Gamini  Dissanayake

James N Kirby Professor of Mechanical and Mechatronic Engineering

Node director (UTS) ARC Centre of Excellence for Autonomous Systems

Contact Details

Postal: Faculty of Engineering
University of Technology, Sydney
PO Box 123, Broadway  2007  NSW
AUSTRALIA
Room: Bldg 2, Leve 6, Kevin Kirby Suite
Phone: +61 2 9514 2683
Fax: +61 2 9514 2655
Email: gamini.dissanayake@uts.edu.au

 


Qualifications

Ph.D. in Mechanical Engineering, University of Birmingham, 1985.
M.Sc.(Eng) in Machine Tool Technology, University of Birmingham,1981.
B.Sc.(Eng) in Mechanical and Production Engineering, 1st Class Honours, University of Peradeniya, 1977.

Professional Societies

Institute of Electrical and Electronic Engineers (IEEE)
   IEEE Robotics and Automation Society
   IEEE Control Society
   IEEE Computer Society

Research Interests

Localisation and map building for mobile robots, dynamics and control of mechanical systems, cargo handling, optimisation and path planning.  I am the node director at UTS of the ARC Centre of Excellence for Autonomous Systems

Current Research Projects

  • Simultaneous localisation and map building (SLAM)
  • Use of Inertial Measurement Units (IMUs) in land vehicles and crane systems
  • Localisation and control of underground mining vehicles
  • Quay crane enhancements, including anti-sway, load micropositioning, and enhanced driver interfaces

Capstone Projects

Publications

Here is a list of my publications.  You can get some of these papers as pdf or postscript form from the Centre for Autonomous Systems website

Book Chapters

 

1.       Furukawa T., Dissanayake G. & Durrant-Whyte H. ‘An Application of Multi-objective Evolutionary Algorithms in Autonomous Vehicle Navigation.’ World Scientific, Carlos A. Coello Coello (Ed), pp. 125-153, 2004.

 

Papers Published as Chapters in Books

 

2.       G Dissanayake, JWR Coates, DC Rye, HF Durrant-Whyte, MA Louda. “Control of load sway in enhanced container handling cranes”. In Lecture Notes in Control and Information Sciences, Experimental Robotics V, Springer-Verlag. 241-51, 1998.

3.       G. Dissanayake, M. Hebert, A. Stentz and H. Durrant-Whyte, “Map building and terrain aided localisation in an underground mine”. In Field and Service Robotics, Springer-Verlag, 40-45, 1998.

4.       M. Louda, D. Rye, G. Dissanayake, H. Durrant-Whyte, “Identification of load sway in quay-cranes”. In Field and Service Robotics, Springer-Verlag, 384-389, 1998.

5.       G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, and M. Csobra, “An experimental and theoretical investigation into simultaneous localisation and map building (SLAM)”. In Lecture Notes in Control and Information Sciences, Experimental Robotics VI, Springer–Verlag, 265-274, 2000.

6.       H. F. Durrant–Whyte, G. Dissanayake, P. W. Gibbens, “Toward deployment of large–scale simultaneous localisation and map building (SLAM) systems”. In Robotics Research, The Ninth Int. Symposium, Springer-Verlag, 161–168, 2000.

7.       Z. Wang, S. Huang and G. Dissanayake,  “Implementation Issues and Experimental Evaluation of D-SLAM”, In Field and Service Robotics: The 5th Int. Conf. on Field and Service Robotics,  Springer, 153-164, 2006.

8.       Z. Wang, S. Huang and G. Dissanayake, “D-SLAM: Decoupled localization and mapping for autonomous robots”, Robotics Research: Results of the 12th International Symposium ISRR, S. Thrun, R. Brooks, H.  Durrant-Whyte, (Eds.) Springer, 203-213, 2007.

9.       A. Kulatunga, B. Skinner, D.K. Liu, H. Nguyen, G. Dissanayake (2007), “Distributed simultaneous task allocation and motion coordination of autonomous vehicles using a parallel computing cluster”, Robotic Welding, Intelligence and Automation, Lecture Notes in Control and Information Sciences (Vol. 362), T.-J. Tarn, S.B. Chen and C. Zhou (Eds), Springer-Verlag, 409-420, 2007.

10.    D.C. Herath, K.R.S. Kodagoda and G. Dissanayake, “Stereo Vision Based SLAM: Issues and Solutions”,  Vision Systems, G. Obinata and A. Dutta (Eds), Advanced Robotic Systems, Vienna, Austria, EU, 565-582, 2007.

Papers Published in Refereed International Journals

 

11.    G. Dissanayake. “High-speed positioning of robot manipulators”.  Journal of Systems Engineering, 1, 103-113, 1991.

12.    G. Dissanayake, C.J. Goh, N. Phan-Thien, “Time-optimal trajectories for robot manipulators”.  Robotica, 9, 131-138, 1991.

13.    D.T. Pham, G. Dissanayake.  “A vibratory sensor for locating parts”.  Robotica, 10, 289-302, 1992.

14.    G. Dissanayake.  “Neural network based distance functions for robot obstacle avoidance”.   Journal of Systems Engineering 1, 1-8, 1993.

15.    G. Dissanayake, N. Phan-Thien.  “Near minimum-time positioning of a flexible beam”.   ZAMP, Journal of Applied Mechanics and Physics. 44, 755-768, 1993.

16.    G. Dissanayake, N. Phan-Thien.  “Neural network based approximations for solving partial differential equations”. Communications in Applied Numerical Methods10, 195-201, 1994

17.    G. Dissanayake, J.A. Gal. “Workstation planning for redundant manipulators”.  International Journal of Production Research. 32(5), 1105-1118, 1994

18.    T. Furukawa, G. Yagawa, G. Dissanayake, D.C. Rye. “Adaptive passive control for unknown surface polishing”. Trans. of the Japanese Society of Mechanical Engineers: Nippon Kikai Gakkai Ronbunshu, C Hen., 61(585), 1987-1993, 1995

19.    T. Furukawa, K.Y. Lee, G. Dissanayake. “A method for sub-minimal-time trajectory planning of redundant dual manipulator systems”. Journal of Robotic Society of Japan, 3(4), 84-90, 1995

20.    K.Y. Lee, G. Dissanayake.  “Near minimum-time trajectories for two coordinated manipulators”.  Robotica, 13, 177-184, 1995

21.    T. Furukawa, G. Dissanayake, D.C. Rye, A.J. Barratt.  “Automated polishing of an unknown three-dimensional surface”. International Journal of Robotics and Computer Integrated Manufacturing,12 (3), 261-270, 1996

22.    G. Fang, G. Dissanayake. “Experiments on a neural network based method for time-optimal trajectory planning”. Robotica, 16(2), 143-58, March-April 1998.

23.    KY. Lee, G. Dissanayake. “Numerical Solution for the Near Minimum Time Trajectory for Two Coordinated Manipulators”. Engineering Optimization, 30, 227-247, 1998.

24.    S. Scheding, G. Dissanayake, E. Nebot, H. Durrant-Whyte, “Autonomous Navigation of an Underground Mining Vehicle”. IEEE Transactions on Robotics and Automation, 15(1), 85-95,1999.

25.    R. Madhavan, G. Dissanayake, H.F. Durrant-Whyte, J.M. Roberts, P.I. Corke, J. Cunningham, “Issues in Autonomous Navigation of Underground Vehicles”. Mineral Resources Engineering, 8(3), 313-323, 1999.

26.    E. Nebot,  S. Scheding, M. Stevens, H. Durrant-Whyte, G. Dissanayake, J. Roberts, P. Corke  and J. Cunningham, "Experimental results with navigation sensors in Underground mining environments". International Journal of Computer and Applications, 7(3), 146-148, 2000.

27.    K.Y. Lee, G. Dissanayake, ‘Dynamic Modelling and Motion Planning for a Hybrid Legged-Wheeled Mobile Robot’, Proc. IMechE J. of Mechanical Engineering Science, 215 (Part C), 7-25, 2001.

28.    G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, M. Csobra, ‘A solution to the simultaneous localisation and map building (SLAM) problem’. IEEE Trans. on Robotics and Automation, 17(3), 229-241, 2001.

29.     G. Dissanayake, G. Fang, Minimum-time trajectories for reducing load sway in quay-cranes, Engineering Optimization, 33, 643-662, 2001.

30.    S.B. Williams, G Dissanayake, HF Durrant-Whyte, ‘Terrain-Aided Navigation for Underwater Robotics’, Advanced Robotics, 15(5), 533-550, 2001.

31.    S.B. Williams, P Newman, J Rosenblatt, G Dissanayake, HF Durrant-Whyte, ‘Autonomous Underwater Navigation and Control’, Robotica, 19(5), 481-496, 2001.

32.     G. Dissanayake, S. Sukkarieh, E. Nebot, H. Durrant-Whyte, ‘The aiding of a low cost, strapdown inertial unit using modelling constraints in land vehicle applications’. IEEE Trans. on Robotics and Automation, 17(5), 731-747, 2001.

33.    G. Dissanayake, S.B. Williams, H. Durrant-Whyte, T. Bailey, “Map management for efficient simultaneous localisation and map building (SLAM) Problem”  Autonomous Robots, 12, 267-286, 2002

34.    T. Furukawa, G.  Dissanayake “Parameter identification of autonomous vehicles using multi-objective optimization” Engineering Optimization, 34, 369-395,2002

35.    Williams S.B., Durrant-Whyte H., & Dissanayake G., ‘Constrained initialisation of the simultaneous localisation and mapping algorithm’, Int. J. Robotics Research, vol. 22, no.7 pp. 541-564, July 2003.

36.    Q.P. Ha, T.H. Tran, and G. Dissanayake, "A wavelet- and neural network-based voice interface system for wheelchair control," Int. J. Intelligent Systems Technologies and Applications, Vol. 1, No.1/2, pp. 49-65, 2005.

37.    N. M. Kwok, D.K. Liu, G. Fang, G. Dissanayake, “Evolutionary computing based mobile robot localization”, Journal of Engineering Applications of Artificial Intelligence, 19(8),  857-868, 2006.

38.    Q.P. Ha and G. Dissanayake, "Robust Formation using Reactive Variable Structure Systems," Int. Transactions on Systems Science and Applications, 1 (2), 181-189, 2006.

39.    C. Leung, S. Huang and G. Dissanayake, “Planning under uncertainty using model predictive control for information gathering”, Robotics and Autonomous Systems, Vol.54, No. 11, pp. 898-910, November 2006.

40.    Lars-Peter Ellekilde, S. Huang, J. Valls Miro and G.  Dissanayake, “Dense 3D map construction for indoor Search and Rescue”, Journal of Field Robotics, Vol. 24, No. 1/2, 71-89, 2007.

41.    Z. Wang, S. Huang and G. Dissanayake, “D-SLAM: A decoupled solution to simultaneous localization and mapping”, Int. J. Robotics Research, 26(2), 187-204, 2007.

42.    N. M. Kwok, S. Huang, G. Dissanayake, Q. P. Ha and Gu Fang, “Mobile robot localization and mapping using a Gaussian sum filter”, Int. J. Control, Automation, and Systems,  5(3), 251-268, 2007.

43.    S. Huang and G. Dissanayake, “Convergence and consistency analysis for Extended Kalman Filter based SLAM”, IEEE Transactions on Robotics, 23(5), 1036-1049, 2007.

44.    A.D. Nguyen, V.T. Ngo, Q.P. Ha, and G. Dissanayake, “Robotic Formation: Initialisation, Trajectory Planning, and Decentralised Control,” International Journal of Automation and Control, (Accepted, February 2006).

45.    H. Lau, S. Huang, G. Dissanayake, “Probabilistic search for a moving target in structured environments”, European Journal of Operational Research. (Accepted June 2007).

 

Patents

 

46.    “Crane with improved reeving arrangement”, Australian and International Patent, PCT/AU96/00749, (with H. Durrant-Whyte, D.C. Rye, University of Sydney and Patrick Stevedores), 1996

47.    “Novel methods for locating objects”, United Kingdom Provisional Patent, (with D.T. Pham and University of Birmingham) 1984.(now expired)

 

 

 

 

Refereed Full Length Conference Papers

 

48.    D.T. Pham, G. Dissanayake “Feasibility study of a vibratory sensor for locating three-dimensional objects”.  Proc. 25th Int. Conf. on Machine Tool Design and Research, 201-211, Birmingham, 1985.

49.    D.T. Pham, G. Dissanayake “A three D.O.F. inertial sensor for locating parts”.  Proc. 15th Int. Symp. on Industrial Robots, 613-629, Tokyo, 1985.

50.    D.T. Pham, G. Dissanayake “Inertia based methods for locating three-dimensional objects”.  Proc. 5th Int. Conf. on Robot Vision and Sensory Controls, 223-237, Amsterdam, 1985

51.    C.J. Ong, G. Dissanayake, A.N. Poo “Force control of robot manipulators”.   Proc. Int. Conf. on Automation in Manufacturing, AIM 87, Singapore, 1987.

52.    G. Dissanayake, A.N. Poo “Robot trajectory planning for minimising residual vibrations”.   Proc. Third IEEE Symposium on Intelligent Control, August 1988, USA.

53.    G. Dissanayake, A.N. Poo “Controlling Vibrations in Robot Arms”.  Proc. of Conference on Industrial Automation IA'90, Singapore, May 1990.

54.    G. Dissanayake, D.C. Rye, J. Du Preez “A sensor to aid robotic polishing”.   Proc. of 1990 Pacific Conference on Manufacturing, Melbourne, December 1990.

55.    D.C. Rye, J.A. Gal, A. Khan, G. Dissanayake “A system for flexible automatic assembly”.   Proc. of 1990 Pacific Conference on Manufacturing, 142-149, Melbourne, December. 1990.

56.    X-H Wu, G. Dissanayake.  “A generalised classification and coding system for computer aided process planning”.  Proc. of the IEEE International Workshop on Emerging Technologies and Factory Automation, 156-160, Melbourne, August 1992.

57.    G. Fang, G. Dissanayake.  “A neural network based algorithm for robot trajectory planning”.  Proc. Int. Conf. on Robots for Competitive Industries, Brisbane, 521-530, July 1993.

58.    G. Dissanayake.  “A method for computing optimal controls for mechanical systems”. 12th IFAC World Congress, Sydney, Vol 4, 93-96, July 1993.

59.    H. Whayudi, G. Dissanayake.  “On trajectory planning for flexible robots”.  12th IFAC World Congress, Sydney, Vol 3, 301-304,  July 1993.

60.    T. Furukawa, G. Dissanayake, D.C. Rye.  “A control system incorporating fuzzy logic for robot polishing”.  Proc. 24th International Symposium on Industrial Robotics, 271-281, Tokyo, November 1993.

61.    X.H. Wu, G.  Dissanayake, “An approach for supervised job shop scheduling using genetic algorithms”.  Proc. Australian and New Zealand Conference on Intelligent Information Systems, 472-476, Perth, WA, December 1993.

62.    K.Y. Lee, G. Dissanayake.  “Approximation of minimum-time trajectories for dual cooperative manipulator system”. Proc. First Asian Control Conference, Vol III, 693-696, Tokyo, July 1994.

63.    X-H Wu, G. Dissanayake.  “Some problems in computer aided process planning and scheduling”. Proc. First Asian Control Conference, Vol II, 217-220, Tokyo, July 1994

64.    T. Furukawa, G. Dissanayake.  “Automatic design of fuzzy logic controllers for robotic systems using genetic algorithms”. Proc. First Asian Control Conference, Vol II, 941-944, Tokyo, July 1994.

65.    D.C. Rye, G. Dissanayake, E.M. Nebot, “Design and development of an undergraduate degree in mechatronics”, Proceedings of the Workshop on Mechatronics Education, 3, 91-97, Stanford, 1994.

66.    K.Y. Lee, P. Wittefeldt, P. McHugh, G. Dissanayake, “Development of a legged-wheeled mobile robot” Proc. of Mechatronics and Machine Vision in Practice, 166-69, Toowoomba, September 1994.

67.    H. Wahyudi, G. Dissanayake, “Modelling and control of flexible manipulators”, Proc. of Pacific Conference on Manufacturing, 477 – 484, Jakarta, December 1994.

68.    G. Fang, G. Dissanayake, J. Kieffer. “Experiments on robot time-optimal trajectory planning''. ARA Nat.  Conf. on Robots for Australian Industry, 403-409, Melbourne, July 1995.

69.    K.Y. Lee, G. Dissanayake, J. Gal, G. Fang. “Gait synthesis for a hybrid legged-wheeled mobile vehicle''. Proc.  26th International Symposium of Industrial Robots, 417-422, Singapore, October 1995.

70.    G. Fang, G. Dissanayake. “On Time-Optimal Trajectory Planning for Industrial Robots”. Proc. 26th International Symposium of Industrial Robots, 351-356, Singapore, October 1995.

71.    G. Fang, G. Dissanayake. “Neural Networks for Modelling Robot Forward Dynamics”.  Proc. 1995 IEEE Int. Conf. on Neural Networks, Vol. V, 2715-2719, Perth, November 1995.

72.    S. Scheding, G. Dissanayake, E.M. Nebot, H. Durrant Whyte. “Inertially Aided Navigation System for an LHD”, Proc. First Australian Data Fusion Symposium, ADFS-96, Adelaide, 77-82, November 1996.

73.     S. Scheding, G. Dissanayake, E.M. Nebot, H. Durrant Whyte. “Slip modelling and aided inertial navigation of an LHD”. Proc IEEE International Conference on Robotics and Automation, Vol 3, 1904-1909, Albuquerque, USA, April 1997.

74.    G. Dissanayake, D.C. Rye, H.F. Durrant-Whyte. “Towards automatic container handling”. Proc IEEE International Conference on Robotics and Automation, Vol 3, 1833-1838, Albuquerque, USA, April 1997.

75.    G. Dissanayake, J.W.R. Coates, D.C. Rye, H.F. Durrant-Whyte, M.A. Louda. “Control of load sway in enhanced container handling cranes”. Proc. 5th Int. Symp. On Experimental Robotics, 199-209, Barcelona, June 1997.

76.    G. Fang, G. Dissanayake. “Experiments on a time-optimal trajectory planning method based on neural networks”. Proc. Mechatronics and Machine Vision in Practice '97, 188-193, Toowoomba, September 1997.

77.    G. Fang, G. Dissanayake. “A model predictive controller for robot trajectory tracking based on neural network model”. Proc. 2nd Int. Power Electronics and Motion Control Conference, 689-694, Hangzhou, China, November 1997.

78.    G. Dissanayake, M. Hebert, A. Stentz, H. Durrant-Whyte, “Map building and terrain aided localisation in an underground mine”.  Proc. of the Int. Conf. on  Field and Service Robotics, 34-40, Canberra, December 1997.

79.    M. Louda, D. Rye, G. Dissanayake, H. Durrant-Whyte, “Identification of load sway in quay-cranes”. Proc. of the Int. Conf. on Field and Service Robotics, 398-404, Canberra, December 1997

80.    G. Fang, G. Dissanayake. “A neural network-based method for robot time-optimal trajectory planning”. 1998 World Automation Congress, Anchorage, USA, May 1998.

81.    M. Louda, D. Rye, G. Dissanayake, H. Durrant-Whyte, “INS-based identification of quay-crane spreader yaw.” Proc IEEE International Conference on Robotics and Automation, vol.4, 1998, 3310-15, Leuven, Belgium, May 1998.

82.    R. Madhavan, G. Dissanayake, H.F. Durrant-Whyte, “Autonomous underground navigation of an LHD using a combined ICP and EKF”, Proc IEEE International Conference on Robotics and Automation, vol.4, 1998, 3703-8, Leuven, Belgium, May 1998.

83.    R. Madhavan, G. Dissanayake, H. Durrant-Whyte. “Map-building and map-based localization in an underground-mine by statistical pattern matching” Proc. Fourteenth International Conference on Pattern Recognition, Vol 2, 1744-6, Brisbane, Australia, August 1998

84.    R. Madhavan, G. Dissanayake, H.F. Durrant-Whyte, J.M. Roberts, P.I. Corke, J. Cunningham, “Issues in Autonomous Navigation of Underground Vehicles”. Proceedings of the Australian Mining Technology Conference (AMTC), 57-67, Perth, Australia, September 1998.

85.    S. Clark, G. Dissanayake, H.F. Durrant-Whyte, “Millimetre wave radar for map building and feature extraction”. Proceedings of the Australian Mining Technology Conference (AMTC), 68-81, Perth, Australia, September 1998.

86.    G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, M. Csobra, “An experimental and theoretical investigation into simultaneous localisation and map building (SLAM)”. Proc. 6th International Symposium on Experimental Robotics, 171-180, Sydney, March 1999.

87.    G. Dissanayake, S. Sukkarieh, E.M. Nebot, H. Durrant-Whyte, “A new algorithm for the alignment of inertial measurement units without external observation for land vehicle applications”. Proc IEEE International Conference on Robotics and Automation, vol.3, 2274-9, Detroit, May 1999.

88.    S. Clark, G. Dissanayake, “Simultaneous localisation and map building using millimetre wave radar to extract natural features”. Proc IEEE International Conference on Robotics and Automation, vol.2, 1316-21, Detroit, May 1999.

89.    R. Madhavan, E. Nettleton, E. Nebot, G. Dissanayake, J. Cunningham, H.F. Durrant-Whyte, P. Corke, J. Roberts, “Evaluation of internal navigation sensor suites for underground mining”, Proc IEEE International Conference on Robotics and Automation, vol.2, 999-1004, Detroit, May 1999.

90.    E.M. Nebot, D.C. Rye, G. Dissanayake, H. Durrant-Whyte, “Mechatronics Undergraduate Degree at the University of Sydney”. Presented at 2nd Asia-Pacific Forum on Engineering & Technology Education, Sydney, Australia, July, 1999.

91.    H. Durrant-Whyte, G. Dissanayake, P. Gibbens, “Toward deployment of simultaneous localisation and map building (SLAM) systems”. Proc. 9th Int. Symp. on Robotics Research, 121-127, Utah, USA, October 1999.

92.    J. Leal, S. Scheding, G. Dissanayake, “Probabilistic 2D mapping of unstructured environments”, Proc. of the Australian Conf. on Robotics and Automation, 19–24, Melbourne Vic, September 2000.

93.    P. W. Gibbens, G. Dissanayake,  H. F. Durrant-Whyte, “Closed form solutions to the single–degree of freedom simultaneous localisation and map building (SLAM) problem”, Proc. of the 2000 39th IEEE Conf. on Decision and Control, 191–196, Sydney, December 2000.

94.    G. Fang, G. Dissanayake, “Dynamic modelling and time–optimal trajectory planning for quay cranes”, Proc. of the Int. Conf. on Control, Automation Robotics and Vision, (CD-ROM), 5 pages, Singapore, December 2000.

95.    S. Sukkarieh, G. Dissanayake, E. Nebot, H. Durrant-Whyte, “The Aiding Of A Low Cost, Strapdown Inertial Unit For Land Vehicle Applications Using GPS, Speed Encoder Data And Vehicle Modeling constraints All In An Information Filter Framework”, Proc. of the Int. Conf. on  Field and Service Robotics, 395-400, Pittsburgh, USA.

96.    G. Dissanayake, H. Durrant-Whyte, T. Bailey, “A computationally efficient solution to the simultaneous localisation and map building (SLAM) Problem”. Proc IEEE International Conference on Robotics and Automation, 1009-1014, San Francisco, April 2000.

97.    S.B. Williams, P. Newman, G. Dissanayake, H.F. Durrant-Whyte, "Autonomous underwater simultaneous localisation and map building". Proc IEEE International Conference on Robotics and Automation, 1793 – 1798, San Francisco, April 2000.

98.    SB Williams, P Newman, G Dissanayake, J Rosenblatt, H Durrant-Whyte. “A decoupled, distributed AUV control architecture”, Proc. of the 31st International Symposium on Robotics (ISR 2000), 246-51, Montreal, May 2000.

99.    H. Durrant-Whyte, E. Nebot, G. Dissanayake, ‘Autonomous localisation and map building in large-scale unstructured environments’, Learning 2001, 1-2, Snowbird, UT, USA, April 2001.

100.S.B. Williams, G. Dissanayake and H. Durrant-Whyte. ‘Constrained initialisation of the simultaneous localisation and mapping algorithm’, FSR2001 Proc. Int. Conf. on Field and Service Robotics, 315-320, Helsinki, Finland, June 2001.

101.Furukawa T. & Dissanayake G., ‘Model parameter identification of autonomous vehicles’, In Proc. of the 2001 Australian Conf. on Robotics and Automation, 32-37, Sydney, Australia, November 2001.

102.T. Furukawa, S. Yoshimura, G. Dissanayake, ‘Human-like Optimisation for Computational Design’, Proc. Int. Conf. on Computational Engineering and Sciences, 1-6, Mexico, August 2001.

103.S.B. Williams, G. Dissanayake and H.F. Durrant-Whyte, ‘Efficient Simultaneous Localisation and Mapping Using Local Submaps’, Proc. Australian Conf. on Robotics and Automation, 128-134, Sydney, Australia, November 2001.

104.J. Leal, S. Scheding, G. Dissanayake, ‘Three-dimensional terrain mapping: a stochastic approach’, Proc. Australian Conf. on Robotics and Automation, 135-140, Sydney, Australia, November 2001.

105.S.B. Williams, G. Dissanayake and H.F. Durrant-Whyte, “Towards Multi-Vehicle Simultaneous Localisation and Mapping”, IEEE International Conference on Robotics and Automation,  May 2002, Vol 3 ,2743 -2748

106.S.B. Williams, G. Dissanayake and H.F. Durrant-Whyte, “An Efficient Solution to the Simultaneous Localisation and Mapping Problem”, IEEE International Conference on Robotics and Automation,  May 2002, Vol 1,406 -411

107.R. Madhavan, H.F. Durrant-Whyte, G. Dissanayake, “Natural Landmark-based Autonomous Navigation using Curvature Scale Space”, IEEE International Conference on Robotics and Automation,, May 2002, Vol 4, 3936 -3941.

108.J. Leal, S. Scheding, G. Dissanayake, “Stochastic Simulation in Surface Reconstruction and Application to 3D Mapping”, IEEE International Conference on Robotics and Automation, May 2002, Vol 2, 1765 -1770.

109.Furukawa T., Durrant-Whyte H., Bourgault, F., & Dissanayake G., ‘Time-optimal coordinated control of the relative formation of multiple vehicles’, Proc. IEEE 2003 Int. Symp. on Computational Intelligence in Robotics and Automation (CIRA2003), pp. 259-265, Kobe, Japan, 16-20 July 2003.

110.Furukawa T., Durrant-Whyte H., & Dissanayake G., ‘Time-optimal cooperative control of multiple robot vehicles’, Proc. 2003 IEEE Int. Conf. Robotics and Automation, pp. 944-950, Taipei, Taiwan, 14-19 September 2003.

111.Furukawa T., Durrant-Whyte H., Dissanayake G., & Sukkarieh S., ‘The coordination of multiple UAVs for engaging multiple targets in a time-optimal manner’, Proc. 2003 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2003), pp. 36-42, Las Vegas,  USA, October 2003.

112.Takezawa S. & Dissanayake G., ‘Autonomous robot control applied for SLAM problem at indoor stereo artificial landmarks,’ Proc. of the 10th Asia-Pacific Vibration Conference, vol. 2, pp. 893-898, Gold Coast, Australia, 12-14 November 2003.

113.Dutta-Roy T., Zhang N., Dissanayake G., & Wang M., Free vibration analysis of vehicle powertrain equipped with a half toroidal CVT, Proc. of the 10th Asia-Pacific Vibration Conference, vol. 2, pp. 69-74, Gold Coast, Australia, 12-14 November 2003.

114.Kwok N.M., & Dissanayake G., ‘Bearing-only SLAM in indoor environments using a modified particle filter,’ Proc. 2003 Australasian Conf. on Robotics and Automation (ACRA 2003), Brisbane, Australia, 1-3 December 2003.

115.Furukawa T., Durrant-Whyte H., Bourgault, F., & Dissanayake G., ‘Time-optimal coordinated control of the relative fo Kwok N.M., & Dissanayake G., ‘Simultaneous localization and mapping in unstructured indoor environment,’ Proc. 2nd Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), Singapore, 15-18 December, 2003.

116.Kwok N.M., & Dissanayake G., ‘Simultaneous localization and mapping in unstructured indoor environment,’ Proc. 2nd Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), Singapore, 15-18 December, 2003.

117.G÷ktoğan A.H., Furukawa T., Mathews G., Sukkarieh S., & Dissanayake G., ‘Time-optimal cooperation of multiple UAVs in real-time simulation’, Proc. 2nd Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), Singapore, 15-18 December, 2003.

118.Liu D.K., Lau H., Dissanayake G., ‘A Hierarchical approach and a multilevel genetic algorithm for vehicle path plan’, Proc. 2nd Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2003), Singapore, 15-18 December, 2003.

119.Furukawa T., Bourgault F., Durrant-Whyte H. & Dissanayake G. ‘Dynamic allocation and control of coordinated UAVs to engage Multiple targets in a time-optimal manner’, Proc. IEEE International. Conference on Robotics and Automation (ICRA), pp. 2353-2358, New Orleans, USA, 26 April-1 May 2004.

120.Lim S-H., Furukawa T., Dissanayake G. & Durrant-Whyte H. ‘A time-optimal control strategy for pursuit-evasion games’, Proc. IEEE International. Conference on Robotics and Automation (ICRA),  pp. 3962-3967, New Orleans, USA, 26 April – 1 May 2004.

121.Ha Q.P., Trinh H. & Dissanayake G. ‘A low-order linear functional observer for time delay systems’, Proc. 5th Asian Control Conference (ASCC 2004), pp. 947-955, Melbourne, Australia, July 2004.

122.Gong Z., Guzman J.I.,  Scheding S., Rye D., Dissanayake G. & Durrant-Whyte H. ‘A heuristic rule-based switching and adaptive PID controller for a large autonomous tracked vehicle: From development to implementation’,  IEEE Conference on Control Applications International Symposium on Intelligent Control Computer Aided Control Systems Design,  Taipei, Taiwan, 2-4 September 2004. 

123.Ha, Q.P., Tran, T.H., Scheding, S., Dissanayake, G., and Durrant-Whyte, H.F. (2005) “Control Issues of an Autonomous Vehicle”, Proc. of the 22nd IAARC/CIB/IEEE/IFAC/IFR Int. Symposium on Automation and Robotics in Construction (ISARC2005), Ferrara Italy, 11-14 September 2004.

124.Huang S., Wang Z. & Dissanayake G. ‘Time optimal robot motion control in Simultaneous Localization and Map Building (SLAM) Problem’, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp. 3110-3115, Sendai, Japan , 28 September - 2 October 2004.

125.Takezawa S., Herath D. & Dissanayake G. 'SLAM in Indoor Environments with Stereo Vision', Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.1866-1871, Sendai, Japan, 28 September - 2 October, 2004.

126.Tran T.H., Ha Q.P., & Dissanayake G. ‘New wavelet-based pitch detection method for human-robot voice interface’, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.527-532, Sendai, Japan, 28 September - 2 October, 2004.

127.Kwok N. M., Dissanayake G. & Ha Q. P. ‘An efficient multiple hypothesis filter for bearing-only SLAM’, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp 736-741, Sendai Japan, 28 September - 2 October 2004.

128.Alempijevic A. & Dissanayake G. ‘An efficient algorithm for line extraction from laser scans’, Proc. IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp 970-974,  Singapore, 1-3 December 2004.

129.Kwok N. M., Liu D. K., Fang G. and Dissanayake G. ‘Path planning for bearing-only simultaneous localization and mapping', Proc. 2004 IEEE Conference on Robotics, Automation and Mechatronics (RAM),  pp. 828-833, Singapore,1-3 December 2004.

130.Alempijevic A. & Dissanayake G., ‘High-Speed Feature Extraction in Sensor Coordinates for Laser Rangefinders’, Proc. Australasian Conference on Robotics and Automation (ACRA 2004), Canberra, Australia, 6-8 December 2004.

131.S. Huang, N.W. Kwok, G. Dissanayake, Q.P. Ha, and G. Fang, "Multi-step look-ahead trajectory planning in SLAM: possibility and necessity," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp 1103-1108, Barcelona, Spain, April 18-22, 2005.

132.Z. Wang, S. Huang, G. Dissanayake, ‘Implementation issues and experimental evaluation of D-SLAM’ Proc. 5th International Conference on Field Robotics (FSR) 2005, Port Douglas, Australia, 29 Jul. - 31 Jul. 2005.

133.N.W. Kwok, G. Dissanayake, and Q.P. Ha, "Bearing-only SLAM using a SPRT Based Gaussian Sum Filter," Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation , pp 1121-1126, Barcelona, Spain, April 18-22, 2005.

134.Z. Wang, S. Huang, G. Dissanayake, ‘Decoupling Localization and Mapping in SLAM Using Compact Relative Maps’ Proc. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1041-1046, Edmonton, Alberta, Canada, August 2-6, 2005.

135.H. Lau, S. Huang and G. Dissanayake, "Optimal Search for Multiple Targets in a Built Environment,"  Proc.  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 228-233,  Edmonton, Alberta, Canada, August 2-6, 2005.

136.C. Leung, S. Huang, G. Dissanayake and T. Furukawa,  ‘Trajectory Planning for Multiple Robots in Bearing-Only Target Localisation, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, ,pp. 2312-2317, Edmonton, Alberta, Canada, August 2-6, 2005.

137.Ha, Q.P., Tran, T.H., Scheding, S., Dissanayake, G., and Durrant-Whyte, H.F. “Control Issues of an Autonomous Vehicle”, Proc. of the 22nd IAARC/CIB/IEEE/IFAC/IFR Int. Symposium on Automation and Robotics in Construction (ISARC2005), Ferrara Italy, September 11-14, 2005.

138.Z. Wang, S. Huang, G. Dissanayake, ‘D-SLAM:Decoupled Localization and Mapping for Autonomous Robots’, Proc. International Symposium of Robotics Research (ISRR 05), 2005, San Francisco, USA, 12 Oct. - 15 Oct. 2005

139.Ha, Q.P., Trinh, H., and Dissanayake, G. “A Distributed Approach to Global Feedback Control of Multi-Agent Systems”, Int. Conference on Intelligent Technologies (InTech 2005), Phuket Thailand, December 14-16, 2005.

140.S. Huang, Z. Wang, G. Dissanayake, “Mapping large scale environments using relative position information among landmarks”,  Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, 2297 - 2302, Florida, USA, May 15-19, 2006.

141.D.K. Liu, X. Wu, G. Paul, G. Dissanayake, “Case studies on an approach to multiple autonomous vehicle motion coordination”, Proceedings of the 1st International Symposium on Digital Manufacturing, 26-31, Wuhan, China, October 15-17, 2006.

142.D.K. Liu, X. Wu, A. K. Kulatunga, G. Dissanayake, “Motion Coordination of Multiple Autonomous Vehicles in Dynamic and Strictly Constrained Environments”, Proceedings of the IEEE International Conference on Cybernetics and Intelligent Systems (CIS), 204-209, Bangkok, Thailand, 7-9 June, 2006.

143.D.K. Liu, D. L. Wang, G. Dissanayake, “A Force Field Method Based Multi-Robot Collaboration”, Proceedings of the IEEE International Conference on Robotics, Automation & Mechatronics (RAM), 662-667, Bangkok, Thailand,7-9 June 2006.

144.S. Huang, G. Dissanayake, “Convergence analysis for extended Kalman filter based SLAM”, Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation , 412 - 417, Florida, USA, May 15-19, 2006.

145.Q.P. Ha, G. Dissanayake, “Robotic Formation Control using Variable Structure Systems Approach”, IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications, DIS 2006,  37 – 42, 5-16 June 2006

146.N. Kirchner, D. Liu, G. Dissanayake, “Bridge Maintenance Robot Arc: Capacitive Sensor for Obstacle Ranging in Particle Laden Air”, 23rd International Symposium on Automation and Robotics in Construction”, Tokyo, Japan, Oct. 2006. (Best Paper Award)

147.C. Leung, S. Huang, G. Dissanayake, “Active SLAM using Model Predictive Control and Attractor based Exploration”, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5026-5031, Beijing, China, October 9 - 15, 2006.

148.H. Lau, S. Huang, G. Dissanayake, “Probabilistic Search for a Moving Target in an Indoor Environment”, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3393-3398, Beijing, China, October 9 - 15, 2006.

149.D.L. Wang, D.K. Liu, G. Dissanayake (2006), “A variable speed Force Field Method for Multi-Robot Collaboration”, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2697-2702, Beijing, China, October 9-15, 2006.

150.Z. Wang, S. Huang, G. Dissanayake, Tradeoffs in SLAM with sparse information filters, The 6th International Conference on Field and Service Robotics, Chamonix, France, July 9-12, 2007.

151.A. Alempijevic, S. Kodagoda, G. Dissanayake, “Sensor Registration for Robotic Applications”, The 6th International Conference on Field and Service Robotics, 163-172, Chamonix, France, July 9-12, 2007.

152.S. Kodagoda, S. Sehestedt, A. Alempijevic, Z. Zhang, A. Donikian, G. Dissanayake, “Towards an Enhanced Driver Situation Awareness System”, Second International Conference on Industrial and Information Systems, Peradeniya, Sri Lanka, August 2007.

153.S. Sehestedt, S. Kodagoda, A. Alempijevic, G. Dissanayake, “Efficient Lane Detection and Tracking in Urban Environments”, Third European Conference on Mobile Robots, , 126-131, Germany, Sept., 2007.

154.P. Chotiprayanakul, D.K. Liu, D. Wang, G. Dissanayake (2007), “A 3-dimensional force field method for robot collision avoidance in complex environments”, Proceedings of the 24th International Symposium on Automation and Robotics in Construction (ISARC 2007), 139-145, Kochi, Kerala, India, 19-21 September 2007. (Best student paper award)

155.D. Wang, N. M. Kwok, D. K. Liu, G. Dissanayake (2007), “PSO-tuned F2 method for multi-robot navigation”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, California, USA, 29 Oct - 2 Nov. 2007.

156.H. Lau, S. Huang, G. Dissanayake, Multi-Agent Search with Interim Positive Information, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, California, USA, 29 Oct - 2 Nov. 2007.

157.S. Sehestedt, S. Kodagoda, A. Alempijevic, G. Dissanayake, “Robust Lane Detection in Urban Environments”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, California, USA, 29 Oct - 2 Nov. 2007.

158.S. Kodagoda, A. Alempijevic,  S. Sehestedt, G. Dissanayake, “Towards Improving Driver Situation Awareness at Intersections”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, California, USA, 29 Oct - 2 Nov. 2007.

159.P. Chotiprayanakul, D.K. Liu, D. Wang, G. Dissanayake (2007), “Collision-free trajectory planning for manipulators using virtual force based approach”, Accepted by the International Conference on Engineering, Applied Sciences, and Technology (ICEAST 2007), November 21-23, 2007, Swiss˘tel Le Concorde, Bangkok, Thailand (Accepted)

160.Z. Wang, S. Huang, G. Dissanayake, Multi-robot simultaneous localization and mapping using D-SLAM framework”, The Third International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), December 3-6, 2007. (Accepted)

161.L. Pedraza, G. Dissanayake, J. Valls Miro, J., D. Rodriguez Losada, F. Matia, “BS-SLAM: shaping the world”, Proceedings of Robotics: Science and Systems III(RSS 2007), Atlanta, USA, June, 2007.

162.T. Taha, J. Valls Miro, G. Dissanayake, “Wheelchair driver assistance and intention prediction using POMDPs”, The Third International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), December 3-6, 2007. (Accepted)

163.W. Zhou, J. Valls Miro, G. Dissanayake, “Information efficient 3D visual SLAM in unstructured domains”, The Third International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), December 3-6, 2007. (Accepted)