arXiv subjects

Animesh Chakravarthy

Publications and source records attributed to Animesh Chakravarthy.

4 recordsLinked to original sources

arXiv2023

Collision Course for Objects Moving on a Spherical Manifold

In this paper, we address the problem of predicting collision for objects moving on the surface of a spherical manifold. Toward this end, we develop the notion of a collision triangle on such manifolds. We use this to determine analytical conditions governing the speed ratios and direcions of motion of objects that lead to collisions on the sphere. We first develop these conditions for point objects and subsequently extend this to the case of circular patch shaped objects moving on the sphere.

eess.SY↗

arXiv2023

Escape from an Orbiting Pursuer with a Nonzero Capture Radius

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero capture radius. The pursuer is constrained to move along the edge of the containment region and seeks to capture the evader. This paper presents an in-depth analysis of this pursuer-evader containment scenario. First, multiple types of capture conditions for a single-pursuer case are analyzed defining the worst-case initial position for the pursuer. Second, a parametric study is performed to demonstrate the effects of speed ratio, capture radius, and initial location of the evader. Finally, a reachability analysis is performed to investigate the viable escape headings and reachable regions by the evader. This work provides a foundation for the analysis of escape under more general evader inputs as well as a multiple-pursuer version of the scenario.

math.OC↗

arXiv2022

Vision-Based Guidance for Tracking Dynamic Objects

In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to continuously follow a moving object within the sensor's field of view. We identify and classify feature point estimators for managing the occurrence of occlusions during the tracking process in an exclusive manner. Furthermore, we develop an open-source simulation environment and perform a series of simulations to show the efficacy of our methods.

cs.CV↗

arXiv2022

Collision Avoidance of 3-Dimensional Objects in Dynamic Environments

Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature largely models the shapes of the objects as spheres, and this can make the avoidance maneuvers very conservative, especially when the objects are of elongated shape and/or non-convex. In this paper, we model the shapes of the objects using suitable combinations of ellipsoids and one-sheeted/two-sheeted hyperboloids, and employ a collision cone approach to achieve collision avoidance. We present a method to construct the 3-D collision cone, and present simulation results demonstrating the working of the collision avoidance laws.

cs.RO↗