B. Sc. Eng. (Moratuwa), M. Eng (UTokyo), Ph. D (UTokyo), MIEEE
Designation :
Senior Lecturer
Extension :
3318
Email:
peshala@uom.lkI am a senior lecturer at the Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka. I mainly work in the area of Robotics, and my research interests include Robotics, Localization, Mapping, State Estimation and Control Theory. I obtained B. Sc. Eng. degree with first-class honors in 2006 from the Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka, and M. Eng. and Ph. D. degrees from the Department of Electrical Engineering and Information Systems, University of Tokyo, Japan, in 2011 and 2014, respectively. I am an alumnus of Royal College, Colombo, Sri Lanka. I am a member of the Institute of Electrical and Electronic Engineers (IEEE).
Education
Doctor of Philosophy
Department of Electrical Engineering and Information Systems, University of Tokyo, Japan
Master of Engineering
Department of Electrical Engineering and Information Systems, University of Tokyo, Japan
Bachelor of Science in Engineering
Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka
Secondary Education
Royal College, Colombo 7, Sri Lanka
Professional Experience
Postdoctoral Researcher
The National Institute of Advanced Industrial Science and Technology, Japan
Research Internship
Hitachi Central Research Laboratory, Tokyo, Japan
Research Assistantship
Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Japan
Software Engineer
Millennium Information Technologies, Sri Lanka
Teaching
Current Courses
- EN2532 Robot Design and Competition
- EN3143 Electronic Control Systems
- EN4563 Robotics
- EN4593 Autonomous Systems
Other Courses
University of Sri Jayewardenepura, Sri Lanka
- ME2208 Theory of Control Systems
- ME2104 Sensors and Actuators
South Eastern University, Sri Lanka
- EN73001 Robotics
Honors and Awards
| 2020 | Best Student Paper Award 2020 (Supervisor) Australasian Conference on Robotics and Automation (ACRA) Australia |
| 2017 | Student Best Paper Award 2017 (Supervisor) International Conference on Control, Automation and Systems (ICCAS) S.Korea |
| 2012 | Best Poster Paper Award 2012 International Conference on Robot Intelligence Technology and Applications (RITA) S.Korea |
| 2009 | Bronze Prize 2009 International Student Paper Contest, proceedings of IEEE Seoul section S.Korea |
| 2008 – 2014 | Japanese Government (MEXT) Scholarship |
Thesis
- Peshala G. Jayasekara, “Study on Localization Assistance for Mobile Robot Navigation using Probabilistic Pose Estimation Techniques”, PhD Thesis, The University of Tokyo, Japan, 2014
- Peshala G. Jayasekara, “Simultaneous Localization Assistance for Multiple Mobile Robots using Target Tracking Techniques,” M. Eng Thesis, The University of Tokyo, Japan, 2011
- Peshala G. Jayasekara, Janaka Dahanayake, Dhanushka Illangasinghe, Kamali Wickramage, “Remote Supervision and Control of Water Distribution Network of National Water Supply and Drainage Board,” B. Sc Thesis, University of Moratuwa, Sri Lanka, 2006
Book Chapters
- Advances in Intelligent Systems and Computing, Springer, Chapter II: Ambient Intelligence, Collective Intelligence and Genetic Intelligence, pp. 493–504, Peshala G. Jayasekara, Hideki Hashimoto, Takashi Kubota, 2013 ISBN 978-3-642-37373-2
Journals
- Peshala G. Jayasekara and Hitoshi Arisumi, “Surmounting obstacles by arm maneuver for unmanned power shovel,” ROBOMECH Journal, Vol 2, Issue 1, Springer, pp 1-12, 2015
- Peshala Jayasekara, Takeshi Sasaki, Hideki Hashimoto and Takashi Kubota, “Simultaneous Localization Assistance for Mobile Robot Navigation in Real, Populated Environments,” SICE Journal of Control, Measurement, and System Integration [JCMSI], Vol. 5, No. 6, 2012
Conferences
- Bhanuka Silva, Uvindu Perera, Thilina Thilakarathna, Isuru Athapattu, Peshala Jayasekara, Thilina Lalitharatne, NavindaB Kottege, and Tirthankar Bandyopadhyay, “Hybrid Wheel-Leg Locomotion in Rough Terrain” in 17th International Symposium on Experimental Robotics, vol. 19, p. 95. Springer Nature, 2021
- S Kirubaharan, P Jayasekara, D Weerakkody, “Low Power FPGA-based Hardware Accelerator for Autonomous Navigation of Mobile Robots”, in Australasian Conference on Robotics and Automation [ACRA], 2020
- TS Chathuranga, M Padmal, D Bibile, P Jayasekara, N Kottege, “Sensor Deck Development for Sparse Localization and Mapping for Micro UAVs to Assist in Disaster Response”, in Australasian Conference on Robotics and Automation [ACRA], 2020
- N. Karunanayake, A. Wijesinghe, C. Wijethunga, C. Kumaradasa, P. Jayasekara, and R. Rodrigo, “Towards a smart opponent for board games: Learning beyond simulations,” in 2020 IEEE International Conference on Systems, Man, and Cybernetics [SMC], 2020, pp. 1943–1950
- A. Dias, H. Wellaboda, Y. Rasanka, M. Munasinghe, R. Rodrigo, and P. Jayasekara, “Deep learning of augmented reality based human interactions for automating a robot team,” in 2020 6th International Conference on Control, Automation and Robotics [ICCAR], 2020, pp. 175–182
- D. U. Jayarathne, H. A. K. R. Vidumal, S. M. A. Senevirathne, P. G. Jayasekara, and T. D. Lalitharatne, “Vision-based leader-follower mobile robots for cooperative object handling,” in 2019 19th International Conference on Control, Automation and Systems [ICCAS], 2019, pp. 747–752
- D. Ranasinghe, K. Vidanapathirana, T. Wickramarachchi, K. Katuwandeniya, P. Jayasekara, and S. Ajisaka, “Development of a lightweight, low-cost, self-balancing personal mobility vehicle for autonomous indoor navigation,” in 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics [AIM], 2019, pp. 571–576
- R. Karunasena, P. Sandarenu, M. Pinto, A. Athukorala, R. Rodrigo, and P. Jayasekara, “Devi: Open-source humanrobot interface for interactive receptionist systems,” in 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics [ICARM], 2019, pp. 378–383
- Athukorala A, Ranasinghe N, Herath K, Jayasekara P, Lalitharatne TD, “Scalable Autonomous Agronomical Smartbot”, in 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications [MESA], pp. 1-6, 2018.
- Suriyarachchi N, Jayasekara PG, Kubota T, “3D pose tracking for GPS-denied terrain rovers by fast state variable extension and enhanced motion model”, in 17th IEEE International Conference on Control, Automation and Systems [ICCAS], pp. 224-229, Oct 18 2017.
- Hitoshi Arisumi, Peshala G. Jayasekara and Shin Kato, “Variable-Structure Robot System for Underwater Investigation: Position control of a moored boat by twin rudders,” in Annual Conference of Japan Society of Mechanical Engineers, Hokkaido, Japan, 2015 [Japanese]
- Peshala G. Jayasekara and Hitoshi Arisumi, “Obstacle Surmounting by Arm Maneuver for Unmanned Power Shovel,” IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS], pp 5540–5547, Hamburg, Germany, Sep 28-Oct 02, 2015.
- Peshala G. Jayasekara and Hitoshi Arisumi, “Surmounting Obstacles by Arm Maneuver for Unmanned Power Shovel,” 20th Robotics Symposia, IEEE Robotics and Automation Society Japan Chapter [RAS-JC], pp 120–125, Karuizawa, Japan, March 15-16, 2015.
- Peshala G Jayasekara, Genya Ishigami, Takashi Kubota, “Particle filter based 3D position tracking for terrain rovers using laser point clouds,” IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS], pp 2369–2374, Chicago, Illinois, USA, Sep 14-18, 2014.
- Peshala G. Jayasekara, Takashi Kubota, “A New 3D Odometry Model based 6DOF Localization for 4-Wheel Rovers on GPS denied Natural Terrain,” 22nd Workshop on Astrodynamics and Flight Mechanics, ISAS/JAXA, Japan, July 29-30, 2013.
- Peshala Jayasekara and Takashi Kubota, “Cooperative SLAM Scheme for Planetary Exploration Rovers,” Proceedings of 2013 JSME Conference on Robotics and Mechatronics [Robomec 2013], 1A2-H03, Japan, 2013.
- P. Jayasekara and T. Kubota, “Cooperative SLAM for planetary exploration with two planetary rovers,” in 12th SNU-UOT Joint Seminar on Electrical Engineering, Seoul, Korea, 2013.
- Jayasekara, Peshala G., Hideki Hashimoto, and Takashi Kubota, “Simultaneous Localization Assistance for Mobile Robot Navigation in Real, Populated Environments,” 1st International Conference on Robot Intelligence Technology and Applications [RiTA], S. Korea, 2013.
- P. G. Jayasekara, G. Ishigami, and T. Kubota, “Testing and validation of autonomous navigation for a planetary exploration rover using opensource simulation tools,” in International Symposium on Artificial Intelligence, Robotics and Automation in Space, iSAIRAS, ESA, Turin, Italy, Sept 4-6, 2012.
- Peshala G Jayasekara, Leon Palafox, Takeshi Sasaki, Hideki Hashimoto, Beom H Lee, “Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking,” in 3rd International Conference on Information and Automation for Sustainability [ICIAFS], IEEE, pp 469–474, Colombo, Sri Lanka, 2010.
- Peshala G. Jayasekara, Shimon Ajisaka, Sousuke Nakamura and Hideki Hashimoto, “Development of an Autonomous Mobile Robot Navigation System for Real World Robot Challenge 2009,” International Student Paper Contest, proceedings of IEEE Seoul section 2009, S. Korea, pp.100–105, 05 Dec. 2009.
- P. G. Jayasekara, D. K. Illangasinghe, J. K. Dahanayake, K. Wickramage, and Rohan Munasinghe, “Improving efficiency of existing water distribution networks by centralized monitoring,” in 3rd International Conference on Information and Automation for Sustainability [ICIAFS], pp. 25-30. IEEE, 2007.
- S. Kodagoda, E. A. S. M. Hemachandra, P. G. Jayasekara, R. L. Peiris, A. C. De Silva, and Rohan Munasinghe, “Obstacle detection and map building with a rotating ultrasonic range sensor using bayesian combination,” in International Conference on Information and Automation [ICIA], pp. 98-103, IEEE, 2006.
Undergraduate Final Year Project Supervision
2020
Precise Vehicle Localization using Fusion of Multiple Sensors for Self-Driving — Collaboration with Creative Software [Pvt] Ltd.
Road Sign, Traffic Light and Static Object Detection for Self-Driving — Collaboration with Creative Software [Pvt] Ltd.
Dynamic Object Detection, Tracking and Trajectory Prediction for Self-Driving — Collaboration with Creative Software [Pvt] Ltd.
Behavioural and Local Planning, and Maneuvering for Self-Driving — Collaboration with Creative Software [Pvt] Ltd.
Object Detection, Tracking and Suspicious Activity Recognition for Maritime Surveillance using Thermal Vision
Object Detection, Tracking and Suspicious Activity Recognition for Maritime Surveillance using Thermal Vision
Robot Receptionist
Scalable Autonomous Agronomical Smartbot
Autonomous exploration and three dimensional mapping of indoor retail environments using an active-SLAM capable mobile robot platform