Geometric Look-Angle Shaping Strategy for Enclosed Inspection
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866911474513870848 |
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| author | Shivam, Amit Fernandes, Manuel C. R. M. Vinha, Sergio Fontes, Fernando A. C. C. |
| author_facet | Shivam, Amit Fernandes, Manuel C. R. M. Vinha, Sergio Fontes, Fernando A. C. C. |
| contents | This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent shaping of the look angle relative to a desired standoff path. By embedding a smooth, hyperbolic-tangent-type shaping function within a polar geometric framework, GLASS ensures global existence of the guidance dynamics. It avoids the far-field limitations inherent to conventional formulations. Lyapunov stability analysis establishes asymptotic convergence to a prescribed inspection standoff under explicit curvature feasibility conditions, along with analytical settling-time characteristics. The proposed strategy incorporates maximum turn-rate constraints without inducing singularities throughout the workspace. High-fidelity six-degree-of-freedom quadrotor simulations demonstrate the effectiveness of GLASS in representative enclosed inspection scenarios, highlighting a practically viable guidance framework for autonomous enclosed inspection missions. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_00325 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Geometric Look-Angle Shaping Strategy for Enclosed Inspection Shivam, Amit Fernandes, Manuel C. R. M. Vinha, Sergio Fontes, Fernando A. C. C. Robotics Systems and Control This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent shaping of the look angle relative to a desired standoff path. By embedding a smooth, hyperbolic-tangent-type shaping function within a polar geometric framework, GLASS ensures global existence of the guidance dynamics. It avoids the far-field limitations inherent to conventional formulations. Lyapunov stability analysis establishes asymptotic convergence to a prescribed inspection standoff under explicit curvature feasibility conditions, along with analytical settling-time characteristics. The proposed strategy incorporates maximum turn-rate constraints without inducing singularities throughout the workspace. High-fidelity six-degree-of-freedom quadrotor simulations demonstrate the effectiveness of GLASS in representative enclosed inspection scenarios, highlighting a practically viable guidance framework for autonomous enclosed inspection missions. |
| title | Geometric Look-Angle Shaping Strategy for Enclosed Inspection |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2603.00325 |