Based on your uploaded presentation titled "Safe and Sensing Zone Protected Target Circumnavigation: A Range-Only Feedback Approach," here's a detailed script to guide you through your presentation:

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### Slide 1: **Title Slide**
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"Good [morning/afternoon], everyone. My name is <PRESIDIO_ANONYMIZED_PERSON>, and today I'll be presenting my work on 'Safe and Sensing Zone Protected Target Circumnavigation using a Range-Only Feedback Approach.' This research was conducted under the guidance of Dr. Anoop Jain at IIT Jodhpur."

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### Slide 2: **Contents**
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"Here's an outline of my presentation today. We will start with the **Motivation** behind this research, followed by a **Literature Review** of existing methods. Next, we'll dive into the **Problem Formulation** and highlight our **Contributions**. After that, I’ll explain the **System Description** and the **Control Design Approach**. Finally, we'll look at the **Simulation and Experimental Results**, before wrapping up with some insights into **Future Work**."

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### Slide 3: **Motivation**
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"The motivation for this research stems from the growing need for autonomous mobile robots to circumnavigate targets safely while maintaining effective sensing capabilities. Many real-world applications, such as surveillance, environmental monitoring, and search-and-rescue operations, require robots to navigate around targets without collision, especially in GPS-denied environments. Our focus is to design a control system that ensures safe navigation within defined zones using only range-based feedback."

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### Slide 4-5: **Literature Review**
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"Our literature review identified two primary methodologies for target circumnavigation:

1. **Bearing Angle-Based Methods**, which use the angle between the robot’s direction and the target for guidance.
2. **Range-Based Methods**, which rely on the distance between the robot and the target.

Recent studies like those by L. Dou et al. (2020) and Y. Cao (2015) demonstrate the effectiveness of range-only measurements for target circumnavigation, especially in GPS-denied environments. Our approach builds upon these findings by incorporating safety and sensing constraints."

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### Slide 6: **Problem Formulation**
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"The key objectives of our research are:

1. To design a controller that enables a mobile robot to circumnavigate a target while maintaining a desired radial distance, \( d \), as \( r(t) \rightarrow d \) when \( t \rightarrow \infty \).
2. To ensure safety and sensing constraints with bounded trajectory between inner radius \( r_i \) and outer radius \( r_o \).
3. To address real-time challenges in target circumnavigation using range-only feedback."

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### Slide 7: **Our Contribution**
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"We have developed a novel control design using the **Asymmetric Barrier Lyapunov Function (ABLF)**. This allows the mobile robot to safely navigate within concentric circular boundaries while converging to a specified distance from the target. Our method was implemented and tested on the Khepera IV ground robot, demonstrating its effectiveness."

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### Slide 8-9: **System Description**
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"Let’s briefly go over the system model. The robot’s kinematics are defined as follows:

- \( ẋ(t) = u \cos(\phi(t)) \)
- \( ẏ(t) = u \sin(\phi(t)) \)
- \( \phi̇(t) = \omega(t) \)

Where \( u \) is the linear velocity, and \( \omega(t) \) is the angular velocity. The control objective is to ensure that the robot maintains the desired distance \( d \) from the target while staying within the safe zone bounded by \( r_i \) and \( r_o \)."

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### Slide 10-11: **Control Design Approach**
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"Our control design is based on two key objectives:

1. Minimize the error in lateral coordinates using a **Quadratic Lyapunov Function (QLF)** for stabilization.
2. Enforce radial constraints using an **Asymmetric Barrier Lyapunov Function (ABLF)** to maintain safe distances. 

The control law we derived ensures that the robot converges to the desired distance \( d \) while respecting the safety boundaries."

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### Slide 12-13: **Simulation Results**
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"Here, we see the simulation results for both range-rate-based and range-only-based approaches. 

- The robot successfully circumnavigates the target while maintaining the desired distance \( d = 0.75m \).
- The trajectory plot shows stable convergence without collisions, and the error graph indicates diminishing tracking error over time."

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### Slide 14: **Experiment Results**
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"We validated our control design on a Khepera IV robot. These figures illustrate the robot’s trajectory using both range-rate and range-only measurements. The results confirm that our controller performs effectively in real-world scenarios, maintaining stability and safety."

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### Slide 15: **Comparison with Existing Results**
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"Our approach shows significant improvements over existing methods by reducing tracking errors and improving stability in GPS-denied environments. The comparison plots demonstrate enhanced performance in circumnavigation tasks."

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### Slide 16: **Future Work**
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"In future research, we aim to extend this approach to a **multi-agent system** for collaborative target circumnavigation. Additionally, we plan to incorporate **obstacle avoidance** capabilities, which are crucial for real-world applications."

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### Slide 17: **Thank You**
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"Thank you for your attention. I am happy to take any questions you may have."

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This script is structured to align with your slides and covers all the key points. Feel free to adjust the content based on your specific presentation style and audience.    please write a well organized form and motivation behind this research explain well