30 citations · 35 across the 18 of their papers we have counts for
21 papers
Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
We develop a task-relative framework for certifying residual wrench authority after hover and contact loading in multirotors with bounded actuators. Using convex geometry, we deriv…
Equivalent-Agent Guidance for Cooperative UAV Payload Transportation
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This paper develops a guidance framework for cooperative transportation of a rigid payload by two uncrewed aerial vehicles (UAVs) to stationary and maneuvering landing platforms. A…
Predefined-Time Leaderless Consensus Under Denial-of-Service Attacks
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper addresses predefined-time resilient consensus of leaderless second-order nonlinear multi-agent systems under denial-of-service (DoS) attacks, motivated by coordination r…
Networked Admissibility-Preserving Control for Directed Safe Coordination
Abhinav Sinha, Lohitvel Gopikannan, Shashi Ranjan Kumar
This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented through constrained physical-input dynamics. Agents communicate over…
Admissibility-Preserving Control for Strict-Feedback Nonlinear Systems with Asymmetric Actuator Constraints
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This paper develops Admissibility-Preserving Control (APC), a realization-centered safety-critical control framework for strict-feedback systems subject to asymmetric actuator limi…
Contact-Persistent Full Actuation for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-allocation matrix or through free-flight tracking performance. For aerial…
Predefined-time One-Shot Cooperative Estimation, Guidance, and Control for Simultaneous Target Interception
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology…
Cooperative Integrated Estimation-Guidance for Simultaneous Interception of Moving Targets
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, a…
Cooperative Guidance for Aerial Defense in Multiagent Systems
Shivam Bajpai, Abhinav Sinha, Shashi Ranjan Kumar
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the…
Trajectory Encryption Cooperative Salvo Guidance
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper introduces the concept of trajectory encryption in cooperative simultaneous target interception, wherein heterogeneity in guidance principles across a team of unmanned a…
On Robustness of Consensus over Pseudo-Undirected Path Graphs
Abhinav Sinha, Dwaipayan Mukherjee, Shashi Ranjan Kumar
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to conve…
Nonlinear Cooperative Salvo Guidance with Seeker-Limited Interceptors
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a…
Cooperative Target Capture in 3D Engagements over Switched Dynamic Graphs
Abhinav Sinha, Shashi Ranjan Kumar
This paper presents a leaderless cooperative guidance strategy for simultaneous time-constrained interception of a stationary target when the interceptors exchange information over…
Provably Safe Control for Constrained Nonlinear Systems with Bounded Input
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operatio…
Three-dimensional Nonlinear Path-following Guidance with Bounded Input Constraints
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing…
Trajectory Tracking for Unmanned Aerial Vehicles in 3D Spaces under Motion Constraints
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to m…
Consensus-driven Deviated Pursuit for Guaranteed Simultaneous Interception of Moving Targets
Abhinav Sinha, Dwaipayan Mukherjee, Shashi Ranjan Kumar
This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing coop…
Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team…
Cooperative Target Capture using Predefined-time Consensus over Fixed and Switching Networks
Abhinav Sinha, Shashi Ranjan Kumar
We propose predefined-time consensus-based cooperative guidance laws for a swarm of interceptors to simultaneously capture a target capable of executing various kinds of motions. U…
Three-agent Time-constrained Cooperative Pursuit-Evasion
Abhinav Sinha, Shashi Ranjan Kumar, Dwaipayan Mukherjee
This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team…
Finite-time Heterogeneous Cyclic Pursuit with Application to Target Interception
Dwaipayan Mukherjee, Shashi Ranjan Kumar
This paper presents a finite-time heterogeneous cyclic pursuit scheme that ensures consensus among agents modelled as integrators. It is shown that for the proposed sliding mode co…