Geesara Kulathunga
Papers
6
Total Citations
28
H-Index
2
About
Geesara Kulathunga is a robotics researcher whose work focuses on autonomous navigation, motion planning, and control for aerial and agricultural robots. His major contributions include developing optimization-based trajectory tracking methods for quadrotors, where he introduced a planning-followed-by-controlling paradigm analogous to Linear Quadratic Gaussian systems, enabling precise slow-speed maneuvers. He also advanced resilient navigation with the Resilient Timed Elastic Band Planner, which handles trajectory replanning when initial plans become infeasible in unknown environments. His 3D-SiamMask framework tackles the challenging problem of vision-based multi-rotor tracking of moving objects, addressing issues like occlusion and rapid camera motion. In agricultural robotics, he proposed a modular, perception-driven framework for navigating narrow spaces, integrating localization recovery and adaptive control. His work on autonomous exploration and mapping enables robots to efficiently map unknown indoor environments. With his most-cited paper, "Trajectory tracking for quadrotors," accumulating 12 citations, and his resilient planner reaching 8 citations, Kulathunga's research is gaining recognition for its practical impact on real-world robotic systems, particularly in constrained and dynamic settings.
Research Focus
Key Achievements
Top Papers
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