Seenu

@hindustanuniv.ac.in

Assistant Professor, Mechatronics Engineering
Hindustan Institute of Technology and Science, Deemed to be University

Seenu


                  Download Compact PDF  
https://researchid.co/seenu_saravanan

RESEARCH INTERESTS

Intelligent Robotics
14

Scopus Publications

278

Scholar Citations

7

Scholar h-index

4

Scholar i10-index

Scopus Publications

  • Coverage-Enhanced Unknown Area Exploration and Mapping Technique for a Multi-Robot System
    Seenu N, Janaki Raman S
    Ssrg International Journal of Electronics and Communication Engineering, 2025
    An active task distribution algorithm is presented to realize the multi-robot exploration and mapping in new environments. During such missions, when covering unexplored areas, coverage has to be done in an efficient manner to provide a good performance. Inefficient task assignment usually results in the re-use of explored regions by robots. This leads to the wastage of fuel, time, and communication resources. The strategy employed by the proposed approach maximizes area coverage by providing dynamic task assignments so that each robot can target queues or recently covered and unexplored areas. It saves time, increases the productivity of the individual robots, and accelerates the entire mapping process by reducing duplication. The configuration was experimented with using the Robot Operating System (ROS) and the Gazebo simulation platform. These tests were done indoors, where there were obstacles that made the environment realistic. The findings indicated significant increases in the exploration speed, coverage factor, and mapping completion rate as compared to those of the existing methods. After a visual examination of the simulation results, it was clear that very few duplicate paths were obtained. This cements the fact that the allocation technique assists robots in a more efficient operation and with improved resource management. This is achieved through enhanced coverage of areas and reduction of unintended motions, making the multi-robot performance in complicated and unfamiliar terrains. It offers a scalable solution to such applications as search and rescue, environmental monitoring, and autonomous inspection.
  • Design and Development of Decentralized Multi-Robot System for Mapping and Load Handling
    Raghaventra R, Seenu N, Janaki Raman S
    Proceedings 3rd International Conference on Artificial Intelligence and Machine Learning Applications Healthcare and Internet of Things Aimla 2025, 2025
    Multi-robot systems have seen significant advancements in autonomous navigation, mapping, and task coordination. However, centralized communication architectures introduce latency, limiting real-time collaboration and scalability. This paper presents a decentralized multi-robot framework for mapping and load handling, integrating heterogeneous robots—a 13-DOF humanoid and TurtleBot3 units—to perform collaborative tasks without reliance on a central server. The system employs ROS1-based peer-to-peer communication, graph-based SLAM, and sensor fusion techniques to generate high-accuracy maps while enabling seamless humanoid navigation. The humanoid robot utilizes inverse kinematics for locomotion and YOLOv9-based vision processing for object recognition and weight estimation. Performance evaluations demonstrate a significant reduction in communication latency, improved mapping accuracy, and efficient obstacle manipulation. This work is particularly applicable in disaster response, industrial automation, and collaborative robotics, showcasing a scalable and adaptable approach for heterogeneous robot teams.
  • Experimental Investigation of Double Delta Wings with Different Angles of Attack at Subsonic Speeds
    G. Balaji, A. Bharath Kumar, R. Divya, G. Boopathy, N. Seenu, G. Santhosh Kumar
    Advances in Science Technology and Innovation, 2024
  • Autonomous Multiple Robots Exploration using Evolutionary Optimization Algorithm
    Seenu N, Kuppan Chetty Ramanathan, Ramya M M
    3rd International Conference on Electronics and Sustainable Communication Systems Icesc 2022 Proceedings, 2022
    Multiple robots exploration is an emerging research area in Robotics. Autonomous robotic exploration in natural or manmade disaster areas speeds up the search and rescue operations and it saves the life of victims and human rescuers. It helps to explore the places such as space, ocean, and forest etc., where humans are unable to physically visit. The important challenge existing in this autonomous multi-robots exploration problem is collaboration between the robots team to accomplish the entire mission. This research paper proposes an autonomous exploration strategy by means of a swarm intelligence algorithm. The entire area to be explored is partitioned into a number of smaller regions. Exploration of the entire smaller regions collectively brings the robots team to accomplish the overall mission. Hence the efficient allocation of robots to the smaller regions to be explored consumes optimal resources like battery energy and task completion time. The Particle Swarm Optimization algorithm is applied for allocating the smaller regions to the robots in an efficient manner. The simulation of the proposed environment partitioning and exploration strategy is implemented in the Robot Operating System Gazebo simulation tool. A flat and smooth terrain environment of known boundary conditions is considered in the simulation study. The environment contains a number of obstacles at random positions. The task allocation time, overall robots battery energy consumption is minimal by the proposed exploration strategy. The real time implementation of the proposed concept is the future scope of this research.
  • Autonomous Cost-Effective Robotic Exploration and Mapping for Disaster Reconnaissance
    Seenu N, Lokeshwaran Manohar, Nikhit Mathew Stephen, Kuppan Chetty Ramanathan, Ramya M M
    International Conference on Emerging Trends in Engineering and Technology Icetet, 2022
    Natural calamities like earthquake and tsunami wreak havoc on life of so many people and the infrastructure, thus saving people who are trapped in the affected region has been a very difficult task for rescuers. This work aims to develop a system which will ease this task for the rescuers by using behavior based multiple robots that will explore, map, localize, path plan and navigate in an unknown environment. Various incarnations of pre-existing meta-heuristic algorithms are used to develop a cost-effective solution in this work. A random walk exploration is used to explore the entire environment effectively which reduces the computational cost and time. To reduce the complexities of mapping, binary occupancy grid is used for the map layout, which is not as efficient as compared to its counterparts but better, where time is the crucial factor. To identify the efficient path to navigate from source to destination positions in the environment, Particle Swarm Optimization algorithm is used in this paper. The last and the most crucial step of the system is navigation towards the destination. By integrating INS and GPS algorithms, the robot can get an almost perfect algorithm for navigation which is not prone to errors. Autonomous robot exploration, mapping and navigation are achieved by integrating the proposed algorithms to work simultaneously. The effectiveness of the proposed algorithms is analyzed through simulations in Webots virtual simulator environment, and the results are presented. Adapting the proposed exploration technique for swarm of robots is a prospective future research direction of this paper.
  • Simulation And Real Time Of VR Controlled Robotic Manipulator Using ROS
    Sasidharan Vairavasamy, Noel Innocent J, Hamin MJ, Syed Ahmed, Seenu N, Ramya MM Dean
    Ibssc 2022 IEEE Bombay Section Signature Conference, 2022
    This paper focuses on developing a virtually controlled robot by integrating Virtual Reality (VR) and Robot Operating System (ROS). Robots can be used in certain environments where humans cannot be physically present to undertake a task. To increase the safety of humans, controlling a robot virtually is one of the best solutions. This paper shows how the VR-controlled manipulator will help in different fields like hazardous environments, underwater research, and the medical field for surgical operations. Unity 3D is used to develop the virtual environment, and ROS is used for communication with the physical robot. A Virtual environment would be developed where an exact robot (URDF) model can be designed. The interaction with the virtual environment is done with the help of VR headsets and controllers. ROS acts as the communication bridge between virtual and physical robots. A prototype has been developed to be controlled through virtual controllers that can interact through ROS.
  • Design and Development of Drone
    Nithin Krishnan, Manav TP, A N Geethanjali, Dinesh Kumar, N Seenu, G Balaji
    Ibssc 2022 IEEE Bombay Section Signature Conference, 2022
    A drone is a flying robot that can be remotely controlled or fly autonomously using software-controlled flight plans in its embedded systems, that work in conjunction with onboard sensors and a global positioning system (GPS). UAVs were most often associated with the military. They are used in many applications like Photography and Videography, delivering goods, monitoring change in climate, surveillance and target attacks in military, besides these, drones can also be a very good equipment that can be used in times of a disaster. In case of natural disasters like earthquakes, floods and fire accidents, there will be difficulty in locating and visualizing the disaster-affected area and locating where people are trapped. In such a case, a drone can be used to visualize the condition of the disaster occurred area and locate where the people are trapped. The drone is operated using ROS where the communication between ROS and the drone is made. The drone can also be fed with image-processing algorithms to locate people and also the level of damage can be calculated.
  • Design and simulation of disaster mitigation robot using machine vision
    M Avinaash, D Andrew, S Visnu, M Abrar, N Seenu
    Journal of Physics Conference Series, 2021
    The goal is to provide a robust mobile robot to assist recures in their operation by providing real time surveillance, remote operation as well autonomous operation. The mobile robot is capable of mapping using a LIDAR, this provides a map of the disaster zone which is then used to assess and provide a path planning for the most efficient rescue for the Mobile robot as well as the Rescuers. The built-in gas sensor reads the concentration of gases in the area, providing data on the environment in the disaster zone. The use of high definition cameras combined with Artificial Intelligence based image classification provides an edge in autonomous traversing and search and rescue. Disaster mitigation is an extremely dangerous task for the rescuers, a mobile robot such as LV-01 can be the difference between life and death.
  • Simulation of Autonomous Multifunctional Mobile Robot using Machine Vision
    S Gowtham, R Praveen, P Sai Charan, M Parthiban, N Seenu, RM Kuppan Chetty
    2021 7th International Conference on Advanced Computing and Communication Systems Icaccs 2021, 2021
    In the recent decade, vision-based robotic systems are employed for numerous domestic and industrial applications. Currently, a majority of mobile robots lack multiple capabilities and are confined to perform specific tasks due to the drawbacks of conventional distance sensors. This paper demonstrates the integration of road sign recognition, leader-follower, object tracking and self-driving functionalities into a single multifunctional robot using machine vision. The proposed object tracking algorithm uses dimensions of the bounding box enclosing the object and location of the object's centre in the recognition frame to generate the necessary motion commands for the robot. A 2-D convolutional neural network is developed to predict precise steering angles associated with the captured images for end-to-end steering control in the simulation environment. The simulation results obtained in Webots and Udacity-self driving car simulator platforms prove the robot's adaptability for multiple applications
  • A Mechatronics Design Approach of a Low-Cost Smart Reconnaissance Robot
    N. Seenu, R. M. Kuppan Chetty, K. M. Adithya Krishna, Taarun Srinivas, R. G. Pranav Raj
    Lecture Notes in Networks and Systems, 2021
  • Design and simulation of an automated guided vehicle through webots for isolated COVID-19 patients in hospitals
    Meenakshi Prabhakar, Valenteena Paulraj, Joshuva Arockia Dhanraj, Seenu Nagarajan, Dhusyant Arumukam Karthi Kannappan, Adithyaa Hariharan
    4th IEEE Conference on Information and Communication Technology Cict 2020, 2020
  • Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems
    Seenu N., Kuppan Chetty R.M., Ramya M.M., Mukund Nilakantan Janardhanan
    Industrial Robot, 2020
  • Evaluation of robotic cleaning technologies: Preserving a british iconic building
    Ahmed A.H. HAQQANI, N Seenu, Mukund JANARDHANAN, Kuppan Chetty RM
    Applied Computer Science, 2020
  • Design of an On-Chip tracking ADC
    International Journal of Engineering and Technology Uae, 2018

RECENT SCHOLAR PUBLICATIONS

  • Design and Development of Decentralized Multi-Robot System for Mapping and Load Handling
    R Raghaventra, N Seenu, S Janaki Raman
    2025 3rd International Conference on Artificial Intelligence and Machine … , 2025
    2025
  • Coverage-Enhanced Unknown Area Exploration and Mapping Technique for a Multi-Robot System
    JRS Seenu N
    International Journal of Electronics and Communication Engineering 12 (10) , 2025
    2025
  • Experimental Investigation of Double Delta Wings with Different Angles of Attack
    G Balaji, AB Kumar, R Divya, G Boopathy, N Seenu
    2nd International Conference on Smart Sustainable Materials and Technologies … , 2024
    2024
  • Experimental investigation of double delta wings with different angles of attack at subsonic speeds
    G Balaji, A Bharath Kumar, R Divya, G Boopathy, N Seenu, ...
    International conference on smart sustainable materials and technologies … , 2023
    2023
    Citations: 8
  • An autonomous misplaced trolley arrangement system using RFID
    M Prabhakar, AWS Gani, MHM Ibrahim, V Paulraj, JA Dbanraj, N Seenu
    Recent Advances in Material, Manufacturing, and Machine Learning, 1069-1074 , 2023
    2023
  • Design and Development of Drone
    N Krishnan, TP Manav, AN Geethanjali, D Kumar, N Seenu, G Balaji
    2022 IEEE Bombay Section Signature Conference (IBSSC), 1-6 , 2022
    2022
    Citations: 8
  • Simulation and real time of vr controlled robotic manipulator using ros
    S Vairavasamy, MJ Hamin, S Ahmed, N Seenu, RMM Dean
    2022 IEEE Bombay Section Signature Conference (IBSSC), 1-6 , 2022
    2022
    Citations: 9
  • Autonomous Multiple Robots Exploration using Evolutionary Optimization Algorithm
    N Seenu, KC Ramanathan, MM Ramya
    2022 3rd International Conference on Electronics and Sustainable … , 2022
    2022
    Citations: 2
  • Autonomous cost-effective robotic exploration and mapping for disaster reconnaissance
    N Seenu, L Manohar, NM Stephen, KC Ramanathan, MM Ramya
    2022 10th International Conference on Emerging Trends in Engineering and … , 2022
    2022
    Citations: 3
  • Dynamic dashboard and mail update for robotic system in Industry 4.0
    R Praveen, S Gowtham, M Parthiban, PS Charan, N Seenu, RMK Chetty
    3rd International Conference on Robotics Automation and Non-Destructive … , 2022
    2022
    Citations: 1
  • Design and simulation of disaster mitigation robot using machine vision
    M Avinaash, D Andrew, S Visnu, M Abrar, N Seenu
    Journal of Physics: Conference Series 2115 (1), 012009 , 2021
    2021
    Citations: 4
  • Simulation of autonomous multifunctional mobile robot using machine vision
    S Gowtham, R Praveen, PS Charan, M Parthiban, N Seenu, RK Chetty
    2021 7th International Conference on Advanced Computing and Communication … , 2021
    2021
    Citations: 5
  • Autonomous Robotic Exploration and Navigation System using Tri-layered Mapping and Geometrical Path Planning Techniques
    S Gowtham, R Praveen, M Parthiban, P Sai Charan, N Seenu, ...
    IOP Conference Series: Materials Science and Engineering 1055 (1), 012003 , 2021
    2021
    Citations: 1
  • Design and simulation of an automated guided vehicle through webots for isolated COVID-19 patients in hospitals
    M Prabhakar, V Paulraj, JA Dhanraj, S Nagarajan, DAK Kannappan, ...
    2020 IEEE 4th Conference on Information & Communication Technology (CICT), 1-5 , 2020
    2020
    Citations: 23
  • Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems
    S N, KC RM, R MM, MN Janardhanan
    Industrial Robot: the international journal of robotics research and … , 2020
    2020
    Citations: 182
  • A mechatronics design approach of a low-cost smart reconnaissance robot
    N Seenu, RMK Chetty, KMA Krishna, T Srinivas, RGP Raj
    Communication Software and Networks: Proceedings of INDIA 2019, 299-310 , 2020
    2020
    Citations: 2
  • Dynamic Task Allocation for Mobile Robot Teams based on Linear Integer Programming
    SKS Seenu. N, P. Saishashank, Guruprashanth, Gian Carlo, R M. Kuppan Chetty
    INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH & TECHNOLOGY (IJERT) 8 (17) , 2020
    2020
  • Evaluation of robotic cleaning technologies: preserving a British iconic building
    AAH Haqqani, N Seenu, M Janardhanan, CRM Kuppan
    Applied Computer Science 16 (2), 95-111 , 2020
    2020
    Citations: 4
  • Reference evapotranspiration assessment techniques for estimating crop water requirement
    N Seenu, RMK Chetty, T Srinivas, KMA Krishna, A Selokar
    Int J Recent Technol Eng 8 (4), 1094-1100 , 2019
    2019
    Citations: 13
  • Design of an On-Chip Tracking ADC
    S N
    International Journal of Engineering & Technology 7 (2018), 258-260 , 2018
    2018

MOST CITED SCHOLAR PUBLICATIONS

  • Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems
    S N, KC RM, R MM, MN Janardhanan
    Industrial Robot: the international journal of robotics research and … , 2020
    2020
    Citations: 182
  • Design and simulation of an automated guided vehicle through webots for isolated COVID-19 patients in hospitals
    M Prabhakar, V Paulraj, JA Dhanraj, S Nagarajan, DAK Kannappan, ...
    2020 IEEE 4th Conference on Information & Communication Technology (CICT), 1-5 , 2020
    2020
    Citations: 23
  • Reference evapotranspiration assessment techniques for estimating crop water requirement
    N Seenu, RMK Chetty, T Srinivas, KMA Krishna, A Selokar
    Int J Recent Technol Eng 8 (4), 1094-1100 , 2019
    2019
    Citations: 13
  • Android based intelligent irrigation system
    N Seenu, M Mohan, V Jeevanath
    International Journal of Pure and applied mathematics 119 (7), 67-71 , 2018
    2018
    Citations: 13
  • Simulation and real time of vr controlled robotic manipulator using ros
    S Vairavasamy, MJ Hamin, S Ahmed, N Seenu, RMM Dean
    2022 IEEE Bombay Section Signature Conference (IBSSC), 1-6 , 2022
    2022
    Citations: 9
  • Experimental investigation of double delta wings with different angles of attack at subsonic speeds
    G Balaji, A Bharath Kumar, R Divya, G Boopathy, N Seenu, ...
    International conference on smart sustainable materials and technologies … , 2023
    2023
    Citations: 8
  • Design and Development of Drone
    N Krishnan, TP Manav, AN Geethanjali, D Kumar, N Seenu, G Balaji
    2022 IEEE Bombay Section Signature Conference (IBSSC), 1-6 , 2022
    2022
    Citations: 8
  • Simulation of autonomous multifunctional mobile robot using machine vision
    S Gowtham, R Praveen, PS Charan, M Parthiban, N Seenu, RK Chetty
    2021 7th International Conference on Advanced Computing and Communication … , 2021
    2021
    Citations: 5
  • Design and simulation of disaster mitigation robot using machine vision
    M Avinaash, D Andrew, S Visnu, M Abrar, N Seenu
    Journal of Physics: Conference Series 2115 (1), 012009 , 2021
    2021
    Citations: 4
  • Evaluation of robotic cleaning technologies: preserving a British iconic building
    AAH Haqqani, N Seenu, M Janardhanan, CRM Kuppan
    Applied Computer Science 16 (2), 95-111 , 2020
    2020
    Citations: 4
  • Autonomous cost-effective robotic exploration and mapping for disaster reconnaissance
    N Seenu, L Manohar, NM Stephen, KC Ramanathan, MM Ramya
    2022 10th International Conference on Emerging Trends in Engineering and … , 2022
    2022
    Citations: 3
  • Autonomous Multiple Robots Exploration using Evolutionary Optimization Algorithm
    N Seenu, KC Ramanathan, MM Ramya
    2022 3rd International Conference on Electronics and Sustainable … , 2022
    2022
    Citations: 2
  • A mechatronics design approach of a low-cost smart reconnaissance robot
    N Seenu, RMK Chetty, KMA Krishna, T Srinivas, RGP Raj
    Communication Software and Networks: Proceedings of INDIA 2019, 299-310 , 2020
    2020
    Citations: 2
  • Dynamic dashboard and mail update for robotic system in Industry 4.0
    R Praveen, S Gowtham, M Parthiban, PS Charan, N Seenu, RMK Chetty
    3rd International Conference on Robotics Automation and Non-Destructive … , 2022
    2022
    Citations: 1
  • Autonomous Robotic Exploration and Navigation System using Tri-layered Mapping and Geometrical Path Planning Techniques
    S Gowtham, R Praveen, M Parthiban, P Sai Charan, N Seenu, ...
    IOP Conference Series: Materials Science and Engineering 1055 (1), 012003 , 2021
    2021
    Citations: 1
  • Design and Development of Decentralized Multi-Robot System for Mapping and Load Handling
    R Raghaventra, N Seenu, S Janaki Raman
    2025 3rd International Conference on Artificial Intelligence and Machine … , 2025
    2025
  • Coverage-Enhanced Unknown Area Exploration and Mapping Technique for a Multi-Robot System
    JRS Seenu N
    International Journal of Electronics and Communication Engineering 12 (10) , 2025
    2025
  • Experimental Investigation of Double Delta Wings with Different Angles of Attack
    G Balaji, AB Kumar, R Divya, G Boopathy, N Seenu
    2nd International Conference on Smart Sustainable Materials and Technologies … , 2024
    2024
  • An autonomous misplaced trolley arrangement system using RFID
    M Prabhakar, AWS Gani, MHM Ibrahim, V Paulraj, JA Dbanraj, N Seenu
    Recent Advances in Material, Manufacturing, and Machine Learning, 1069-1074 , 2023
    2023
  • Dynamic Task Allocation for Mobile Robot Teams based on Linear Integer Programming
    SKS Seenu. N, P. Saishashank, Guruprashanth, Gian Carlo, R M. Kuppan Chetty
    INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH & TECHNOLOGY (IJERT) 8 (17) , 2020
    2020