Sumeet Satpute — accepted AI-conference papers

2024

A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties

Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos

ICRA 2024poster

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise landing and visual locking, in the presence of modeling uncertaint…

Cited by 4 Source ↗Scholar ↗

2024

Time-varying Control Barrier Function for Safe and Precise Landing of a UAV on a Moving Target

Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos

IROS 2024poster

In this article, we present a control barrier function (CBF)-based control strategy for safe and precise landing of an unmanned aerial vehicle (UAV) on a moving target. The CBF is time-varying, as it depends on the velocity of the landing platform and captures three crucial safety constraints: (a) c…

Cited by 1 Source ↗Scholar ↗