21 citations · 58 across the 27 of their papers we have counts for
13 papers · 1 filter
Weight-Based Exploration for Unmanned Aerial Teams Searching for Multiple Survivors
Sarthak J. Shetty, Debasish Ghose
During floods, reaching survivors in the shortest possible time is a priority for rescue teams. Given their ability to explore difficult terrain in short spans of time, Unmanned Ae…
Synthesis of a Six-Bar Gripper Mechanism for Aerial Grasping
Rajashekhar V S, Rokesh Laishram, Kaushik Das +1
In this paper, a 1-DoF gripper mechanism has been synthesized for the type of mechanism, number of links and joints, and the dimensions of length, width and thickness of links. The…
A Robust Aerial Gripper for Passive Grasping and Impulsive Release using Scotch Yoke Mechanism
V. SRajashekhar, M. R. Vibha, Kaushik Das +1
Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsi…
CORRIDRONE: Corridors for Drones, An Adaptive On-Demand Multi-Lane Design and Testbed
Lima Agnel Tony, Ashwini Ratnoo, Debasish Ghose
In this article, a novel drone skyway framework called CORRIDRONE is proposed. As the name suggests, this represents virtual air corridors for point-to-point safe passage of multip…
Target State Estimation and Prediction for High Speed Interception
Aashay Bhise, Shuvrangshu Jana, Lima Agnel Tony +1
Accurate estimation and prediction of trajectory is essential for interception of any high speed target. In this paper, an extended Kalman filter is used to estimate the current lo…
Collaborative Tracking and Capture of Aerial Object using UAVs
Lima Agnel Tony, Shuvrangshu Jana, Varun V P +5
This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 202…
Vision based Target Interception using Aerial Manipulation
Lima Agnel Tony, Shuvrangshu Jana, Aashay Bhise +6
Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a p…
Multi-Agent Collaboration for Building Construction
Kumar Ankit, Lima Agnel Tony, Shuvrangshu Jana +1
This paper details the algorithms involved and task planner for vehicle collaboration in building a structure. This is the problem defined in challenge 2 of Mohammed Bin Zayed Inte…
Accurate Prediction and Estimation of 3D-Repetitive-Trajectories using Kalman Filter, Machine Learning and Curve-Fitting Method
Aakriti Agrawal, Aashay Bhise, Rohitkumar Arasanipalai +3
Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target i…
Control of a Nature-inspired Scorpion using Reinforcement Learning
Aakriti Agrawal, V S Rajashekhar, Rohitkumar Arasanipalai +1
A terrestrial robot that can maneuver rough terrain and scout places is very useful in mapping out unknown areas. It can also be used explore dangerous areas in place of humans. A…
High-Relative Degree Stochastic Control Lyapunov and Barrier Functions
Meenakshi Sarkar, Debasish Ghose, Evangelos A. Theodorou
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependen…
Implementation of Survivor Detection Strategies Using Drones
Sarthak J. Shetty, Rahul Ravichandran, Lima Agnel Tony +3
Survivors stranded during floods tend to seek refuge on dry land. It is important to search for these survivors and help them reach safety as quickly as possible. The terrain in su…
Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning
Rohitkumar Arasanipalai, Aakriti Agrawal, Debasish Ghose
Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller…