Author

R. P. Kumar

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Preprint Sep 2026

RTK-Vision PPO for Autonomous Micro UAV Recovery on an Airborne Carrier

Autonomous recovery of a micro unmanned aerial vehicle (UAV) onto a moving airborne carrier enables reusable deploy-mission-recover operation, but couples long-range rendezvous, close-range perception, carrier motion, aerodynamic interaction, and a discontinuous contact event. This paper presents an RTK-vision-guided r...

Aashish Sahu, R. P. Kumar · 1 citation

Preprint Oct 2026

Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing

This paper presents a geometry-aware predictive control framework for bipedal obstacle crossing across walking and running regimes. The proposed approach integrates a phase-structured trajectory generator with a constrained model predictive control (MPC) tracking layer to generate coordinated pelvis and swing-foot moti...

Aashish Sahu, R. P. Kumar · 0 citations

Conference Aug 2026

Vision-Language Guided Aerial Manipulation for Autonomous UAV Grasping

Unmanned aerial vehicles (UAVs) equipped with manipulators enable aerial interaction tasks such as object pickup and transport in environments that are difficult for ground robots to access. However, reliable autonomous aerial grasping remains challenging due to limited onboard perception, dynamic flight conditions, an...

Vuppu Venkata Sai Viswa Kiran, Aashish Sahu, Siddanth Bhogoju et al. · 2026 IEEE 22nd International... · 0 citations