203 citations · 338 across the 37 of their papers we have counts for
32 papers · 1 filter
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.…
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…
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…
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…
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…
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…
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…
The Barrier Surface in the Cooperative Football Differential Game
Eloy Garcia, David W. Casbeer, Meir Pachter
This paper considers the blocking or football pursuit-evasion differential game. Two pursuers cooperate and try to capture the ball carrying evader as far as possible from the goal…
The Complete Differential Game of Active Target Defense
Eloy Garcia, David W. Casbeer, Meir Pachter
In the Target-Attacker-Defender (TAD) differential game, an Attacker missile strives to capture a Target aircraft. The Target tries to escape the Attacker and is aided by a Defende…
Multiple Pursuer Multiple Evader Differential Games
Eloy Garcia, David W. Casbeer, Alexander Von Moll +1
In this paper an N-pursuer vs. M-evader team conflict is studied. The differential game of border defense is addressed and we focus on the game of degree in the region of the state…
Optimal Target Intercept Paths for Vehicles with Turn Radius Constraints
Satyanarayana Gupta Manyam, David Casbeer, Alexander Von Moll +1
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisf…
Shortest Dubins Path to a Circle
Satyanarayana Gupta Manyam, David Casbeer, Alexander Von Moll +1
The Dubins path problem had enormous applications in path planning for autonomous vehicles. In this paper, we consider a generalization of the Dubins path planning problem, which i…
Cooperative Routing for an Air-Ground Vehicle Team -- Exact Algorithm, Transformation Method, and Heuristics
Satyanarayana G. Manyam, Kaarthik Sundar, David W. Casbeer
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the…
Multi-UAV Routing for Persistent Intelligence Surveillance & Reconnaissance Missions
Satyanarayana G. Manyam, Steven Rasmussen, David W. Casbeer +2
We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR) routing problem, which includes collecting data from a set of specified task locations and delivering…
Path Planning for Cooperative Routing of Air-Ground Vehicles
Satyanarayana Manyam, David Casbeer, Kaarthik Sundar
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which inv…