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cs.RO2026
Selective Sliding Mode Control Enhances Robustness of Aerial Robots Under Disturbances
Anoop Kiran, Thales C. Silva, Nora Ayanian
Quadrotor control under disturbances such as wind gusts and payload variations remains challenging. First-order sliding mode control (SMC) and matched/unmatched uncertainty distinc…
cs.RO2026
Anisotropic Diffusion-Driven Ergodic Coverage in Multi-Robot Systems
Thales C. Silva, Anoop Kiran, Nora Ayanian
We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for th…
cs.RO2025★ 3 cited
Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems
Anoop Kiran, Nora Ayanian, Kenneth Breuer
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize…