arXiv subjects

Mayur Sawant

Publications and source records attributed to Mayur Sawant.

6 recordsLinked to original sources

arXiv2026

Dynamic Constrained Stabilization on the n-sphere

We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic stabilization of the target point in the presence of star-shaped constraints on the n-sphere. It is also shown that the proposed approach can be used to deal with the constrained rigid-body attitude stabilization. The effectiveness of the proposed approach is demonstrated through simulation results on the 2-sphere in the presence of star-shaped constraint sets.

math.OC↗

arXiv2025

Constrained Stabilization on the n-Sphere with Conic and Star-shaped Constraints

The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows one to almost globally steer the state to a desired location while avoiding star-shaped constraints on the n-sphere. Depending on the state's proximity to the unsafe regions, the state is either guided towards the target location along the geodesic connecting the target to the state or steered towards the antipode of a predefined point lying in the interior of the nearest unsafe region. We prove that the target location is almost globally asymptotically stable under the proposed continuous, time-invariant feedback control law. Non-trivial simulation results on the 2-sphere and the 3-sphere demonstrate the effectiveness of the theoretical results.

math.OC↗

arXiv2025

Extending First-order Robotic Motion Planners to Second-order Robot Dynamics

This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner. When such a function is known, the first-order motion planner is combined with a damping velocity vector with a dynamic gain to extend the safety and convergence guarantees of the first-order motion planner to second-order systems. If no such function is available, we propose an alternative control scheme ensuring that the error between the robot's velocity and the first-order motion planner converges to zero. The theoretical developments are supported by simulation results demonstrating the effectiveness of the proposed approaches.

cs.RO↗

arXiv2024

N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's diameter. We propose a hybrid feedback control scheme that guarantees safe and global asymptotic convergence of the robot to a predefined target location. The proposed control strategy relies on a switching mechanism allowing the robot to operate either in the move-to-target mode or the obstacle-avoidance mode, based on its proximity to the obstacles and the availability of a clear straight path between the robot and the target. In the obstacle-avoidance mode, the robot is constrained to move within a two-dimensional plane that intersects the obstacle being avoided and the target, preventing it from retracing its path. The effectiveness of the proposed hybrid feedback controller is demonstrated through simulations in two-dimensional and three-dimensional environments.

cs.RO↗

arXiv2023

Hybrid Feedback Control Design for Non-Convex Obstacle Avoidance

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least one safe path connecting the initial and the target location. An instrumental transformation that modifies (virtually) the non-convex obstacles, in a non-conservative manner, is introduced to facilitate the design of the obstacle-avoidance strategy. The proposed navigation approach relies on a hybrid feedback that guarantees global asymptotic stabilization of a target location while ensuring the forward invariance of the modified obstacle-free workspace. The proposed hybrid feedback controller guarantees Zeno-free switching between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the modified obstacle-occupied workspace. Finally, we provide an algorithmic procedure for the sensor-based implementation of the proposed hybrid controller and validate its effectiveness via some numerical simulations.

cs.RO↗

arXiv2022

Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Convex Obstacles

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global asymptotic stabilization of the robot towards a predefined target location while ensuring the forward invariance of the obstacle-free workspace. The main idea consists in designing an appropriate switching strategy between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the nearest obstacle. The proposed hybrid controller generates continuous velocity input trajectories when the robot is initialized away from the boundaries of the unsafe regions. Finally, we provide an algorithmic procedure for the sensor-based implementation of the proposed hybrid controller and validate its effectiveness through some simulation results.

cs.RO↗