Sathyanarayanan Seshasayanan — accepted AI-conference papers

2026

Analysis of Independent Control in Tilt-Rotor Quadrotors (I)

Sathyanarayanan Seshasayanan, Sanjay Chaturvedi, Soumya Ranjan Sahoo

ICRA 2026poster

The underactuation of conventional aerial vehicles limits their ability to independently control position and attitude, motivating the use of overactuated designs such as tilt-rotor quadrotors. Existing works on tilt-rotor quadrotors primarily focus on determining the minimum thrust-to-weight ratio …

Cited by 0 Scholar ↗

2024

Robust Backstepping Controller with Adaptive Sliding Mode Observer for a Tilt-Augmented Quadrotor With Uncertainty Using SO(3)

Sathyanarayanan Seshasayanan, Soumya Ranjan Sahoo

IROS 2024poster

The conventional quadrotor is incapable of controlling position and orientation independently. To mitigate this deficiency, we use a tilt-augmented quadrotor for greater mobility in a constrained environment. When the rotors tilt in a tilt-augmented quadrotor, it leads to changes in moment- of-inert…

Cited by 1 Source ↗Scholar ↗