion planning and robot control · 33% Reinforcement learning · 33%
Interdisciplinary, comprehensive, and emerging computing
1 paper
Environmental and earth informatics · 100%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots
aerial robots
0.912025
Autonomous Drone for Dynamic Smoke Plume Tracking · ICRA 2025
Machine learning › Reinforcement learning
reinforcement learning for control
0.912025
Autonomous Drone for Dynamic Smoke Plume Tracking · ICRA 2025
Robotics › Motion planning and robot control
robot control
0.912025
Autonomous Drone for Dynamic Smoke Plume Tracking · ICRA 2025
Environmental and earth informatics
environmental monitoring
0.312025
Autonomous Drone for Dynamic Smoke Plume Tracking · ICRA 2025

Methods — techniques the papers use, named apart from their topics

proximal policy optimization · 1.7deep reinforcement learning · 1.7PID control · 1.7
YearPublicationVenuePosition
2025 Autonomous Drone for Dynamic Smoke Plume Tracking
abstract
This paper presents a novel autonomous drone-based smoke plume tracking system capable of navigating and tracking plumes in highly unsteady atmospheric conditions. The system integrates advanced hardware and software and a comprehensive simulation environment to ensure robust performance in controlled and real-world settings. The quadrotor, equipped with a high-resolution imaging system and an advanced onboard computing unit, performs precise maneuvers while accurately detecting and tracking dynamic smoke plumes under fluctuating conditions. Our software implements a two-phase flight operation: descending into the smoke plume upon detection and continuously monitoring the smoke's movement during in-plume tracking. Leveraging Proportional Integral-Derivative (PID) control and a Proximal Policy Optimization (PPO) based Deep Reinforcement Learning (DRL) controller enables adaptation to plume dynamics. Unreal Engine simulation evaluates performance under various smoke-wind scenarios, from steady flow to complex, unsteady fluctuations, showing that while the PID controller performs adequately in simpler scenarios, the DRL-based controller excels in more challenging environments. Field tests corroborate these findings. This system opens new possibilities for drone-based monitoring in areas like wildfire management and air quality assessment. The successful integration of DRL for real-time decision-making advances autonomous drone control for dynamic environments.
Srijan Kumar Pal, Nikil Krishnakumar, Jiarong Hong
ICRA3