5 papers
Bearing-based Circumnavigation with Collision Avoidance in Time-varying Graphs under Limited Target Information
Kushal Pratap Singh, Twinkle Tripathy, Anoop Jain
In this paper, we study distributed circumnavigation of a stationary target by a heterogeneous team of agents. Each agent is modelled as a disk rather than a point mass to account…
Bearing Only Distributed Circumnavigation with Limited Target Information for Asymmetric Dubins Vehicles
Kushal Pratap Singh, Twinkle Tripathy
In this paper, we present a class of bearing based distributive nonlinear guidance laws for the cooperative circumnavigation of a stationary target by a heterogeneous team of asymm…
Distributed Circumnavigation Using Bearing Based Control with Limited Target Information
Kushal Pratap Singh, Manvi Bengani, Darshit Mittal +1
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of autonomous agents, having unicycle kinematics.…
Finite time max-consensus for simultaneous target interception in switching graph topologies
Kushal P. Singh, Aditya K. Rao, Twinkle Tripathy
In this paper, we propose a distributed guidance law for the simultaneous interception of a stationary target. For a group of `n' heterogeneous pursuers, the proposed guidance law…
Trajectory elongation strategies with minimum curvature discontinuities for a Dubins vehicle
Aditya K. Rao, Twinkle Tripathy
In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructe…