Circumnavigation Using Distance Measurements Under Slow Drift

Shames, Iman; Dasgupta, Soura; Fi̇dan, Barış; Anderson, Brian D. O.

doi:10.1109/tac.2011.2173417

Cited by 200 publications

(150 citation statements)

References 12 publications

Supporting

Mentioning

150

Contrasting

Order By: Relevance

“…Both robots are assumed to have access to only the current distance ρ 12 (t) and calculate its derivativeρ 12 (t) by using a memory unit. The bearing information, i.e., α 12 and α 21 , is not available. In the following, we propose two control schemes based on ρ 12 (t) andρ 12 (t), which drive two robots to rendezvous, i.e., ρ 12 (t) → 0 as t → +∞.…”

Section: Range-only Controllersmentioning

confidence: 99%

“…Generally speaking, the control design and analysis become more challenging when each robot can only measure distances to other robots without bearing information. This approach has a lot of applications, such as localization and mapping [8,9], formation control [10,11], and target enclosing [12,13]. If a robot has knowledge of its location in a coordinate frame, then under some persistent excitation condition, the robot may be able to get an estimation of the positions of other robots.…”

Section: Introductionmentioning

confidence: 99%

“…If a robot has knowledge of its location in a coordinate frame, then under some persistent excitation condition, the robot may be able to get an estimation of the positions of other robots. This idea has been exploited in works such as [12,14]. However, in this paper we are interested in those scenarios where there is no global localization system so that absolute position information is not available.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multirobot rendezvous with bearing-only or range-only measurements

Zheng

Sun

2014

Robot. Biomim.

View full text Add to dashboard Cite

This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements. For the bearing-only case, two control laws proposed in our previous study are recalled and adapted. For the range-only case, rendezvous control laws for a two-robot system are proposed first and it is shown analytically a two-robot system achieves rendezvous globally under these control laws. Then the range-only-based control laws are extended to multirobot systems. Monte Carlo simulations indicate that a multirobot system achieves practical convergence under the range-only-based control laws. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.

show abstract

Section: Range-only Controllersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multirobot rendezvous with bearing-only or range-only measurements

Zheng

Sun

2014

Robot. Biomim.

View full text Add to dashboard Cite

show abstract

“…The circular formation is a design method for steering the agents to orbit around a target along a common circle, which provides a simple geometric shape to collect data with a desired spatial and temporal distribution. In the community of systems and control, research efforts have been devoted to the circle formation problem for multiagent systems modeled as single or double integrators [14][15][16][17][18] and unicycles [19][20][21][22][23][24][25][26] under different communication topologies. Circular motion has been studied in the scenario of cyclic pursuit with ring topology [14][15][16][17][18][19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

Jin

Dongxu

2018

Journal of Control Science and Engineering

View full text Add to dashboard Cite

This paper deals with the circular formation control problem of multiagent systems for achieving any preset phase distribution. The control problem is decomposed into two parts: the first is to drive all the agents to a circle which either needs a target or not and the other is to arrange them in positions distributed on the circle according to the preset relative phases. The first part is solved by designing a circular motion control law to push the agents to approach a rotating transformed trajectory, and the other is settled using a phase-distributed protocol to decide the agents' positioning on the circle, where the ring topology is adopted such that each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind it. The stability of the closed-loop system is analyzed, and the performance of the proposed controller is verified through simulations.

show abstract

“…Different from the vertical take-off and landing (VTOL) UAV (e.g., quadrotor), the fixed-wing UAV is constrained by the lower bound according to the stall condition. When the target's speed is lower than the minimum speed of the UAV, the circumnavigation is executed to circle around the target within monitoring range [8]. However, when the speed of the target is close to the UAV, the aircraft should be guided to follow the target by the following pattern.…”

Section: Introductionmentioning

confidence: 99%

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Cai

Zhao

et al. 2017

Applied Sciences

View full text Add to dashboard Cite

This paper proposes a modified nonsingular fast terminal sliding mode (NFTSM) guidance law to solve the problem of ground moving target tracking for fixed-wing unmanned aerial vehicle (UAV) in a planar environment. Firstly, the loitering algorithm is analysed, which can steer the UAV to follow and circle around a ground moving target with the desired distance by heading angle control. Secondly, the effects of different parameters on the convergence time of sliding manifold is presented which is helpful for the designing of sliding manifold. Singularity can be avoided by using a modified saturation function which is obtained through a small range around the null point. Moreover, the NFTSM sliding manifold is used in the loitering algorithm. By using the Lyapunov theory, the finite-time convergence of the proposed method has been proved in the the reaching phase and the sliding phase. In order to verify the approach's feasibility and benefits, numerical simulations are performed by using a moving target with three different motion states in comparison with the conventional sliding model control method. Simulation results indicate that, under the proposed NFTSM guidance law, the UAV can reach the desired distance in a short time.

show abstract

Circumnavigation Using Distance Measurements Under Slow Drift

Cited by 200 publications

References 12 publications

Multirobot rendezvous with bearing-only or range-only measurements

Multirobot rendezvous with bearing-only or range-only measurements

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

Target Tracking Based on a Nonsingular Fast Terminal Sliding Mode Guidance Law by Fixed-Wing UAV

Contact Info

Product

Resources

About