Close target reconnaissance with guaranteed collision avoidance

Abstract

SUMMARYThis manuscript considers the problem of close target reconnaissance by a group of autonomous agents. The overall close target reconnaissance (CTR) involves subtasks of avoiding inter-agent collisions, reaching a close vicinity of a specific target position, and forming an equilateral polygon formation around the target. The agents performing the task fly at a constant speed to mimic the velocity behavior of small fixed-wing unmanned aerial vehicles (UAV). A decentralized control scheme is developed for this overall task and the finite-time convergence of the system under the proposed control law is established. Furthermore, it is guaranteed that no collision occurs among the agent. The relevant analysis and simulation test results are provided.

Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle

“…In practice, especially in electronics, there are many circumstances in which various parameters must maintain distinct values, such as, for example, switching time settings for the transistors of an H‐bridge, whose coincidence would result in a short circuit. Another, more intuitive example is in automatic collision avoidance between autonomous vehicles, or between vehicles and obstacles . Here, we briefly consider the application of Theorem for collision avoidance between multiple parameters.…”

Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

“…Many of the current results assume that the position of the target is known and try to find a control algorithm for a single or a group of agents to perform the circumnavigation task, e.g., see [1]- [4]. If, however, the position of the target is initially unknown (as in the case considered in this work), the agent(s) needs an estimator to localize the target as well as a controller to be able to circumnavigate the target.…”

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

“…In the vast literature on circumnavigation, most of works assume access to the full coordinates of the target object, either absolute or relative (see e.g., [32,33,34,35,36,37,31] for representative samples and literature overview), or access to its angular coordinates (see e.g. [29] and literature therein).…”