R.T. Rajan
75 records found
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Traditional target tracking using monostatic radar systems typically rely on centralized or decentralized architectures, where all data is transmitted to a fusion center for estimating the position and velocity of mobile agents. This approach introduces a single point of failure
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Unmanned Aerial Systems (UAS) have rapidly gained attraction in recent years as a promising solution to revolutionize numerous applications and meet the growing demand for efficient and timely delivery services due to their highly automated operation framework. Beyond Visual Line
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Consensus control of multiagent systems arises in various applications such as rendezvous and formation control. The input to these algorithms, e.g., the (relative) positions of neighboring agents need to be measured using various sensors. Recent works aim to reconstruct these po
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A new method for joint ranging and Phase Offset (PO) estimation of multiple drones/aircrafts is proposed in this paper. The proposed method employs the superimposed uncoordinated Automatic Dependent Surveillance-Broadcast (ADS-B) packets broadcasted by drones/aircrafts for joint
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Gaussian process regression (GPR), is a powerful non-parametric approach for data modeling, which has garnered considerable interest in the past decade, however its widespread application is impeded by the significant computational burden for larger datasets. The computational co
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A cooperative sense and avoid (SAA) algorithm for safe navigation of small-sized unmanned aerial vehicles (UAVs) within an airspace is proposed in this article. The proposed method relies upon cooperation between the UAV and the surrounding transponder-equipped aviation obstacles
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RAPF
Efficient path planning for lunar microrovers
Efficient path planning is key for safe autonomous navigation over complex and unknown terrains. Lunar Zebro (LZ), a project of the Delft University of Technology, aims to deploy a compact rover, no larger than an A4 sheet of paper and weighing not more than 3 kilograms. In this
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Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in the literature. This paper presents a novel GPS-VIO system that is able to significantly benefit fro
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In this paper, we propose a new method for joint ranging and Phase Offset (PO) estimation of multiple transponder-equipped aviation vehicles (TEAVs), including Manned Aerial Vehicles (MAVs) and Unmanned Aerial Vehicles (UAVs). The proposed method employs the overlapping uncoordin
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In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in jungles, and space missions e.g., navigation o
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Sensor calibration is an indispensable task in any networked cyberphysical system. In this paper, we consider a sensor network plagued with offset errors, measuring a rank-1 signal subspace, where each sensor collects measurements under a linear model with additive zero-mean Gaus
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Affine formation control of multiagent systems has recently received increasing attention in various applications. The distributed control of these agents, under single integrator dynamics, relies on the observations of relative positions of the neighboring agents, which when una
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Multi-agent networks are known for their scalability, robustness, flexibility, and are typically tasked with a variety of tasks such as target tracking, surveillance, traffic control, and environmental monitoring. Distributed Particle Filters (DPF) are often employed when the for
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Gaussian Process (GP) is a flexible non-parametric method which has a wide variety of applications e.g., field estimation using multi-agent systems. However, the training of the hyperparameters suffers from high computational complexity. Recently, distributed hyperparameter optim
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Recently, an increase in distributed space systems and a rise in number of nodes in such systems is observed in numerous space applications, for example space-based interferometry. Such applications pose stringent demands on time synchronization which can be challenging to achiev
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This decade has seen growing interest in Mars exploration. Advances in distributed systems, miniaturization and commoditization of space electronics and innovations in communications permit us to rethink the current paradigm of relying on a few heavy, slow and expensive high-tech
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Detect-and-avoid is a crucial challenge in the autonomous navigation of single or multiple agent systems. For safe and reliable autonomous navigation in unknown and dynamic environments, obstacles should be sensed using onboard sensors and the trajectory should be adjusted accord
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