20 papers
Contact-Persistent Full Actuation for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-allocation matrix or through free-flight tracking performance. For aerial…
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…
Collaborative Threat-Aware Autonomy (CTAA)
Rajnikant Sharma, Abhinav Sinha, Isaac Weintraub
Navigating teams of unmanned vehicles through environments containing dynamic, adversarial Weapon Engagement Zones~(WEZs) poses a fundamental challenge to mission success: 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…