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eess.SY2026
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…
eess.SY2025
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…
eess.SY2024
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…