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, and that the fixed landmark must remain within the field of view(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 work, we analyze the problem of maintaining connectivity in a network of mobile agents in the presence of a jammer. This is a variation of the standard connectivity maintenance problem in which the issue arises due to limitations in communications and sensing model for each agent. In our work, the limitations in communications are due to the(More)
In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to(More)
In this paper, we present a game theoretic analysis of a visibility based pursuit-evasion 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)
Thispaper addresses the pursuit-evasion problem ofmainaining surveillance by a pursuer ofan evader in a world populated by polyg-onal 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)
AbsfracI-This paper addresses the problem of computing the motions of a robot observer in order to maintain visibility of a moving target at a fixed surveillance distance. In this paper, we deal specifically with the situation in which the observer has hounded velocity. We give necessary conditions for the existence of a surveillance strategy and give an(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 pursuit-evasion games, with the additional condition that the pursuer immediately loses the game if at any time it loses sight(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(More)