2 citations · 2 across the 5 of their papers we have counts for
8 papers
The Weighted Markov-Dubins Problem
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and fi…
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +1
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a s…
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility
Satyanarayana G. Manyam, David W. Casbeer, Swaroop Darbha +2
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +3
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of tar…
Mobility and Safety Benefits of Connectivity in CACC Vehicle Strings
Vamsi Vegamoor, Shaojie Yan, Sivakumar Rathinam +1
In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon…