Associate Professor, Electrical and Computer Engineering
| ashwin.dani@uconn.edu | |
| Phone | (860) 486-3344 |
| Mailing Address | Electrical and Computer Engineering 371 Fairfield Way U-4157 Storrs, Connecticut 06269-4157 |
| Campus | Storrs |
| Link | Department Page |
| Google Scholar Link | |
Brief Bio
- Estimation and Control Theory,
- Robotics,
- Autonomous Navigation,
- Localization and Mapping,
- Vision-based Control
- Machine Learning for Control
- Human-Robot Collaboration
- Visual Perception and Control for Autonomy and Robotics
- ECE 6095 – Learning and Nonlinear Control
- ECE 3111 – Systems Analysis (includes controller implementation project on quadcopter or inverted pendulum platform)
- ECE 4122 – Systems Lab
- ECE 6171 – Mobile Robotics (new course created) Topics: Rotations and Translations, Basic Pose operations, Kinematic and Dynamic Models of common robots, Basics of imaging, Localization and Mapping, Vision-based control, New topics added: Robot control using E-L systems (Lyapunov-based controller design, adaptive control)
- ECE 3161/ME 3161 – Introduction to Robotics (co-taught)
- UTC-IASE SE 5202 – Foundation of Controls (co-taught)
- Senior Design (co-taught)
- ENGR 1166 – Introduction to Engineering (co-taught)
- A. P. Dani, S. Bhasin, “Adaptive Actor-Critic Based Optimal Regulation for Drift-free Nonlinear Systems.pdf“, IEEE Open Journal of Control Systems, 2025, vol. 4, pp. 117-129, 2025.
- V. Guthikonda, A. P. Dani, “Shape Servoing of Deformable Objects using Model Estimation and Barrier Lyapunov Function.pdf“, IEEE Transactions on Mechatronics, vol. 29, no. 6, pp. 4640-4650, 2024.
- G. Rotithor, T. Taplin, A. P. Dani, W. E. Dixon, “Switching of Asymptotically Stable and Uniformly Ultimately Bounded Systems with Applications to Machine Vision.pdf“, IEEE Transactions on Automatic Control, vol. 69, no. 9, pp. 6246-6252, 2024.
- R. Bhattacharya, V. R. Guthikonda, A. P. Dani, “Adaptive Trajectory Synchronization with Time-Delayed Information.pdf“, IEEE Control Systems Letters, vol. 7, pp. 3866-3871, 2023.
- G. Rotithor, I. Salehi, E. Tunstel, A. P. Dani, “Stitching Dynamic Movement Primitives and Image-based Visual Servo Control.pdf“, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 5, pp. 2583-2593, 2023.
- I. Salehi, T. Taplin, A. P. Dani, “Learning Discrete-Time Uncertain Nonlinear Systems with Probabilistic Safety and Stability Constraints.pdf“, IEEE Open Journal of Control Systems, vol. 1, pp. 354-365, 2022.
- G. Rotithor, D. Trombetta, R. Kamalapurkar, A. P. Dani, “Full and Reduced Order Observers for Image-based Depth Estimation using Concurrent Learning.pdf“, IEEE Transactions on Control Systems Technology, vol. 29, no. 6, pp. 2647-2653, Nov. 2021.
- D. Trombetta, G. Rotithor, I. Salehi, A. P. Dani, “Variable Structure Human Intention Estimator with Mobility and Vision Constraints as Model Selection Criteria.pdf“, IFAC Mechatronics, vol. 76, pp. 102570, 2021.
- I. Salehi, G. Rotithor, G. Yao, A. P. Dani, “Dynamical System Learning using Extreme Learning Machines with Safety and Stability Guarantees.pdf“, International Journal of Adaptive Control and Signal Processing, vol. 35, no. 6, pp. 894-914, 2021.
- A. P. Dani, I. Salehi, G. Rotithor, D. Trombetta, H. Ravichandar, “Human-in-the-loop Robot Control for Human-Robot Collaboration.pdf“, IEEE Control Systems, vol. 40, no. 6, pp 29-56, Dec. 2020.
- G. Yao, R. Saltus, A. P. Dani, “Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model.pdf“, International Journal of Intelligent Robotics and Applications, vol. 4, no. 4, pp. 429-440, 2020.
- G. Yao, R. Saltus, A. P. Dani, “Image Moment-based Extended Object Tracking for Complex Motions.pdf“, IEEE Sensors Journal, vol. 20, no. 12, pp. 6560-6572, 2020.
- G. Yao, A. P. Dani, “Visual Tracking using Sparse Coding and Earth Mover’s Distance”, Frontiers in Robotics and AI, vol. 5, Aug 2018.
- H. Ravichandar, A. P. Dani, “Learning Position and Orientation Dynamics from Demonstrations via Contraction Analysis.pdf”, Autonomous Robots, vol. 43, no. 4, pp. 897-912, May 2018.
- H. Ravichandar, A. Kumar, A. P. Dani, “Gaze and Motion Information Fusion for Human Intention Inference.pdf“, International Journal of Intelligent Robotics and Applications, vol. 2, no. 2, pp. 136-148, June 2018.
- M. Allen, Q. Zhong, N. Kirsch, A. P. Dani, W. W. Clark and N. Sharma, “A Nonlinear Dynamics-Based Estimator for Functional Electrical Stimulation: Preliminary Results from Lower-Leg Extension Experiments.pdf“, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 25, no. 12, pp. 2365-2374, Dec 2017.
- G. Yao, A. P. Dani, “Gyro-aided Visual Tracking Using Iterative Earth Mover’s Distance”, IEEE Aerospace and Electronic Systems Magazine, vol. 32, no. 10, pp. 52-55, Oct 2017.
- H. Ravichandar, A. P. Dani, “Human Intention Inference using Expectation-Maximization algorithm with Online Learning.pdf“, IEEE Transactions on Automation Science and Engineering, vol. 14, no. 2, pp. 855-868, April 2017.
- D. Chwa, A.P. Dani, and W. E. Dixon, “Range and Motion Estimation of a Monocular Camera Using Static and Moving Objects.pdf”, IEEE Transactions on Control Systems Technology, vol. 24, no. 4, pp 1174-1183, 2016.
- A.P. Dani, S.-J. Chung, S. Hutchinson, “Observer for Stochastic Nonlinear Systems via Contraction-Based Incremental Stability.pdf“, IEEE Transactions on Automatic Control, vol. 60, no. 3, pp. 700-714, 2015.
- J. Yang, A. P. Dani, S.-J. Chung, S. Hutchinson, “Vision-based Localization and Robot-Centric Mapping in Riverine Environments.pdf“, Journal of Field Robotics, vol. 34, no. 3, pp. 429-450, 2015.
- N. Fischer, A.P. Dani, N. Sharma, and W.E. Dixon, “Saturated Control of an Uncertain Nonlinear System with Input Delay.pdf” Automatica, vol 49, No. 6, pp. 1741-1747, 2013.
- A.P. Dani, N. Fischer, and W. E. Dixon, “Single Camera Structure and Motion Estimation.pdf”, IEEE Transactions on Automatic Control, vol 57, No. 1, pp. 241-246, 2012.
- A.P. Dani, N. Fischer, Z. Kan, and W. E. Dixon, “Globally Exponentially Convergent Robust Observer for Vision-based Range Estimation.pdf”, IFAC Mechatronics, Special Issue on Visual Servoing, Vol. 22, No. 4, pp. 381-389, 2012.
- Z. Kan, A.P. Dani, J.M. Shea, and W. E. Dixon, “Network Connectivity Preserving Formation Stabilization and Obstacle Avoidance via a Decentralized Controller.pdf ”, IEEE Transactions on Automatic Control, Vol. 57, No. 7, pp. 1827-1832, 2012.