30 citations · 35 across the 18 of their papers we have counts for
7 papers · 1 filter
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…