4 citations · 13 across the 12 of their papers we have counts for
12 papers
Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspect…
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors.…
Cloud-Assisted Remote Control for Aerial Robots: From Theory to Proof-of-Concept Implementation
Achilleas Santi Seisa, Viswa Narayanan Sankaranarayanan, Gerasimos Damigos +2
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and e…
A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration
Akash Patel, Mario A. V. Saucedo, Nikolaos Stathoulopoulos +4
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This…
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control b…
Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa, Akshit Saradagi +2
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space.…
Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers
Andrea Berra, Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa +10
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target d…
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
Julien Mellet, Andrea Berra, Achilleas Santi Seisa +7
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuat…
A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface…
Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
Viswa Narayanan Sankaranarayanan, Sumeet Gajanan Satpute, Spandan Roy +1
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this ob…
PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G
Viswa Narayanan Sankaranarayanan, Gerasimos Damigos, Achilleas Santi Seisa +3
With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV…
Adaptive Controllers for Quadrotors Carrying Unknown Payloads
Viswa Narayanan Sankaranarayanan
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. D…