15 citations · 32 across the 10 of their papers we have counts for
13 papers
A Universal Optimal Control Strategy for a Tailsitter UAV
Animesh Kumar Shastry, Mangal Kothari
This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. A…
Physics Driven Digital Twin Model for Evaluation of GNSS User Receiver Equipment
Jitu Sanwale, Mangal Kothari, Hari B. Hablani +1
This paper presents a physics-consistent digital twin framework for end-to-end modeling and evaluation of Global Navigation Satellite Systems (GNSS) user receiver equipment. In con…
Insights to the Forensic Investigation of a Custom Built UAV
Tanay Kumar, Mangal Kothari
Unmanned Aerial Vehicles (UAVs) have revolutionized numerous application fields since their introduction. Alongside this, advancements in mechanics and electronics have simplified…
Cooperative Localization for Autonomous Underwater Vehicles -- a comprehensive review
Milind Fernandes, Soumya Ranjan Sahoo, Mangal Kothari
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization tec…
Lightweight Multi-Drone Detection and 3D-Localization via YOLO
Aryan Sharma, Nitik Jain, Mangal Kothari
In this work, we present and evaluate a method to perform real-time multiple drone detection and three-dimensional localization using state-of-the-art tiny-YOLOv4 object detection…
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…
Design and Development of Underwater Vehicle: ANAHITA
Akash Jain, Manish Kumar, Rithvik Patibandla +16
Anahita is an autonomous underwater vehicle which is currently being developed by interdisciplinary team of students at Indian Institute of Technology(IIT) Kanpur with aim to provi…
Global Attitude Stabilization using Pseudo-Targets
Mahathi Bhargavapuri, Soumya Ranjan Sahoo, Mangal Kothari
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algori…
Systematic design methodology for development and flight testing of a variable pitch quadrotor biplane VTOL UAV for payload delivery
Vishnu S. Chipade, Abhishek, Mangal Kothari +1
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload deliver…
Modeling and Control of Inverted Flight of a Variable-Pitch Quadrotor
Namrata Gupta, Mangal Kothari, Abhishek
This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust…
Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach
Nidhish Raj, Ravi N Banavar, Abhishek +1
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking con…
Quaternions and Attitude Representation
Hardik Parwana, Mangal Kothari
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, eas…
Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach
Nidhish Raj, Ravi N. Banavar, Abhishek +1
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the roto…