Engineering, Control and Systems Engineering, Automotive Engineering
33
Scopus Publications
253
Scholar Citations
10
Scholar h-index
11
Scholar i10-index
Scopus Publications
Autonomous Vehicle Path Tracking: Differential Lyapunov Optimal Control and Decision Fault Tree Learning Raghavendra M. Shet, Girish V. Lakhekar, Sandeep D. Hanwate Proceedings of IEEE International Conference on Signal Processing Computing and Control, 2025 Precise motion control is critical for guiding self-driving cars or autonomous vehicles, posing significant challenges in tasks such as nonlinear trajectory tracking and lane changing. A reliable and highly efficient steering mechanism is essential, even under challenging conditions. This paper proposes an optimal control strategy using a differential Lyapunov approach with adjustable Z-matrices to design a path-tracking system that follows a reference trajectory. The method effectively addresses parametric uncertainties related to vehicle cornering stiffness, road tire adhesion, inertial parameters, forward speed, as well as external disturbances, measurement noise, and localization or path-planning faults. To account for autonomous vehicle constraints, an alternative trajectory generation model is developed to ensure safety. A fault detection technique called Decision Fault Tree Learning (DFTL) is introduced to identify and locate faults within large and complex communication networks. Extensive testing demonstrates the method's high accuracy. Simulations and comparative analyses with advanced methods validate the fault detection rate and response time, emphasizing the technique's effectiveness.
Mutli-modal Human Pose Estimation Shaheen Khan, P.C. Nissimagoudar, Gireesha H.M., Anirudh Nayak, R.M. Shet, Nalini C. Iyer Procedia Computer Science, 2025 3D Human Pose Estimation (HPE) in autonomous vehicles differs significantly from other domains such as gaming or VR. In the context of autonomous vehicles, 3D HPE involves understanding of human poses and actions in real world “in the wild” scenarios within the surroundings of the vehicle. This paper particularly suggests a solution for this issue in the AV context. The image is first passed through Mask R-CNN to first segment pedestrians on RGB photos, and then this information is combined with LiDAR, along with an auxiliary segmentation branch for 3D HPE to potentially improve the accuracy, as Mask R-CNN can segment the pedestrians in the images and provide better spatial information about their location in the scene.
Path Optimization for Autonomous Vehicles in Static Environments Using CARLA Simulation Adwait Sanikop, Venkatesh Uttam, Raghvendra M Shet, Puneet Mugabasav, Shivaraj Panishettar, Nalini Iyer, Ujwala Patil Proceedings of IEEE International Conference on Signal Processing Computing and Control, 2025 For self-driving cars to navigate safely and efficiently in cities, they need smart path planning strategies. This research explores ways to improve these strategies using the CARLA simulator, focusing on autonomy, trajectory planning, and obstacle avoidance. We use the A* algorithm to find the shortest and most efficient routes, helping vehicles move smoothly even around static obstacles. But it is not just about finding the best route: Our approach also ensures safer and more natural driving by optimizing trajectories and avoiding sudden movements. These improvements make autonomous vehicles better suited for real-world challenges, such as complex road networks and unpredictable situations. Our work contributes to the future of intelligent transportation, bringing self-driving technology one step closer to everyday use. By refining these techniques, we help make autonomous vehicles safer, more efficient, and better prepared to handle the demands of urban environments.
Fuzzy Logic based Automatic steering control for Z-path navigation in EV Omkareshwar Bhangari, Adwait Sanikop, Venkatesh Uttam, Raghvendra M Shet, Shivaraj Panishettar, Nalini Iyer, Ujwala Patil Proceedings of IEEE International Conference on Signal Processing Computing and Control, 2025 Automated steering systems or automated lateral control are crucial for the advancement of electric vehicles (EVs), particularly in the navigation of complex paths. This research focuses on automating the steering system for Z-path navigation using fuzzy logic. The key input for the system is steering intention, while the outputs are steering angle, drive left (DL), drive right (DR), relay state, and relay timing. Using a fuzzy inference system with defined rules and membership functions, the study addresses the complexities of nonlinear path navigation, specifically focusing on Z-path navigation. The results demonstrate that the fuzzy logic controller effectively manages steering angles, relay timing, and path execution, achieving smooth and accurate Z-path navigation. This study underscores the potential of fuzzy logic controllers in enhancing automated steering systems for electric vehicles, providing a robust solution for nonlinear path navigation, and addressing the limitations of conventional steering mechanisms.
Adaptive Headlight Control for Automotive System Based on Curvature Detection Technique Manjunath B Dariyagol, Ayan N Sayed, Raghavendra M Shet, Nalini C Iyer, Pradeep U Badiger, Vishwanath M Hurakadli, Ujwala Patil Proceedings of IEEE International Conference on Signal Processing Computing and Control, 2025 This paper proposes a Curvature Adaptive Headlight System (CAHS) that dynamically adjusts the vehicle’s headlamp beam based on road curvature, enhancing both visibility and safety while minimizing glare and discomfort for drivers. Road safety is a major concern, especially during nighttime driving on curved roads, where traditional fixed-beam headlights often fail to provide adequate illumination, increasing accident risks. The proposed system utilizes a camera along with OpenCV for real-time lane detection and curvature angle calculation. The computed curvature data is then compared with existing methods, demonstrating improved accuracy. The system is validated through simulations, confirming considerable improvements in visibility and safety on curved roads. This system highlights the potential of camera-based adaptive headlights as a cost-effective and efficient solution for modern vehicles.
Fuzzy Logic-Driven Throttle Adjustment for Z-Path Navigation in Electric Vehicles Puneet Mugabasav, Shivaraj Panishettar, Adwait Sanikop, Shreyas M Salotagi, Raghvendra M Shet, Venkatesh Uttam, Nalini Iyer, Ujwala Patil Proceedings of IEEE International Conference on Signal Processing Computing and Control, 2025 Automated throttle control plays a vital role in the future development of electric vehicles, especially when it comes to navigating tricky roads. This research focuses on automating the throttle system for Z-path navigation using fuzzy logic. The system takes the desired throttle position as input and uses it to control the vehicle’s speed and state. Through a fuzzy logic system, which applies specific rules and functions, the study tackles the challenge of navigating non-linear paths, particularly Z paths. The results show that the fuzzy logic controller is able to manage throttle position, speed, and path navigation effectively, leading to smooth and accurate Z-path maneuvers. This work tells us how fuzzy logic controllers can improve automated throttle systems in electric vehicles and also provides a reliable solution to complex navigation and overcome the limitations of traditional throttle mechanisms.
Problem Based Learning – An Effective way of teaching DSP course Rohit Kalyani, N. S R, G. H. M., R. Shet, Nalini Iyer, Satish Chikkamath, Akash Kulkarni, S. Budihal Journal of Engineering Education Transformations, 2024 The Digital Signal Processing (DSP) course is fundamental to many signal processing and communication applications. Since it is a mathematical intensive, faculty often face challenge in teaching and keeping students engaged for longer time. Students find it challenging to understand the core concepts and practical applications. The present work investigates Problem-Based Learning (PBL) approach to enhance the teaching of DSP by integrating real-world problems and active learning strategies. This new approach was offered to third-year students of the university, combining PBL with traditional lectures. The curriculum is redesigned according to constructive alignment. It included core DSP concepts as modules, PBL activities for each module and their assessment. The PBL was implemented in different phases focusing on orientation, problem identification, signal analysis, and system design. The new experience resulted in improved student engagement, concept understanding, and problem-solving skills in DSP, with positive feedback from students. The future plan is to focus on addressing the challenges faced during the initial implementation and to refine the PBL approach for the next batch of students. Keywords— Digital signal processing (DSP); PBL; Real world problems, Reflection; Self-directed learning; Traditional teaching;
Haptics-human interaction and surface simulation Ashwini, Manoj, Deepti, Kiran, Nalini C. Iyer, Raghavendra M. Shet Proceedings of the 2015 International Conference on Green Computing and Internet of Things Icgciot 2015, 2016
Robust Yaw Angle Control of an AUV: Terminal Sliding Manifold Based Optimized Super‐Twisting Algorithm VL Karade, GV Lakhekar, RM Shet IET Intelligent Transport Systems 20 (1), e70208 , 2026 2026
Multimodal Sensor Fusion for Real-Time Object Detection K Nethra, K Nayak, S Sinchana, N Nithish, RM Shet E3S Web of Conferences 705, 02005 , 2026 2026
Robust yaw angle control of autonomous underwater vehicle: dynamic surface-based optimized SoSMC V L. Karade, G V. Lakhekar, R M. Shet Intelligent Service Robotics 18 (4), 799-820 , 2025 2025 Citations: 3
Path Optimization for Autonomous Vehicles in Static Environments Using CARLA Simulation A Sanikop, V Uttam, RM Shet, P Mugabasav, S Panishettar, N Iyer, U Patil 2025 7th International Conference on Signal Processing, Computing and … , 2025 2025 Citations: 1
Fuzzy Logic based Automatic steering control for Z-path navigation in EV O Bhangari, A Sanikop, V Uttam, RM Shet, S Panishettar, N Iyer, U Patil 2025 7th International Conference on Signal Processing, Computing and … , 2025 2025
Fuzzy Logic-Driven Throttle Adjustment for Z-Path Navigation in Electric Vehicles P Mugabasav, S Panishettar, A Sanikop, SM Salotagi, RM Shet, V Uttam, ... 2025 7th International Conference on Signal Processing, Computing and … , 2025 2025
Adaptive headlight control for automotive system based on curvature detection technique MB Dariyagol, AN Sayed, RM Shet, NC Iyer, PU Badiger, VM Hurakadli, ... 2025 7th International Conference on Signal Processing, Computing and … , 2025 2025 Citations: 1
Autonomous Vehicle Path Tracking: Differential Lyapunov Optimal Control and Decision Fault Tree Learning RM Shet, GV Lakhekar, SD Hanwate 2025 7th International Conference on Signal Processing, Computing and … , 2025 2025
Mutli-modal Human Pose Estimation S Khan, PC Nissimagoudar, A Nayak, RM Shet, NC Iyer Procedia Computer Science 263, 326-333 , 2025 2025
Robust path following control of AUVs using adaptive super twisting SoSMC RM Shet, GV Lakhekar, NC Iyer, LM Waghmare Journal of Marine Science and Application 23 (4), 947-959 , 2024 2024 Citations: 9
Comparative Study of PID and MPC A Purohit, RM Shet, NC Iyer, PC Nissimgoudar Intelligent Systems Design and Applications: Industrial Applications, Volume … , 2024 2024
Robust fuzzy quasi-SMC-based steering control of autonomous vehicle subject to parametric uncertainties and disturbances RM Shet, GV Lakhekar, NC Iyer, SD Hanwate International Journal of Automotive Technology, 1-19 , 2024 2024 Citations: 12
Braking System (ABS) for Different PC Nissimagoudar, HM Gireesha, RM Shet, R Kalyani Intelligent Systems Design and Applications: Real World Applications, Volume … , 2024 2024
Intelligent fractional-order sliding mode control based maneuvering of an autonomous vehicle RM Shet, GV Lakhekar, NC Iyer Journal of Ambient Intelligence and Humanized Computing 15 (6), 2807-2826 , 2024 2024 Citations: 12
Design of quasi fuzzy sliding mode based maneuvering of autonomous vehicle RM Shet, GV Lakhekar, NC Iyer International Journal of Dynamics and Control 12 (6), 1963-1986 , 2024 2024 Citations: 15
Problem Based Learning–An Effective way of teaching DSP course R Kalyani, SR Nirmala, HM Gireesha, R Shet, N Iyer, S Chikkamath, ... Journal of Engineering Education Transformations, 76-81 , 2024 2024 Citations: 2
Enabling Industry skills in Automotive Embedded Systems Courses: A Collaborative Model PC Nissimagouar, HM Gireesha, RM Shet, NC Iyer Journal of Engineering Education Transformations, 820-825 , 2024 2024 Citations: 1
Volumetric water content and soil temperature dependent irrigation system: An IoT based approach SB Hiremath, N Patil, RM Shet, NC Iyer AIP Conference Proceedings 2901 (1), 080010 , 2023 2023
Comparative study of trajectory tracking control for autonomous vehicles via geometric and model based method RM Shet, NC Iyer AIP Conference Proceedings 2901 (1), 080006 , 2023 2023 Citations: 4
Comparative study of pid and mpc controller on four wheel vehicle A Purohit, RM Shet, NC Iyer, PC Nissimgoudar International Conference on Intelligent Systems Design and Applications, 369-378 , 2023 2023 Citations: 5
MOST CITED SCHOLAR PUBLICATIONS
Autonomous driving platform: an initiative under institutional research project NC Iyer, HM Gireesha, RM Shet, P Nissimgoudar, V Mane Procedia Computer Science 172, 875-880 , 2020 2020 Citations: 23
Millimeter-wave AWR1642 RADAR for obstacle detection: autonomous vehicles NC Iyer, P Pillai, K Bhagyashree, V Mane, RM Shet, PC Nissimagoudar, ... Innovations in Electronics and Communication Engineering: Proceedings of the … , 2020 2020 Citations: 19
Effective utilization of maker space for facilitating product realization course S Chikkamath, R Shet, P Praveen, CI Nalini, BB Kotturshettar Journal of Engineering Education Transformations, 37-42 , 2020 2020 Citations: 18
Design of quasi fuzzy sliding mode based maneuvering of autonomous vehicle RM Shet, GV Lakhekar, NC Iyer International Journal of Dynamics and Control 12 (6), 1963-1986 , 2024 2024 Citations: 15
Integrated experience: Through project-based learning RM Shet, NC Iyer, PC Nissimgoudar, S Ajit Proceedings of the International Conference on Transformations in … , 2014 2014 Citations: 14
Robust fuzzy quasi-SMC-based steering control of autonomous vehicle subject to parametric uncertainties and disturbances RM Shet, GV Lakhekar, NC Iyer, SD Hanwate International Journal of Automotive Technology, 1-19 , 2024 2024 Citations: 12
Intelligent fractional-order sliding mode control based maneuvering of an autonomous vehicle RM Shet, GV Lakhekar, NC Iyer Journal of Ambient Intelligence and Humanized Computing 15 (6), 2807-2826 , 2024 2024 Citations: 12
Fault tolerant control system for autonomous vehicle: a survey R Shet, NC Iyer, Y Jeppu J. Adv. Res. Dyn. Control Syst 12 (8), 813-830 , 2020 2020 Citations: 11
Model based learning of linear integrated circuit course: a practical approach BH Shraddha, M Subhas, P Nikita, P Preeti, K Bhagyashree, RM Shet, ... Journal of Engineering Education Transformations , 2016 2016 Citations: 11
Modeling and simulation of an automotive RADAR PS Pillai, R Shet, NC Iyer, S Punagin Information and Communication Technology for Competitive Strategies (ICTCS … , 2021 2021 Citations: 10
Virtual simulation and testing platform for self-driving cars NC Iyer, RM Shet, PC Nissimagoudar, HM Gireesha, V Mane, A Kulkarni, ... ICT Analysis and Applications: Proceedings of ICT4SD 2020, Volume 2, 783-792 , 2020 2020 Citations: 10
Robust path following control of AUVs using adaptive super twisting SoSMC RM Shet, GV Lakhekar, NC Iyer, LM Waghmare Journal of Marine Science and Application 23 (4), 947-959 , 2024 2024 Citations: 9
Experiential learning: learning through projects S Chikkamath, N Vannal, RM Shet, PC Nissimgoudar, NC Iyer 2016 IEEE 4th International Conference on MOOCs, Innovation and Technology … , 2016 2016 Citations: 9
Mind mapping: An useful technique for effective learning in large classroom B Shraddha, S Raghavendra, P Nikita, N Iye, S Ajit Journal of Engineering Education Transformations, 19-24 , 2015 2015 Citations: 9
Active learning in electronic measurements and instrumentation course through hands-on P Nikita, P Jyoti, B Shraddha, P Preeti, S Raghavendra, NC Iyer Journal of Engineering Education Transformations , 2016 2016 Citations: 8
Motion control and sensor fault diagnostic systems for autonomous electric vehicle RM Shet, NC Iyer, PC Nissimagoudar, A Kulkarni, J Abhiram, ... ICT Analysis and Applications: Proceedings of ICT4SD 2020, Volume 2, 775-782 , 2020 2020 Citations: 7
Digital Signal Processing: An abstract mathematics to real world experience P Pillai, S Raghavendra, B Shraddha, P Nikita, N Iyer Journal of Engineering Education Transformations , 2016 2016 Citations: 7
Path Planning of Autonomous Vehicle for Real World Scenario Using CARLA RM Shet, NC Iyer, M Mirje, KV Bikkannavar, S Rokhade International Conference on Information and Communication Technology for … , 2023 2023 Citations: 6
Comparative study of pid and mpc controller on four wheel vehicle A Purohit, RM Shet, NC Iyer, PC Nissimgoudar International Conference on Intelligent Systems Design and Applications, 369-378 , 2023 2023 Citations: 5
Comparison of tuning methods of pid controllers for non-linear system S Hiremath, NC Iyer, RM Shet International Journal of Recent Research in Electrical and Electronics … , 2016 2016 Citations: 5
