3 papers
cs.RO2026
RADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs
Dnyandeep Mandaokar, Bernhard Rinner
Fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles (UAVs) demands not only low-latency control and actuation but also reliable perception with sufficient sensing ran…
eess.SY2026
Distributionally Robust Acceleration Control Barrier Filter for Efficient UAV Obstacle Avoidance
Dnyandeep Mandaokar, Bernhard Rinner
Dynamic obstacle avoidance (DOA) for unmanned aerial vehicles (UAVs) requires fast reaction under limited onboard resources. We introduce the distributionally robust acceleration c…
eess.SY2026
SAFE-IMM: Robust and Lightweight Radar-Based Object Tracking on Mobile Platforms
Dnyandeep Mandaokar, Bernhard Rinner
Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models v…