2 papers
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…
cs.RO2026
A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance
Hamza Tariq, Usman Ali, Adeel Akhtar
Dynamic feedback linearization (DFL) is a classical technique for trajectory tracking of unicycle-type mobile robots, but the resulting DFL-based controller becomes singular when t…