7 papers
Modelling, Controllability and Gait Design for a Spherical Flexible Swimmer
Sudin Kadam, Ravi N. Banavar, Vivek Natarajan
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swi…
Robust Discrete-Time Pontryagin Maximum Principle on Matrix Lie Groups
Anant A. Joshi, Debasish Chatterjee, Ravi N. Banavar
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturb…
A note on the kinematic model of the planar Purcell's swimmer
Sudin Kadam, Ravi N. Banavar
The kinematic model for the planar Purcell's swimmer - a low Reynolds number microswimmer is derived and used extensively in the literature. We revisit the derivation and give the…
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
Rama Seshan Chandrasekaran, Leonardo J. Colombo, Margarida Camarinha +2
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The proble…
Design of a Discrete Time Observer for the Continuous Time Rotation Kinematics on
Soham Shanbhag, Ravi Banavar
This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group . The work draws on two research schools…
Attitude Control of a Novel Tailsitter: Swiveling Biplane-Quadrotor
Nidhish Raj, Ravi Banavar, Abhishek +1
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle de…