Consensus based deviated cyclic pursuit for target tracking applications

Mallik, Galib R.; Daingade, Sangeeta; Sinha, Arpita

doi:10.1109/ecc.2015.7330785

Cited by 14 publications

(6 citation statements)

References 22 publications

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“…Moreover, the equilibrium constraintx 2 = −x 1 implies that the circles C 1 and C 2 coincide at every relative equilibrium. Substituting (14) into (13d)-(13h) and simplifying, the closed loop dynamics on the nullclinesρ =ρ 1b =ρ 2b = 0 can be expressed aṡ…”

Section: Existence Of Circling Equilibriamentioning

confidence: 99%

“…In this new setting, the pursuer pays attention to a beacon (which can represent an attractive food source in a biological setting, or some target of interest for an unmanned vehicle), in addition to its neighbor. Another line of work [14], [15] has also investigated this beacon-referenced (or target-centric) cyclic pursuit framework, albeit their work uses a different control formulation.…”

Section: Introductionmentioning

confidence: 99%

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Beacon-referenced Mutual Pursuit in Three Dimensions

Galloway

Dey

2018

2018 Annual American Control Conference (ACC)

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Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a modification of the previously studied three-dimensional constant bearing (CB) pursuit law, in the sense that it incorporates an additional term to allocate attention to the beacon. We investigate the behavior of the closed-loop dynamics for a two-agent mutual pursuit system in which each agent employs the beacon-referenced CB pursuit law with regards to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits circling equilibria wherein the agents move on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacon. As the common radius and distances from the beacon are determined by choice of parameters in the feedback law, this approach provides a means to engineer desired formations in a three-dimensional setting.

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Section: Existence Of Circling Equilibriamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Beacon-referenced Mutual Pursuit in Three Dimensions

Galloway

Dey

2018

2018 Annual American Control Conference (ACC)

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“…The beacon can represent an attractive food source in a biological setting, or some target of interest for an unmanned vehicle. (See also the work by Mallik et al (2015) and Daingade et al (2016) for a related, but different, control formulation. )…”

Section: Introductionmentioning

confidence: 99%

Beacon-referenced pursuit for collective motions in three dimensions

Galloway

Dey

2020

Proc. R. Soc. A.

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Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other autonomous agents) and stationary entities (e.g. fixed beacons or points of references) in a three-dimensional environment. The proposed control law, which can be perceived as a modification of the three-dimensional constant bearing (CB) pursuit law, provides a means to allocate simultaneous attention to multiple entities. We investigate the behavior of the closed-loop dynamics for a system with one agent referencing two beacons, as well as a two-agent mutual pursuit system wherein each agent employs the beacon-referenced CB pursuit law with regards to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits circling equilibria with agents moving on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacons. As the common radius and distances from the beacon are determined by the choice of parameters in the pursuit law, this approach provides a means to engineer desired formations in a 3-dimensional setting.

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“…Although the control law itself does not specifically incorporate a desired station-keeping range from the beacon, we will demonstrate that when employed in a cyclic pursuit framework, circling equilibria exist which are centered on the beacon position and have a radius determined by the control parameters (rather than initial conditions). Beacon-referenced (or "target-centric") cyclic pursuit has also been addressed by Daingade et al (2016) and Mallik et al (2015). In these works, the authors employ a classical pursuit steering law with respect to a virtual point which lies along the line connecting the pursued neighboring agent to the beacon.…”

Section: Introductionmentioning

confidence: 99%

“…Beacon-referenced (or "target-centric") cyclic pursuit has also been addressed by Daingade et al (2016) and Mallik et al (2015). In these works, the authors employ a classical pursuit steering law with respect to a virtual point which lies along the line connecting the pursued neighboring agent to the beacon.…”

Section: Introductionmentioning

confidence: 99%

Collective motion under beacon-referenced cyclic pursuit

Galloway¹,

Dey²

2018

Automatica

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Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered cyclic pursuit with a constant bearing (CB) pursuit law, and demonstrated the existence of circling equilibria for the corresponding dynamics. In this work, we propose a beacon-referenced version of the CB pursuit law, wherein a stationary beacon provides an additional reference for the individual agents in a collective. When implemented in a cyclic framework, we show that the resulting dynamics admit relative equilibria corresponding to a circling orbit around the beacon, with the circling radius and the distribution of agents along the orbit determined by parameters of the proposed pursuit law. We also derive necessary conditions for stability of the circling equilibria, which provides a guide for parameter selection. Finally, by introducing a change of variables, we demonstrate the existence of a family of invariant manifolds related to spiraling motions around the beacon which preserve the "pure shape" of the collective, and study the reduced dynamics on a representative manifold.

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Consensus based deviated cyclic pursuit for target tracking applications

Cited by 14 publications

References 22 publications

Beacon-referenced Mutual Pursuit in Three Dimensions

Beacon-referenced Mutual Pursuit in Three Dimensions

Beacon-referenced pursuit for collective motions in three dimensions

Collective motion under beacon-referenced cyclic pursuit

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