203 citations · 338 across the 37 of their papers we have counts for
44 papers
Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +2
In this paper, motion planning for a vehicle moving on a unit sphere with unit speed is considered, wherein the desired terminal location is fixed, but the terminal orientation is…
Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded…
Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana G. Manyam +2
In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are consider…
Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles
Drew Scott, Satyanarayana G. Manyam, David W. Casbeer +2
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem…
Pursuit-Evasion on a Sphere and When It Can Be Considered Flat
Dejan Milutinovic, Alexander Von Moll, Satyanarayana G. Manyam +3
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle.…
Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly
Bhargav Jha, Shaunak Bopardikar, Alexander Von Moll +1
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a man…
Shortest Trajectory of a Dubins Vehicle with a Controllable Laser
Shivam Bajaj, Bhargav Jha, Shaunak D. Bopardikar +2
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit spe…
Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones
Artur Wolek, Isaac E. Weintraub, Alexander Von Moll +2
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic,…
Noise Aware Path Planning and Power Management of Hybrid Fuel UAVs
Drew Scott, Satyanarayana G. Manyam, Isaac E. Weintraub +2
Hybrid fuel Unmanned Aerial Vehicles (UAV), through their combination of multiple energy sources, offer several advantages over the standard single fuel source configuration, the p…
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha +2
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where t…
Escape from an Orbiting Pursuer with a Nonzero Capture Radius
Braulio Mora, Alexander Von Moll, Isaac Weintraub +2
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment regi…
Virtual Target Selection for a Multiple-Pursuer Multiple-Evader Scenario
Isaac E. Weintraub, Alexander Von Moll, David W. Casbeer +1
This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay…
Perimeter Defense using a Turret with Finite Range and Service Times
Shivam Bajaj, Shaunak D. Bopardikar, Alexander Von Moll +2
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a c…
Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation
Drew Scott, Satyanarayana G. Manyam, David W. Casbeer +3
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear obje…
The Weighted Markov-Dubins Problem
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and fi…
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +1
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a s…
Surveillance of a Faster Fixed-Course Target
Isaac E. Weintraub, Alexander Von Moll, Eloy Garcia +2
The maximum surveillance of a target which is holding course is considered, wherein an observer vehicle aims to maximize the time that a faster target remains within a fixed-range…
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility
Satyanarayana G. Manyam, David W. Casbeer, Swaroop Darbha +2
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such…
Assisted Shortest Path Planning for a Convoy through a Repairable Network
Abhay Singh Bhadoriya, Christopher Montez, Sivakumar Rathinam +3
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (ed…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…
Optimal Strategies for the Game of Protecting a Plane in 3-D
Eloy Garcia, Isaac Weintraub, David W. Casbeer +1
A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the 3-D space. This problem highlights the strong…
Competitive Perimeter Defense of Conical Environments
Shivam Bajaj, Eric Torng, Shaunak D. Bopardikar +4
We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile…
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +3
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of tar…
A Differential Game Approach for Beyond Visual Range Tactics
Eloy Garcia, David W. Casbeer, Dzung Tran +1
An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a t…