From 63a9ce5720ab001f6f15b08b75314811b3d6ff44 Mon Sep 17 00:00:00 2001 From: EstherSuchitha Date: Mon, 2 Mar 2026 10:50:53 +0530 Subject: [PATCH] papers added --- _data/pubs/2025.yml | 9 +++++ _pages/project-pages/2025/Antony_Locally.md | 28 +++++++++++++++ _pages/project-pages/2025/Harikumar_Three.md | 0 _pages/project-pages/2025/Prachetas_Active.md | 32 ++++++++++++++++++ images/slider7001400/{MTP.jpeg => rrc8.jpeg} | Bin 5 files changed, 69 insertions(+) create mode 100644 _pages/project-pages/2025/Antony_Locally.md create mode 100644 _pages/project-pages/2025/Harikumar_Three.md create mode 100644 _pages/project-pages/2025/Prachetas_Active.md rename images/slider7001400/{MTP.jpeg => rrc8.jpeg} (100%) diff --git a/_data/pubs/2025.yml b/_data/pubs/2025.yml index eb316e0..1bf6a76 100644 --- a/_data/pubs/2025.yml +++ b/_data/pubs/2025.yml @@ -1,3 +1,12 @@ +- title: "Three Dimensional Waypoint Navigation for Fixed-wing Micro Aerial Vehicles using Integrated Guidance and Control Framework" + authors: Harikumar Kandath, Jinraj V Pushpangathan, M Seetharama Bhat + venue: 2025 International Conference on Emerging Technology in Autonomous Aerial Vehicles (ETAAV) + link: # https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=11213103 + url: /publications/2025/Harikumar_Three + display: Project Page + id: mkrishna + featured: 1 + - title: "Active Disturbance Rejection based approach for Fault Tolerant Control of a Quadcopter" authors: Prachetas P, Dinesh Viswas, Harikumar Kandath, Pooja Agrawal venue: 2025 International Conference on Emerging Technology in Autonomous Aerial Vehicles (ETAAV) diff --git a/_pages/project-pages/2025/Antony_Locally.md b/_pages/project-pages/2025/Antony_Locally.md new file mode 100644 index 0000000..88d1053 --- /dev/null +++ b/_pages/project-pages/2025/Antony_Locally.md @@ -0,0 +1,28 @@ +--- +layout: project-page-new +title: "Locally optimal solutions to constraint displacement problems via path-obstacle overlaps" +authors: + - name: Antony Thomas + sup: 1 + - name: Fulvio Mastrogiovanni + sup: 2 + - name: Marco Baglietto + sup: 2 +affiliations: + - name: Robotics Research Center, IIIT Hyderabad, India + link: https://robotics.iiit.ac.in + sup: 1 + - name: University of Genoa + link: https://dibris.unige.it/en + sup: 2 +permalink: /publications/2025/Antony_Locally/ +abstract: "We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle displacements to enable a feasible path for the robot. The first stage proceeds by computing a trajectory through the obstacles while minimizing an appropriate objective function. In the second stage, these obstacles are displaced to make the computed robot trajectory feasible, that is, collision-free. Several examples are provided that successfully demonstrate our approach on two distinct classes of constraint displacement problems" +#project_page: https://imagine-2-drive.github.io/ +paper: https://www.sciencedirect.com/science/article/pii/S0921889025003483 +#code: https://github.com/Smart-Wheelchair-RRC/CrowdSurfer +#supplement: https://arxiv.org/abs/2409.16011 +#video: https://iiithydresearch-my.sharepoint.com/personal/shreya_bollimuntha_research_iiit_ac_in/_layouts/15/stream.aspx?id=%2Fpersonal%2Fshreya%5Fbollimuntha%5Fresearch%5Fiiit%5Fac%5Fin%2FDocuments%2FAttachments%2FICRA%5F2025%2Emp4&ga=1&referrer=StreamWebApp%2EWeb&referrerScenario=AddressBarCopied%2Eview%2Edc06e0cd%2Dbfc3%2D4581%2D9eef%2Da7753f1e437a +#iframe: https://www.youtube.com/embed/BMDCYdxfaXM +#demo: https://anyloc.github.io/#interactive_demo + +--- \ No newline at end of file diff --git a/_pages/project-pages/2025/Harikumar_Three.md b/_pages/project-pages/2025/Harikumar_Three.md new file mode 100644 index 0000000..e69de29 diff --git a/_pages/project-pages/2025/Prachetas_Active.md b/_pages/project-pages/2025/Prachetas_Active.md new file mode 100644 index 0000000..65ad720 --- /dev/null +++ b/_pages/project-pages/2025/Prachetas_Active.md @@ -0,0 +1,32 @@ +--- +layout: project-page-new +title: "Active Disturbance Rejection based approach for Fault Tolerant Control of a Quadcopter" +authors: + - name: Prachetas P + sup: 1 + - name: Dinesh Viswas + sup: 2 + - name: Harikumar Kandath + sup: 3 + - name: Pooja Agrawal + sup: 1 +affiliations: + - name: School of Robotics DIAT (DU), Girinagar, Pune + link: https://diat.ac.in/school-of-robotics/ + sup: 1 + - name: BITS Pilani Goa Campus, Goa, India + link: https://www.bits-pilani.ac.in/goa/ + sup: 2 + - name: Robotics Research Center, IIIT Hyderabad, India + link: https://robotics.iiit.ac.in + sup: 3 +permalink: /publications/2025/Prachetas_Active/ +abstract: This paper proposes a fault-tolerant control strat-egy addressing partial-to-complete propeller effectiveness loss through a dual-equilibrium framework. Two operating regimes +are established based on a fault severity threshold, (i)below- threshold conditions maintain full actuation, (ii)above-threshold operation stabilizes hover dynamics by relinquishing yaw control. +An Extended State Observer (ESO)-based Active Disturbance Re-jection Control (ADRC) estimates and compensates for combined disturbances, including fault-induced effects and unmodeled +dynamics. High-fidelity nonlinear simulations demonstrate the framework’s effectiveness in maintaining attitude stabilization and position tracking during fault scenarios. The results vali-date that intentional yaw decoupling in severe faults preserves roll/pitch stability while ESO-ADRC ensures robust disturbance rejection, offering practical fault accommodation for propeller-driven systems +#project_page: https://reachpranjal.com/sparseloc/ +paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11213100 +#code: +#iframe: https://www.youtube.com/embed/PmMC49SNj2k +--- diff --git a/images/slider7001400/MTP.jpeg b/images/slider7001400/rrc8.jpeg similarity index 100% rename from images/slider7001400/MTP.jpeg rename to images/slider7001400/rrc8.jpeg