21 citations · 52 across the 33 of their papers we have counts for
8 papers · 1 filter
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…
Scenario approach for minmax optimization with emphasis on the nonconvex case: positive results and caveats
Mishal Assif P K, Debasish Chatterjee, Ravi Banavar
We treat the so-called scenario approach, a popular probabilistic approximation method for robust minmax optimization problems via independent and indentically distributed (i.i.d)…
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…