64 citations · 138 across the 26 of their papers we have counts for
29 papers
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shor…
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in , , , and $CCC…
A New Approach to Motion Planning in 3D for a Dubins Vehicle: Special Case on a Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a new model for 3D motion planning, applicable to aerial vehicles, is proposed to connect an initial and final configuration subject to pitch rate and yaw rate con…
Min-Time Escape of a Dubins Car from a Polygon
Isaac E. Weintraub, Alexander Von Moll, David Casbeer +3
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-opt…
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…
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…
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…
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_{…
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…
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…
Path Planning Algorithms for a Car-Like Robot visiting a set of Waypoints with Field of View Constraints
Sivakumar Rathinam, Satyanarayana Gupta Manyam, Yuntao Zhang
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first v…
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +3
We consider the problem of planning a closed walk for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changin…
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…