4 papers
Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint
S. Saharsh, Pushpak Jagtap
This paper presents a control framework for formation tracking and rigidity maintenance in heterogeneous multi-robot systems with nonlinear dynamics under sensing range constraints…
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
S. Saharsh, Vedhas Talnikar, Pushpak Jagtap
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes…
Control Barrier Function only Formation Tracking in Multi-Agent Systems
S. Saharsh, Pushpak Jagtap
This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Cont…
Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
Shubham Sawarkar, P Sangeerth, S Saharsh +1
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generali…