89 citations · 112 across the 19 of their papers we have counts for
6 papers · 1 filter
Multicluster Design and Control of Large-Scale Affine Formations
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms.…
Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a…
On the Stability of Consensus Control under Rotational Ambiguities
Zhonggang Li, Changheng Li, Raj Thilak Rajan
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual ag…
Artificial Potential Field-Based Path Planning for Cluttered Environments
Mosab Diab, Mostafa Mohammadkarimi, Raj Thilak Rajan
In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial m…
Performance Bounds for Cooperative Localisation in the Starlink Network
Calum Spring-Turner, Raj Thilak Rajan
Mega-constellations in Low Earth Orbit have the potential to revolutionise worldwide internet access. The concomitant potential of these mega-constellations to impact space sustain…
Joint Ranging and Phase Offset Estimation for Multiple Drones using ADS-B Signatures
Mostafa Mohammadkarimi, Geert Leus, Raj Thilak Rajan
A new method for joint ranging and Phase Offset (PO) estimation of multiple drones/aircrafts is proposed in this paper. The proposed method employs the superimposed uncoordinated A…