8 papers
A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization
Jaehyeok Kim, Kartik A. Pant, Joseph Kinerson +4
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted…
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
Log-linear Backstepping control on
Li-Yu Lin, Benjamin Perseghetti, James Goppert
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping co…
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…
Application of Log-Linear Dynamic Inversion Control to a Multi-rotor
Li-Yu Lin, James Goppert, Inseok Hwang
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and…
MIXED-SENSE: A Mixed Reality Sensor Emulation Framework for Test and Evaluation of UAVs Against False Data Injection Attacks
Kartik A. Pant, Li-Yu Lin, Jaehyeok Kim +3
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI)…
A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem
James Goppert, Li-Yu Lin, Kartik Pant +1
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without know…
Log-linear Dynamic Inversion Control with Provable Safety Guarantees in Lie Groups
Li-Yu Lin, James Goppert, Inseok Hwang
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems cap…