2 papers
eess.SY2026
Path Invariance of a Quadrotor System under Cyber Attacks with Theoretical Guarantees
Hamza Mahmood, Usman Ali, Adeel Akhtar
This paper presents a path-following controller for a quadrotor system to guarantee safe maneuvers, in terms of forward path invariance, in the presence of cyber-physical attacks.…
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…