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eess.SY2026
Path Invariance of a Quadrotor System under Cyber Attacks with Theoretical Guarantees
Hamza Mahmood, Usman Ali, Adeel Akhtar
This paper presents a path-following controller for a quadrotor system to guarantee safe maneuvers, in terms of forward path invariance, in the presence of cyber-physical attacks.…
eess.SY2026
Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
Hamza Tariq, Adeel Akhtar
This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assig…
eess.SY2026
Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees
Mohamed Al Lawati, Adeel Akhtar
This paper presents a nonlinear control law for a quadrotor unmanned aerial vehicle (UAV) under single-rotor failure that guarantees set stabilization via quasi-static feedback (QS…