3 papers
cs.RO2026
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
Saharsh, S. Saharsh, Vedhas Talnikar +1
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes…
eess.SY2026
Control Barrier Function only Formation Tracking in Multi-Agent Systems
S. Saharsh, Pushpak Jagtap
This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Cont…
eess.SY2026
Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
Shubham Sawarkar, P Sangeerth, S Saharsh +1
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generali…