3 papers
eess.SY2026
Safe Unicycle Navigation Among Multiple Obstacles Under Bounded Disturbances: A Learning-Augmented CLF-CBF Approach (Extended Version)
Shubham Singh, Anjali Tiwari, Anand Singh +1
This paper presents a robust control framework for safe navigation of a unicycle robot to a goal among multiple static obstacles under an unknown, time-varying disturbance. The con…
eess.SY2025
Phase-Coordinated Circular Formation Control of Unicycle Agents Under Non-Concentric Boundary Constraints
Shubham Singh, Anoop Jain
This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensur…
cs.RO2024
Mobius Transformation-Based Circular Motion Control for Unicycle Robots in Nonconcentric Circular Geofences
Shubham Singh, Anoop Jain
Nonuniform motion constraints are ubiquitous in robotic applications. Geofencing control is one such paradigm where the motion of a robot must be constrained within a predefined bo…