Projects
This page contains all my project details.
Proof-of-Concepts
Three-dimensional Nonlinear Path Following Guidance with Limited Control Authority
Team Members: Shashi Ranjan Kumar, Hemendra Arya, Swati Singh, Saumitra Barman, Ram Milan Kumar Verma, Aryan Iyer, and Saurabh Kumar
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
In this POC, we aim to develop a robust guidance system for autonomous path-following of unmanned aerial vehicles (UAVs) with the following capabilities: 1. Autonomous path-following using limited control authority without human intervention. 2. The UAV can converge to its desired path within a user-defined time, even without path curvature info. 3. Applicable to both multi-rotor and fixed-wing vehicles. 4. Relies only on relative information, making it suitable for GPS-denied or cluttered environments.
Designing of a UAV Capable to Maneuver in Constrained Environment
Team Members: Hemendra Arya, Shashi Ranjan Kumar, Patel Hemali Sureshbhai, Prathviraj Chavan, Ram Milan Kumar Verma, Aryan Iyer, and Saurabh Kumar
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
The primary objective of this Proof Of Concept (POC) is to design and implement an autonomous Unmanned Aerial Vehicle (UAV) with a frame that is able to stabilize itself after collision during its movement through constrained environments such as chimneys and tunnels. The key objectives include: 1. Design and implement a UAV with a frame capable of stabilizing itself after collisions. 2. Implement a stabilization mechanism for post-collision recovery. 3. Incorporate detection of maintenance requirements (e.g., cracks) via efficient mapping.
Control of Fully Actuated Quadrotor for Enhanced Precision Trajectory Tracking
Team Members: Hemendra Arya, Shashi Ranjan Kumar, Dhruv Phadke, Ram Milan Kumar Verma, Aryan Iyer, and Saurabh Kumar
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
In this POC, we aim to design an advanced guidance and control strategy for a fully actuated quadrotor capable of executing complex maneuvers with high precision. The primary objectives of this POC are: 1. Development of a 6-DOF mathematical model representing translational and rotational dynamics. 2. Design of a robust trajectory tracking algorithm to enable the quadrotor to follow predefined paths with high accuracy. 3. Validate the control strategy through simulations and analytical stability analysis to ensure performance under various conditions.
Convoy monitoring schemes for Various Autonomous Vehicles
Team Members: Dwaiapyan Mukherjee, Shashi Ranjan Kumar, Hemendra Arya, Swati Singh, Avinash Kumar Dubey, Susmitha T. Raybhagi, and Saurabh Kumar
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
A swarm of agents/drones are required to navigate through a 3D space, where the path to be traversed is known only to selected few drones, termed as leaders, while the other drones are called followers. The containment control problem requires the leaders to traverse along a reference trajectory provided to each of them while the followers are required to remain inside the convex hull of the leaders. It is assumed that the leaders can navigate autonomously along a given polynomial trajectory that is pre- specified and the followers only have access to the relative position information between themselves and their neighbours. The leaders, as characterized here, can be assumed to be reference signals and every follower receives state information of the leader, either directly (i.e. through a directed edge in the graph describing the network topology between any of the leaders and itself) or indirectly (i.e. through a directed path between itself and at least one of the leaders). The main contributions of this proposed work may be summarized as follows. Followers’ dynamics should not be required to be of lower order. Despite this, they should be able to converge within the convex hull specified by the leaders’ positions, while leaders can follow a polynomial trajectory of any degree. Furthermore, unlike many existing results, the present work should not require the followers to be modeled by identical dynamics. Thus, each follower may be modeled as some second order linear system (some of the followers may even have inherently unstable dynamics).
Object Transportation Using Cooperative Unmanned Aerial Vehicles
Team Members: Shashi Ranjan Kumar, Hemendra Arya, Saurabh Kumar, Swati Singh, Ram Milan Kumar Verma, Prajakta Surve, Ashok Samrat, Karthickeyan V, and Anish Antony
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
Cooperative object transportation has emerged as a significant research problem in multi-drone systems. These strategies have a diverse range of applications in various civilian and military tasks. Using multiple small capability drones instead of using a single high-end drone not only enhances reliability but also reduces the probability of mission failure. In this proof-of-concept, we aim to develop robust guidance and control schemes for a team of unmanned aerial vehicles (UAVs). The proposed strategy will enable the UAVs to transport a load cooperatively from one location to another. The proposed approach was based on geometry and had alluring features such as simplicity in design and ease of implementation. Furthermore, in the proposed approach, the UAVs were connected through a rigid link. This, in turn, relaxed the need for any inter-UAV collision avoidance algorithm and the communication network. The relaxation of the communication network improves flexibility since the communication bandwidth and connectivity among the UAVs are often limited, and sometimes, the information exchange between the UAVs may be unreliable.
Convoy Monitoring Schemes Consisting of Heterogenous Vehicles
Team Members: Shashi Ranjan Kumar, Hemendra Arya, and Saurabh Kumar
Funding Agency: Ministry of Electronics and Information Technology (MeitY), Government of India
Duration: 1 year
In this POC, we aim to develop a robust control algorithm to monitor the convoy of ground vehicles using a team of unmanned aerial vehicles (UAVs). The UAVs may be equipped with cameras and other necessary sensors for convoy monitoring. The team will be in a particular formation such that the convoy never goes outside the field of view of the UAVs. An illustration of the proposed work is shown in the figure below, where two quadrotors are maintaining equal height with an angle from a ground vehicle doing surveillance over a moving ground vehicle. This concept will be extended for multiple UGVs and UAVs