4 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…
Range-Only Dynamic Output Feedback Controller for Safe and Secure Target Circumnavigation
Anand Singh, Anoop Jain
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicyc…
Safe Circumnavigation of a Hostile Target Using Range-Based Measurements
Gaurav Singh Bhati, Arukonda Vaishnavi, Anoop Jain
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controlle…
Multi-Agent Phase-Balancing around Polar Curves with Bounded Trajectories: An Experimental Study using Crazyflies and MoCap System
Gaurav Singh Bhati, KKN Shyam Sathvik, Anuj Patil +1
In this experimental work, we implement the control design from our earlier work on a swarm of Crazyflie 2.1 quad-copters by deriving the original control in terms of variables tha…