Working Papers

  • M.M.H. Mahmud, M. Hawasly, B. Rosman, S. Ramamoorthy, Clustering Markov decision processes for continual transfer.
      arXiv link
  • M. Hawasly, F.T. Pokorny, S. Ramamoorthy, Estimating activity at multiple scales using spatial abstractions.
      arXiv link
  • S. Penkov, S. Ramamoorthy, Explaining transition systems through program induction.
      arXiv link

2017

  • S.V. Albrecht, S. Ramamoorthy, Exploiting causality for selective belief filtering in dynamic Bayesian networks, Journal Track Paper, International Joint Conference on Artificial Intelligence (IJCAI), 2017.
       Preprint
  • S. Penkov, A. Bordallo, S. Ramamoorthy, Physical symbol grounding and instance learning through demonstration and eye tracking, IEEE International Conference on Robotics and Automation, 2017.
       Preprint, Video, Bibtex
  • L. de Miranda, S. Ramamoorthy, M. Rovatsos, We, Anthrobot: Learning from human forms of interaction and Esprit de Corps to develop more plural social robotics, In J Seibt, M Nørskov, S.S. Andersen (eds.), What Social Robots Can and Should Do, Vol. 290, Frontiers in Artificial Intelligence and Applications, 2017.
       Preprint, Publisher's link, Bibtex
  • Yordan Hristov, Svetlin Penkov, Alex Lascarides, Subramanian Ramamoorthy, Grounding Symbols in Multi-Modal Instructions, Language Grounding for Robotics Workshop, Annual Meeting of the Association for Computational Linguistics (ACL), 2017.
       arXiv link, Bibtex

2016

  • S. Albrecht, S. Ramamoorthy, Exploiting causality for selective belief filtering in dynamic Bayesian networks, Journal of Artificial Intelligence Research 55: 1135 - 1178, 2016.
       arXiv link, Publisher's link, Bibtex
  • S. Albrecht, J. Crandall, S. Ramamoorthy, Belief and truth in hypothesised behaviours, Artificial Intelligence Journal 235: 63–94 , 2016.
       arXiv link, Publisher's link, Bibtex
  • B. Rosman, M. Hawasly, S. Ramamoorthy, Bayesian policy reuse, Machine Learning Journal 104(1):99 - 127, 2016.
       arXiv link, Publisher's link, Bibtex
  • F.T. Pokorny, M. Hawasly, S. Ramamoorthy, Topological trajectory classification with filtrations of simplicial complexes and persistent homology, International Journal of Robotics Research 35(1-3): 204-223, 2016.
      Preprint, Publisher's link, Bibtex
  • J. Cano Reyes, D. White, A. Bordallo, C. McCreesh, P. Prosser, J. Singer, V. Nagarajan, Task variant allocation in distributed robotics, Robotics: Science and Systems (R:SS), 2016.
      Preprint, Publisher's link, Bibtex
  • J. Cano Reyes, A. Bordallo, V. Nagarajan, S. Ramamoorthy, S. Vijayakumar, Automatic configuration of ROS applications for near-optimal performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
      Preprint, Publisher's link, Bibtex
  • F. Previtali, A. Bordallo, L. Iocchi, S. Ramamoorthy, Predicting Future Agent Motions for Dynamic Environments, IEEE/AMLA International Conference on Machine Learning and Applications (ICMLA), 2016.
      Preprint, Publisher's link, Bibtex
  • S. Penkov, A. Bordallo, S. Ramamoorthy, Inverse eye tracking for intention inference and symbol grounding in human-robot collaboration, Robotics: Science and Systems Workshop on Planning for Human-Robot Interaction, 2016.
      Preprint, Publisher's link, Bibtex
  • P. Andreadis, S. Ceppi, M. Rovatsos, S. Ramamoorthy, Diversity-aware recommendation for human collectives, European Conference on Artificial Intelligence Workshop on Diversity-aware Artificial Intelligence, 2016.
      Preprint, Publisher's link, Bibtex

2015

  • S.V. Albrecht, Utilising policy types for effective ad hoc coordination in multiagent systems. Ph.D. Dissertation, The University of Edinburgh, 2015.
      Report
  • E. Vafeias, Recognising activities by jointly modelling actions and their effects. Ph.D. Dissertation, The University of Edinburgh, 2015.
      Report
  • B. Rosman, S. Ramamoorthy, Action priors for learning domain invariances, IEEE Transactions on Autonomous Mental Development 7(2): 107-118, 2015.
      Preprint
  • A. Bordallo, F. Previtali, N. Nardelli, S. Ramamoorthy, Counterfactual reasoning about intent for interactive navigation in dynamic environments, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
      Preprint, Video, Publisher's link, Bibtex
  • S. Albrecht, S. Ramamoorthy, Are you doing what I think you are doing? Criticising uncertain agent models, In Proc. Conference on Uncertainty in Artificial Intelligence (UAI), 2015.
      Preprint, Bibtex
  • S. Albrecht, J. Crandall, S. Ramamoorthy, An empirical study on the practical impact of prior beliefs over policy types, In Proc. AAAI Conference on Artificial Intelligence (AAAI), 2015.
      Preprint, Appendix, Bibtex
  • A.H. Cruickshank, R. Shillcock, S. Ramamoorthy, Predicting actions using an adaptive probabilistic model of human decison behaviours, Poster, In Ext. Proc. Conference on User Modelling, Adaptation and Personalization (UMAP), 2015.
      Preprint, Bibtex
  • F. Previtali, A. Bordallo, S. Ramamoorthy, IRL-based prediction of goals for dynamic environments, IEEE International Conference on Robotics and Automation (ICRA) 2015, Workshop on Machine Learning for Social Robotics.
      Preprint
  • S. Albrecht, J. Crandall, S. Ramamoorthy, E-HBA: Using action policies for expert advice and agent typification, In Proc. AAAI-Workshop on Multiagent Interaction without Prior Coordination (MIPC), 2015.
      Preprint, Appendix, Bibtex

2014

  • M. Hawasly, Policy space abstractions for a lifelong learning agent. Ph.D. Dissertation, The University of Edinburgh, 2014.
      Report
  • B. Rosman, Learning domain abstractions for long lived robots. Ph.D. Dissertation, The University of Edinburgh, 2014.
      Report
  • F. T. Pokorny, M. Hawasly, S. Ramamoorthy, Multiscale topological trajectory classification with persistent homology, In Proc. Robotics: Science and Systems (R:SS), 2014.
      Preprint, Publisher's link, Bibtex, [Talk]
  • S. Albrecht, S. Ramamoorthy, On convergence and optimality of best-response learning with policy types in multiagent systems, In Proc. Conference on Uncertainty in Artificial Intelligence (UAI), 2014.
      Preprint, Appendix, Bibtex
  •  (The workshop paper, below, is a self-contained version of the same work.) 
    • S. Albrecht, S. Ramamoorthy, On convergence and optimality of best-response learning with policy types in multiagent systems, In Proc. Workshop on Adaptive Learning Agents (ALA), at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2014.
        Preprint
  • E. Vafeias, S. Ramamoorthy, Joint classification of actions and object state changes with a latent variable discriminative model, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014.  
      Preprint, Bibtex
  • B. Rosman, S. Ramamoorthy, Giving advice to agents with hidden goals, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014.  
      Preprint, Bibtex
  • A. Eshky, B. Allison, S. Ramamoorthy, M. Steedman, A generative model for user simulation in a spatial navigation domain, In Proc. Conference of the European Chapter of the Association for Computational Linguistics (EACL), 2014.  
    [Best Paper Award Nominee]
      Preprint, Bibtex
  • B. Rosman, M.M.H. Mahmud, S. Ramamoorthy, P. Kohli, On user behaviour adaptation under interface change, In Proc. International Conference on Intelligent User Interfaces (IUI), 2014.  
      Preprint, Publisher's link, Bibtex
  • M.M.H. Mahmud, B. Rosman, S. Ramamoorthy, P. Kohli, Adapting interaction environments to diverse users through online action set selection, In Proc. AAAI Workshop on Machine Learning for Interactive Systems (AAAI-MLIS), 2014.
    Preprint, Bibtex
  •  (The technical report below is a more detailed technical account of this work.) 
    • S. Ramamoorthy, M.M.H. Mahmud, B. Rosman, P. Kohli, Latent-variable MDP models for adapting the interaction environment of diverse users, Technical Report, University of Edinburgh, 2013.
        Report, Bibtex
  • G.Y.R. Schropp, J-J. Ch. Meyer, S. Ramamoorthy, A formalization of the coach problem, In Proc. RoboCup International Symposium, 2014.  
      Preprint, Bibtex

2013

  • A. Valtazanos, Decision shaping and strategy learning in multi-robot interactions. Ph.D. Dissertation, The University of Edinburgh, 2013.
      Report
  • I. Havoutis, S. Ramamoorthy, Motion planning and reactive control on learnt skill manifolds, International Journal of Robotics Research 32 (9-10): 1120 - 1150, 2013.  
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, Book review: "S. A. Levin (ed), Games, Groups and the Global Good", J. Operational Research Society 64, 1867, 2013.
      Publisher's link, Bibtex
  • A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Latent space segmentation for mobile gait analysis, ACM Transactions on Embedded Computing Systems - Special Section on Wireless Health Systems, On-Chip and Off-Chip Network Architectures 12(4) : 101, 2013. 
      Preprint, Publisher's link, Bibtex
  • M. Hawasly, S. Ramamoorthy, Lifelong transfer learning with an option hierarchy, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
      Preprint, Publisher's link, Bibtex
  •  (The symposium paper below was a preliminary account of the same work.) 
    • M. Hawasly, S. Ramamoorthy, Lifelong learning of structure in the space of policies, In Proc. AAAI Spring Symposium on Lifelong Machine Learning, 2013.
        Preprint, Publisher's link, Bibtex
  • J.D. Mankowitz, S. Ramamoorthy, BRISK-based visual feature extraction for resource constrained robots, In Proc. RoboCup International Symposium, 2013.  
      Preprint, Publisher's link, Bibtex
  • A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Using wearable inertial sensors for posture and position tracking in unconstrained environments through learned translation manifolds, ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), 2013.  
      Preprint, Publisher's link, Bibtex
  • A. Valtazanos, S. Ramamoorthy, Bayesian interaction shaping: learning to influence strategic interactions in mixed robotic domains, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
      Preprint, Publisher's link, Bibtex, video
  • A. Valtazanos, S. Ramamoorthy, Evaluating the effects of limited perception on interactive decisions in mixed robotic environments, In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013.  
      Preprint, Publisher's link, Bibtex, video
  • S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
      Preprint, Publisher's link, Bibtex
  •  (The technical report, below, gives a more detailed account of the same material.) 
    • S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems, Technical Report, The University of Edinburgh, 2013.
        Report, Bibtex
  • M.M.H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
      Preprint, Publisher's link, Bibtex
  •  (The technical report, below, gives a more detailed account of the same material.) 
    • M. M. H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning, Technical Report, The University of Edinburgh, 2013.
        Report, Publisher's link, Bibtex

2012

  • I. Havoutis, Motion planning and reactive control on learnt skill manifolds. Ph.D. Dissertation, The University of Edinburgh, 2012.
      Report
  • T. Larkworthy, Motion planning for self-reconfiguring robotic systems. Ph.D. Dissertation, The University of Edinburgh, 2012.
      Report
  • B. Rosman, S. Ramamoorthy, What good are actions? Accelerating learning using learned action priors, In Proc. International Conference on Development and Learning (ICDL-EpiRob), 2012. 
    [Paper of Excellence Award]
      Preprint, Publisher's link, Bibtex
  • S. Albrecht, S. Ramamoorthy, Comparative evaluation of MAL algorithms in a diverse set of ad hoc team problems, In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
      Preprint, Publisher's link, Bibtex
  • M. Leonetti, L. Iocchi, S. Ramamoorthy, Induction and learning of finite-state controllers from simulation (Extended Abstract), In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
      Preprint, Publisher's link, Bibtex
  • M. Hawasly, S. Ramamoorthy, Task variability in autonomous robots: Offline learning for online performance, In Proc. Int. Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2012. 
      Preprint, Bibtex
  • S. Ramamoorthy, A. Salamon, R. Santhanam, Macroscopes: models for collective decision making, In Proc. Collective Intelligence, 2012.
      Preprint, Publisher's link, Bibtex
  • B. Rosman, S. Ramamoorthy, A multitask representation using reusable local policy templates, In Proc. AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012.
      Preprint, Publisher's link, Bibtex

2011

  • B. Rosman, S. Ramamoorthy, Learning spatial relationships between objectsInternational Journal of Robotics Research 30(11): 1328-1342, 2011.
      Preprint, Publisher's link, Bibtex
  • T. Larkworthy, S. Ramamoorthy, A characterization of the reconfiguration space of self-reconfiguring robotic systemsRobotica (Special Issue on Self-X Systems) 29(1): 73-85, 2011.
      Preprint, Publisher's link, Bibtex
  • A. Valtazanos, S. Ramamoorthy, Intent inference and strategic escape in multi-robot games with physical limitations and uncertainty, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
      Preprint, Publisher's link, Bibtex
  • M. Leonetti, L. Iocchi, S. Ramamoorthy, Reinforcement learning through global stochastic search in N-MDPs, In Proc. European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD), 2011. 
      Preprint, Publisher's link, Bibtex
  • M. Leonetti, L. Iocchi, S. Ramamoorthy, Learning finite state controllers from simulation, In Proc. European Workshop on Reinforcement Learning (EWRL-9), 2011.
      Workshop link, Bibtex
  • A. Valtazanos, S. Ramamoorthy, Online motion planning for multi-robot interaction using composable reachable sets. In Proc. RoboCup International Symposium, 2011.
      Preprint, Bibtex
  • A. Valtazanos, S. Ramamoorthy, NaOISIS: A 3-D behavioural simulator for the NAO humanoid robot. In Proc. RoboCup International Symposium, 2011.
      Preprint, Bibtex
  • S. Ramamoorthy, Book review: "B. Øksendal, A. Sulem, Applied Stochastic Control of Jump Diffusions", J. Operational Research Society 62: 246 - 250, 2011.
      Preprint, Publisher's link, Bibtex

2010

  • I. Havoutis, S.Ramamoorthy, Constrained geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
    [Finalist, RoboCup Best Paper Award]
      Preprint, Publisher's link, Bibtex
  • E. Ho, T. Komura, S. Ramamoorthy, S. Vijayakumar, Controlling humanoid robots in topology coordinates. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
      Preprint, Publisher's link, Bibtex
  • A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Comparative study of segmentation of periodic motion data for mobile gait analysis. In Proc. Wireless Health Conference, 2010.
      Preprint, Publisher's link, Bibtex
  • B. Rosman, S. Ramamoorthy, A game theoretic procedure for learning hierarchically structured strategies. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
      Preprint, Publisher's link, Bibtex
  • I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
      Preprint, Publisher's link, Bibtex
  • T. Larkworthy, S. Ramamoorthy, An efficient algorithm for self-reconfiguration planning in a modular robot. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
      Preprint, Publisher's link, Bibtex
  • M. Leonetti, S. Ramamoorthy, A heuristic strategy for learning in partially observable and non-Markovian domains, In Proc. International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS 2010).
      Preprint, Workshop link, Bibtex
  • T. Larkworthy, S. Ramamoorthy, Graph minor analysis of reconfiguring state spaces, In Proc. Workshop on Modular Robotics: State of the Art, IEEE International Conference on Robotics and Automation, 2010.
      Bibtex

2009

  • T. Larkworthy, G.M. Hayes, S. Ramamoorthy, General motion planning methods for self-reconfiguration planning. In Proc. Towards Autonomous Robotic Systems, 2009.
      Bibtex
  • I. Havoutis, S. Ramamoorthy, Motion synthesis through randomized exploration on submanifolds in configuration space. In J. Baltes et al. (Eds.): RoboCup 2009, Lecture Notes in Artificial Intelligence, Volume 5949, pp. 92-103. Springer Verlag, Heidelberg (2010).
       Publisher's link, Bibtex
  • S. Ramamoorthy, L. Wenzel, J. Nagle, B. Wang, M. Cerna, A differential geometric approach to discrete-coefficient filter design. In Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2009.
       Publisher's link, Bibtex
  • I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds, Modeling, Simulation and Optimization of Bipedal Walking Workshop, IEEE-RAS International Conference on Humanoid Robots, 7 Dec. 2009.
      Preprint, Workshop link, Bibtex
  • H. Mlnařík, S. Ramamoorthy, R. Savani, Multi-strategy trading utilizing market regimes, Advances in Machine Learning for Computational Finance Workshop, London, 20-21 July 2009.
      Preprint, Bibtex, Slides and Video
    [Slightly modified presentation from the Stats in the Château workshop, whose proceedings are available as P. Alquier, E. Gautier, G. Stoltz (Eds.), Inverse Problems and High-Dimensional Estimation, Lecture Notes in Statistics Vol. 203, Springer 2011]

2008

  • S. Ramamoorthy, R. Rajagopal, L. Wenzel, Efficient, incremental coverage of space with a continuous curve. Robotica (Special Issue on Geometry in Robotics) 26: 503-512, 2008.
       Publisher's link, Bibtex
  • R. Rajagopal, S. Ramamoorthy, L. Wenzel, H. Andrade, A rapid prototyping tool for embedded, real time hierarchical control systems. EURASIP Journal on Embedded Systems, Article ID 162747, 2008.
      Publisher's link, Bibtex
  • S. Ramamoorthy, B.J. Kuipers, Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning. In Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 359-366, 2008.
    [Finalist, Best Conference Paper Award - Top 4 from 661 Accepted Papers]
      Preprint, Bibtex
  • S. Ramamoorthy, G.M. Hayes (Eds.), Towards Autonomous Robotic Systems (TAROS 2008), ISBN 978 1 906849 00 9.
      Bibtex

2007

  • S. Ramamoorthy, B.J. Kuipers, Qualitative hybrid control of dynamic bipedal walking. In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II, pp. 89-96, MIT Press, 2007.
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, R. Rajagopal, Q. Ruan, L. Wenzel, Low-discrepancy curves and efficient coverage of space. In S. Akella, N. Amato, W. Huang, B. Mishra (Eds.), Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics, Springer Verlag, 2007.
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, Task encoding, motion planning and intelligent control using qualitative models. Ph.D. Dissertation, AI Lab Technical Report 07-342, The University of Texas at Austin, 2007.
      Report, Publisher's link, Bibtex

2006 and earlier

  • S. Ramamoorthy, B.J. Kuipers, L. Wenzel, Parametrization and computations in shape spaces with area and boundary invariants. In Proc. 16th Fall Workshop on Computational and Combinatorial Geometry, Nov. 10-11, 2006.
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, B.J. Kuipers, Dynamic bipedal walking on irregular terrain: An online adaptive algorithm, In A. Kuo (Ed.), In Proc. Dynamic Walking Workshop: Mechanics and Control of Human and Robot Locomotion, Ann Arbor, May 6-8, 2006.
      Preprint, Publisher's link, Bibtex
  • H. Subramanian, S. Ramamoorthy, P. Stone, B.J. Kuipers, Designing safe, profitable automated stock trading agents using evolutionary algorithms. In Proc. 8th Annual Conference on Genetic and Evolutionary Computation, pp. 1777-1784, 2006.
    [Link to the competition that initiated this research project.]
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, H.K. Subramanian, P. Stone, B.J. Kuipers, Safe strategies for autonomous financial trading agents: A qualitative multiple-model approach, Poster Spotlight, Machine Learning in Finance Workshop, Neural Information Processing Systems, December 9, 2005.
    [Term paper that initiated this line of research]
  • S. Ramamoorthy, B.J. Kuipers, Controller synthesis using qualitative models and constraints. In J. de Kleer and K. Forbus (Eds.), Proc. 18th International Workshop on Qualitative Reasoning, pp. 41-50, 2004.
      Preprint, Publisher's link, Bibtex
  • S. Ramamoorthy, B.J. Kuipers, Qualitative heterogeneous control of higher order systems. In O. Maler and A. Pnueli (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2623, pp. 417-434, Springer Verlag, 2003.
    [Associated videos: Global Control, Recovery from Large Perturbation.]
      Preprint, Publisher's link, Bibtex
  • B.J. Kuipers, S. Ramamoorthy, Qualitative modeling and heterogeneous control of global system behavior. In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2289, pp. 294-307, Springer Verlag, 2002.
      Preprint, Publisher's link, Bibtex
 

Patents

  • J.M. Lewis, M.D. Cerna, K.P. Gupton, J.C. Nagle, Y. Rao, S. Ramamoorthy, D.R. Schmidt, B.R. Weidman, L. Wenzel, N. Zhang, B. Wang, Approximating a system using an abstract geometrical space, US patent 8364446, January 29, 2013.
  • S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Automatically generating a second graphical program based on a first graphical program, US patent 8205188, June 19, 2012.
  • S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Converting a first graphical program into an intermediate abstract representation for new graphical program generation, US patent 8146007, March 27, 2012.
  • D. Nair, M.S. Fisher, S.V. Kumar, B. Smyth, S. Ramamoorthy, Geometric pattern matching using dynamic feature combinations, US patent 7340089, March 4, 2008.
  • S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7340684, March 4, 2008. 
  • L. Wenzel, S. Ramamoorthy, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7043693, May 9, 2006.
  • S. Ramamoorthy, J.S. Falcon, Automatic tuning of motion controllers using search techniques, US patent 7035694, April 25, 2006.