Скачать или смотреть Geofencing Control of Multi-Robot Systems in Safety-Critical Missions | Dr. Anoop Jain

Title: Geofencing Control of Multi-Robot Systems in Safety-Critical Missions

Description:
Dr. Anoop Jain is an assistant professor in the Department of Electrical Engineering at Indian Institute of Technology (IIT) Jodhpur, India. He received his B.Tech. (2009) from Krishna Institute of Engineering and Technology, Ghaziabad, affiliated to Uttar Pradesh Technical University. He completed his M.E. (2011) and Ph.D. (2017) at the Department of Aerospace Engineering, Indian Institute of Science (IISc), Bangalore, India. From 2017-2019, he was a postdoctoral fellow at the Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, where his research was funded by the Lady-Davis Fellowship. His research interests include cooperative control of multi-agent systems, event-triggered control, cyber-physical systems, and nonlinear control theory.

Geofencing control plays a critical role in robotics applications where the motion of robots must be constrained within predefined spatial boundaries. This talk will focus on the problem of stabilizing a unicycle robot around a desired circular orbit while confining its motion within nonconcentric circular geofences. Our solution approach relies on the Mobius transformation that, under certain practical conditions, maps two nonconcentric circles to a pair of concentric circles, and hence, results in uniform spatial motion constraints. Depending upon the choice of such a Mobius transformation, we show that the problem can be formulated either as a trajectory-constraining problem or obstacle-avoidance problem in the transformed plane. Exploiting the idea of the barrier Lyapunov function, we propose a unique control law that solves both these contrasting problems in the transformed plane and renders a solution to the original problem in the actual plane. Simulation and experimental results demonstrate the effectiveness of the proposed method in safety-critical multi-robot settings.

This talk was part of the ASSETS 2025 symposium, organized to honor the legacy of Prof. Debasish Ghose on his superannuation.

For more information about the symposium, visit: https://sites.google.com/view/assets-2025