Research & Projects
My research interest includes multi-agent systems, distributed optimization, and aerial robotics. Few of my works are highlighted below.
01
Multi-UAV Decentralized Formation Control
This work aims to design and develop a system for cooperative multi-UAV missions using distributed computation and decentralized control algorithms. Supported by a mesh communication architecture, the framework enhances UAV swarm capabilities with a self-configuring and self-healing network topology, ensuring robust communication, effective coordination, and efficient mission execution in dynamic and complex environments.
Each UAV features an onboard computer and a communication module based on the IEEE802.11s mesh standard, allowing multi-hop network communication with a range of 300 meters, extendable to 1 km with high-gain antennas.
The system is designed for mission-critical applications such as search-and-rescue, exploration, geo-mapping, monitoring and surveillance, intrusion detection, target tracking, and resource management. Advanced object detection, identification, and tracking techniques further enhance the intelligence and autonomy of the UAV swarm.
02
Distributed Optimal Control for Circumnavigation Formation
In this work,we propose a two-stage control protocol to addresses the circumnavigation of a moving target by nonholonomic agents aiming to achieve a desired multi-circular formation.
First, recognizing that some agents may not have access to formation parameters, we employ distributed estimators to enable these agents to estimate the necessary parameters. Second, we introduce a decentralized optimal control algorithm based on a linear quadratic regulator (LQR). This algorithm is designed to minimize a weighted sum of squared deviations from the desired states and control inputs, ensuring that the agents maintain the multi-circular formation.
The proposed method not only ensures the desired formation but also optimizes the control performance by minimizing deviations, making it a significant contribution to the field of cooperative circumnavigation.
03
Optimal Trajectory Generation Using Successive Convexification
Determining the most energy efficient flight path for a UAV in a obstacle filled environment is a complex challenge. In this work, we use successive convexification to address the nonconvex minimum time trajectory generation problem for a 6-degree-of-freedom (6-DoF) quadrotor model. Unlike existing methods that only consider translational dynamics and treat the quadrotor as a point mass, our approach includes both translational and rotational dynamics. By converting the original nonconvex problem into a second-order cone programming (SOCP) sub-problem, we solve it iteratively to achieve an optimal solution.
04
EKF Based Predictive Algorithm for Multi-UAV Formation Control
In this work, we present an EKF based predictive algorithm for leader-follower formation control in UAV swarms. Our method includes detailed insights into both software and hardware frameworks, making hardware deployment straightforward. This algorithm requires low bandwidth for inter-agent communication while enabling fully distributed formation navigation. Its effectiveness is demonstrated through ROS and Gazebo simulations, as well as hardware implementations. This customizable architecture provides a robust platform for aerial robotics .
05
Communication Aware Multi-UAV Coverage Path Planning
Real-time communication is crucial for coordinated multi-UAV operations, especially in time-sensitive applications like search and rescue, intelligence, surveillance, and reconnaissance (ISR). These tasks require sweeping an entire area with multiple UAVs simultaneously, falling under coverage problems. While path planning with coverage constraints is well-studied, incorporating communication as a constraint is becoming increasingly important in advanced UAV operations.
06
CNet: MultiUAV Communication Architecture
CNet is a cross-protocol communication framework designed for low-bandwidth, multi-UAV applications like search and rescue or ISR. It integrates various protocols to ensure high reliability and Quality of Service (QoS) while reducing network overhead during connection and reconnection, enhancing efficiency and performance in multi-UAV systems.
07
Vision Based Servo Control of Multi-link Robot Arm
To address performance issues in rigid robot manipulators due to being non-collocated systems, we propose using a vision sensor for direct tip position measurement instead of traditional mechanical sensors. Our work focuses on developing a vision-based method to control the tip position of a planar single-link rigid robot manipulator (SLRM). By integrating feedback from both an encoder and a visual sensor, we enhance tip position control performance. Simulation and experimental results demonstrate that our method outperforms traditional mechanical sensor approaches.
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