Funded Research Projects

Autonomous 3D path-following for UAVs using only relative information — no path curvature required. Converges within a user-defined time and applies to both multi-rotor and fixed-wing vehicles. Ideal for GPS-denied or urban environments.

Robust finite-time trajectory tracking for multi-copters under partially known dynamics, exogenous disturbances, and spatial constraints. Maintains precise tracking under yaw, acceleration, and deceleration constraints.

A 6-DOF mathematical model and advanced guidance strategy enabling a fully actuated quadrotor to perform complex maneuvers — navigating narrow openings, crop monitoring, and precision surveillance — with analytical stability guarantees.

Robust guidance system for autonomous path-following of fixed-wing UAVs in the presence of wind disturbances. Converges to any generic path without curvature information, operating fully without human intervention.

A UAV-based convoy monitoring algorithm where a team of camera-equipped quadrotors maintains a formation ensuring ground vehicles never leave the collective field of view. Designed for multi-UGV and multi-UAV scenarios.

Swarm-based containment control where followers remain inside the convex hull of leaders traversing polynomial trajectories. Supports followers with non-identical and heterogeneous dynamics, without requiring lower-order models.

Controller design for collision-free quadrotor navigation using the collision cone approach. Computes safe heading angle ranges dynamically to circumnavigate both stationary and moving obstacles in indoor environments.

Geometry-based cooperative guidance and control scheme enabling a team of UAVs to transport a load from one location to another via a rigid link. Eliminates the need for inter-UAV collision avoidance and communication networks.

Algorithm enabling a UAV to autonomously detect edges of arbitrarily shaped wall openings, form the contour, and assess navigational feasibility with a safe margin — allowing autonomous passage without collision.

Design and implementation of an autonomous UAV with a frame capable of stabilizing itself after collisions inside confined spaces such as chimneys and tunnels, with integrated crack and damage detection via efficient 3D mapping.