5 papers
Docking of Autonomous Vehicles with a Stationary Docking Station in 3D Space
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
In this letter, we present a strategy for autonomous docking of autonomous vehicles in three-dimensional space. Docking is a safety-critical task and requires expert piloting skill…
Cooperative Guidance and Control for Active Asset Protection with Time-Varying Agent Speeds
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
Protecting an asset against threats is a challenging problem in an era of continuously evolving intelligent attacks. This requires cooperation between the asset and the defender to…
Trajectory Tracking for Uncrewed Surface Vessels with Input Saturation and Dynamic Motion Constraints
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limi…
Integrated Guidance and Control for Path-Following with Bounded Inputs
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface…
Trajectory tracking control of USV with actuator constraints in the presence of disturbances
Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typica…