Here is a script you could use for presenting the key points from your presentation titled "Safe and Sensing Zone Protected Target Circumnavigation: A Range-Only Feedback Approach."

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**Slide 1: Title Slide**  
Good morning/afternoon everyone, I’m [Your Name] with roll number M23EEC001, presenting my work on "Safe and Sensing Zone Protected Target Circumnavigation: A Range-Only Feedback Approach" under the guidance of Dr. Anoop Jain at IIT Jodhpur.  

**Slide 2: Contents**  
I’ll start by introducing the motivation and relevant literature, then go over the problem formulation, our contributions, and the system description. I’ll explain our control design approach, followed by simulation and experimental results, and conclude with potential future work.  

Slide 3: Motivation

To understand the importance of range-only feedback control for target circumnavigation, let’s consider a few real-world applications.

Satellite Surveillance: Imagine a satellite orbiting Earth. Here, the satellite needs to monitor specific areas on the surface without deviating from a safe orbit. Similarly, in our model, a robot keeps a safe distance from a target while following a predefined circular path.

Drone Monitoring in Hostile Environments: In military or security applications, drones may need to circle a target area for surveillance without GPS or bearing information, especially in GPS-denied environments. With range-only feedback, the drone can maintain a set distance from the target, ensuring it stays within a safe zone while collecting data.

Robot Navigation Around a Hostile Target: For ground robots, this approach is beneficial in hostile environments where direct line-of-sight may be limited, and only range data is available. The robot maintains a safe, consistent distance, avoiding close contact with the target.

In each of these scenarios, circumnavigation with range-only feedback ensures the agent stays within a safe zone, either to avoid detection or minimize risk, while effectively monitoring or gathering data on the target. This control method allows for safer and more autonomous operations in critical applications.


**Slide 4-5: Literature Review**  
In our literature review, we looked at various approaches using either bearing-only or range-only measurements. While previous works have focused on bearing-only or GPS-denied navigation, our method uses range-only circumnavigation in a constrained environment. This approach is rare in existing literature.

**Slide 6: Problem Formulation**  
Our goal is to control a mobile robot to circumnavigate a target on a specified circular path while avoiding inner and outer boundaries. Mathematically, we aim for the distance \( r(t) \) to converge to a desired distance \( d \), while keeping \( r(t) \) between the inner radius \( r_i \) and outer radius \( r_o \).

**Slide 7: Our Contribution**  
Our main contribution is a control design based on the Asymmetric Barrier Lyapunov Function (ABLF) to ensure safety. The design is implemented on the Khepera IV ground robot to achieve target circumnavigation with defined boundary constraints.

**Slide 8: System Description**  
The system is modeled with standard kinematic equations for a mobile robot. We define position, heading angle, linear velocity, and angular velocity to describe its movement around the target.

**Slide 9: Error Dynamics and Challenge**  
One challenge is that position errors are uncontrollable due to the lack of direct influence of angular velocity on error states. We address this by transforming the errors to a virtual point for better control.

**Slide 10: Solution Approach**  
Our solution introduces a virtual point \( K \), allowing us to reformulate the errors, which helps in handling constraints using range-only feedback.

**Slide 11-12: Control Design Objectives**  
Using the Line-of-Sight (LoS) distance and a combination of Quadratic Lyapunov Function (QLF) and Barrier Lyapunov Function, we establish control objectives to minimize the errors while ensuring the robot remains within set boundaries.

**Slide 13-14: Main Result - Range-rate Based**  
For range-rate-based control, we have Theorem 1. Using a control law that includes the range-rate and Lyapunov functions, we ensure the closed-loop system remains stable.

**Slide 15-16: Main Result - Range-only Based**  
In the range-only scenario, we use a dynamic feedback approach with an auxiliary variable to approximate range-rate. This control ensures stability without direct range-rate measurements.

**Slide 17-18: Simulation Results**  
Here, we present the simulated trajectory and error evolution with and without range-rate. In both cases, the control law maintains stability and achieves circumnavigation within the boundaries.

**Slide 19: Comparison with Existing Results**  
Compared to existing approaches, our method allows for controlled circumnavigation with only range data, highlighting the robustness of our approach.

**Slide 20-21: Experimental Results**  
Experimental trials with the Khepera IV robot validate our control in practical scenarios. We demonstrate consistent trajectory within the boundaries both with and without range-rate data.

**Slide 22: Future Work**  
Future directions include extending this work to multi-agent systems for collaborative circumnavigation and adding obstacle avoidance to enhance navigation flexibility.

**Slide 23: Thank You**  
Thank you for your attention! I’m happy to answer any questions.

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This script follows each slide's flow, summarizing the key points concisely. Let me know if you'd like more details on any section.
please explain presetation how to present it