21 citations · 52 across the 33 of their papers we have counts for
38 papers · 1 filter
Lie Group Variational Integrator for the Geometrically Exact Rod with Circular Cross-Section Incorporating Cross-Sectional Deformation
Srishti Siddharth, Vivek Natarajan, Ravi N. Banavar
In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional def…
Constructing Feedback Linearizable Discretizations for Continuous-Time Systems using Retraction Maps
Ashutosh Jindal, Ravi Banavar, David Martin Diego
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous…
Equivariant Filters are Equivariant
Hiya Gada, Pieter van Goor, Ravi Banavar +1
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, an…
A Unified Framework for Consensus and Synchronization on Lie Groups admitting a Bi-Invariant Metric
Rama Seshan Chandrasekharan, Ravi N Banavar, Arun D Mahindrakar
For a finite number of agents evolving on a Euclidean space and linked to each other by a connected graph, the Laplacian flow that is based on the inter-agent errors, ensures conse…
Implicit Function Theorem: Estimates on the size of the domain
Ashutosh Jindal, Debasish Chatterjee, Ravi Banavar
In this article, we present explicit estimates of the size of the domain on which the Implicit Function Theorem and the Inverse Function Theorem are valid. For maps that are twice…
Geometric PID Controller for Stabilization of Nonholonomic Mechanical Systems on Lie Groups
Rama Seshan, Ravi N Banavar, D. H. S. Maithripala +1
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a l…
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…
Stabilizing a spherical pendulum on a quadrotor
Aradhana Nayak, Ravi Banavar, D. H. S Maithripala
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom…
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…
A bundle framework for observer design on smooth manifolds with symmetry
Anant A. Joshi, D. H. S. Maithripala, Ravi N. Banavar
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient…
Lyapunov-like functions for attitude control via feedback integrators
Tejaswi K. C., Srikant Sukumar, Ravi Banavar
The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynami…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…
Discrete time optimal control with frequency constraints for non-smooth systems
Shruti Kotpalliwar, Pradyumna Paruchuri, Debasish Chatterjee +1
We present a Pontryagin maximum principle for discrete time optimal control problems with (a) pointwise constraints on the control actions and the states, (b) frequency constraints…
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
Discrete Optimal Control of Interconnected Mechanical Systems
Siddharth H. Nair, Ravi N. Banavar
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is…
Variational dynamic interpolation for kinematic systems on trivial principal bundles
Sudin Kadam, Ravi N. Banavar
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle . Given an ordered set of points in , we wish to generat…
Variational collision avoidance problems on Riemannian manifolds
Mishal Assif, Ravi Banavar, Anthony Bloch +2
In this article we introduce a variational approach to collision avoidance of multiple agents evolving on a Riemannian manifold and derive necessary conditions for extremals. The p…
Modelling and controllability of the motion of a slender, flexible micro-swimmer
Sudin Kadam, Ravi N. Banavar
The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender fle…
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat +2
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to…
Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
Karmvir Singh Phogat, Ravi Banavar, Debasish Chatterjee
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the {\it Segway}. Designing optimal control laws fo…
Almost-global tracking of the unactuated joint in a pendubot
Aradhana Nayak, Ravi N. Banavar
Tracking the unactuated configuration variable in an underactuated system, in a global sense, has not received much attention. Here we present a scheme to do so for a pendubot - a…