78 citations · 163 across the 38 of their papers we have counts for
35 papers · 1 filter
Risk-Aware Input-Constrained Safe Intercept Guidance Against Multiple Moving Defenders
Praveen Kumar Ranjan, Abhinav Sinha, Yongcan Cao +2
This paper develops a risk-aware guidance law for an attacker to intercept a stationary target in the presence of multiple moving defenders while respecting the control input limit…
Finite-Data Safety Informativity Under Dynamic Asymmetric Actuation
Abhinav Sinha, Praveen Kumar Ranjan, Yongcan Cao
When the system model is not fully known, measurement error and limited excitation can leave several models consistent with the same finite data. A command judged safe for one mode…
Admissibility-Preserving Control for Multi-Input Systems with Joint Capacity Constraints
Saurabh Kumar, Lohitvel Gopikannan, Shashi Ranjan Kumar +1
This paper addresses the control of multi-input strict-feedback nonlinear systems subject to a joint capacity constraint, in which the admissible input set is a coupled subset of t…
Equivalent-Agent Guidance for Cooperative UAV Payload Transportation
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This paper develops a guidance framework for cooperative transportation of a rigid payload by two uncrewed aerial vehicles (UAVs) to stationary and maneuvering landing platforms. A…
Predefined-Time Leaderless Consensus Under Denial-of-Service Attacks
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper addresses predefined-time resilient consensus of leaderless second-order nonlinear multi-agent systems under denial-of-service (DoS) attacks, motivated by coordination r…
Networked Admissibility-Preserving Control for Directed Safe Coordination
Abhinav Sinha, Lohitvel Gopikannan, Shashi Ranjan Kumar
This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented through constrained physical-input dynamics. Agents communicate over…
Admissibility-Preserving Control for Strict-Feedback Nonlinear Systems with Asymmetric Actuator Constraints
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
This paper develops Admissibility-Preserving Control (APC), a realization-centered safety-critical control framework for strict-feedback systems subject to asymmetric actuator limi…
Distributed Safe Consensus Under Asymmetric Input and Time-Varying Output Constraints
Abhinav Sinha, Shashi Ranjan Kumar
This paper studies safe distributed consensus for single-integrator multi-agent systems over connected undirected graphs under simultaneous asymmetric actuator constraints and outp…
Terminal Time and Angle-Constrained Nonlinear Intercept Guidance
Shivam Bajpai, Abhinav Sinha
This paper considers the problem of simultaneously controlling an interceptor's impact time and impact angle using its lateral acceleration as the sole control input. With a single…
Bounded-Input True Proportional Navigation for Impact-Time Control
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper proposes a nonlinear guidance strategy capable of intercepting a constant-velocity, non-maneuvering target while strictly satisfying the prescribed bounds on the control…
Engagement-Zone-Aware Input-Constrained Guidance for Safe Target Interception in Contested Environments
Praveen Kumar Ranjan, Abhinav Sinha, Yongcan Cao
We address target interception in contested environments in the presence of multiple defenders whose interception capability is limited by finite ranges. Conventional methods typic…
Predefined-time One-Shot Cooperative Estimation, Guidance, and Control for Simultaneous Target Interception
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology…
Cooperative Integrated Estimation-Guidance for Simultaneous Interception of Moving Targets
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, a…
Three-dimensional Integrated Guidance and Control for Leader-Follower Flexible Formation of Fixed Wing UAVs
Praveen Kumar Ranjan, Abhinav Sinha, Yongcan Cao
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while acc…
Cooperative Guidance for Aerial Defense in Multiagent Systems
Shivam Bajpai, Abhinav Sinha, Shashi Ranjan Kumar
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the…
Safety-Critical Input-Constrained Nonlinear Intercept Guidance in Multiple Engagement Zones
Praveen Kumar Ranjan, Abhinav Sinha, Yongcan Cao
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents.…
Trajectory Encryption Cooperative Salvo Guidance
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper introduces the concept of trajectory encryption in cooperative simultaneous target interception, wherein heterogeneity in guidance principles across a team of unmanned a…
Adaptive Event-Triggered Policy Gradient for Multi-Agent Reinforcement Learning
Umer Siddique, Abhinav Sinha, Yongcan Cao
Conventional multi-agent reinforcement learning (MARL) methods rely on time-triggered execution, where agents sample and communicate actions at fixed intervals. This approach is of…
On Robustness of Consensus over Pseudo-Undirected Path Graphs
Abhinav Sinha, Dwaipayan Mukherjee, Shashi Ranjan Kumar
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to conve…
Robust Near-Optimal Nonlinear Target Enclosing Guidance
Abhinav Sinha, Rohit V. Nanavati
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular enci…
Nonlinear Cooperative Salvo Guidance with Seeker-Limited Interceptors
Lohitvel Gopikannan, Shashi Ranjan Kumar, Abhinav Sinha
This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a…
Cooperative Target Capture in 3D Engagements over Switched Dynamic Graphs
Abhinav Sinha, Shashi Ranjan Kumar
This paper presents a leaderless cooperative guidance strategy for simultaneous time-constrained interception of a stationary target when the interceptors exchange information over…
Provably Safe Control for Constrained Nonlinear Systems with Bounded Input
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operatio…
Three-dimensional Nonlinear Path-following Guidance with Bounded Input Constraints
Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing…