Sourabh Bhattacharya

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In this paper, we consider the problem of planning optimal paths for a differential-drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its environment. In particular, we assume that the robot's vision sensor has a limited field of view (FOV), and that the fixed landmark must remain within the FOV(More)
We provide two novel adaptive-rate compressive sensing (CS) strategies for sparse, time-varying signals using side information. The first method uses extra cross-validation measurements, and the second one exploits extra low-resolution measurements. Unlike the majority of current CS techniques, we do not assume that we know an upper bound on the number of(More)
In this paper, we present a game theoretic analysis of a visibility based pursuitevasion game in a planar environment containing obstacles. The pursuer and the evader are holonomic having bounded speeds. Both the players have a complete map of the environment. Both the players have omnidirectional vision and have knowledge about each other’s current(More)
We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely decidable. The pursuer and the evader have complete information about each other’s instantaneous position. The pursuer has complete information about the instantaneous velocity of the(More)
In this paper, we consider the problem in which a mobile pursuer attempts to maintain visual contact with an evader as it moves through an environment containing obstacles. This surveillance problem is a variation of traditional pursuitevasion games, with the additional condition that the pursuer immediately loses the game if at any time it loses sight of(More)
In this paper, we consider a differential game theoretic approach to compute optimal strategies by a team of UAVs to evade the attack of an aerial jammer on the communication channel. We formulate the problem as a zerosum pursuit-evasion game. The cost function is the termination time of the game. We use Isaacs’ approach to derive the necessary conditions(More)
This paper presents a switched homography-based visual control for differential drive vehicles. The goal is defined by an image taken at the desired position, which is the only previous information needed from the scene. The control takes into account the field-of-view constraints of the vision system through the specific design of the paths with optimality(More)
A state-space modeling approach for examining dynamic relationship between multiple brain regions was proposed in Ho, Ombao and Shumway (Ho, M.R., Ombao, H., Shumway, R., 2005. A State-Space Approach to Modelling Brain Dynamics to Appear in Statistica Sinica). Their approach assumed that the quantity representing the influence of one neuronal system over(More)
Thispaper addresses the pursuit-evasion problem ofmainaining surveillance by a pursuer ofan evader in a world populated by polygonal obstacles. This requires the pursur to plan colision-free motions that honor distance constrants imposed by sensor capabilities, while avoiding occlusion of the evader by any obstacle. The paper extends the three-dimensional(More)