Distributed control for multi-target circumnavigation by a group of agents

Cui, Lingxia; Chen, Shihua; Wang, Lei

doi:10.1080/00207721.2017.1324921

Cited by 10 publications

(4 citation statements)

References 29 publications

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“…Recently, a new circumnavigation pattern is developed by only using the bearing measurements to enable an agent to circumnavigate the convex hull of multiple targets [170]. In Figure 5b, a group of agents with multiple targets using a circumnavigation-based technique is investigated [29,58,171]. In this scheme, each target is enclosed by multiple robots.…”

Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

“…Compared with the single agent scheme, this scheme has several advantages such as flexibility, robustness, and diversity [99]. Based on the estimation technique, a novel distributed control strategy is proposed to achieve the uniform circumnavigation [171]. Agents move around multiple dynamic targets such that the graph communication topology contains a spanning tree [171].…”

Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

“…Based on the estimation technique, a novel distributed control strategy is proposed to achieve the uniform circumnavigation [171]. Agents move around multiple dynamic targets such that the graph communication topology contains a spanning tree [171]. The circular formation tracking of multiple leaders is also investigated for second-order MASs where the follower agents track the average state of multiple leaders with time-varying delays [172].…”

Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

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A Survey on Techniques in the Circular Formation of Multi-Agent Systems

2021

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Distributed control solutions to the multi-agent systems in terms of coordination, formation, and consensus problems are extensively studied in the literature. The circular formation control of multi-agent systems becomes one of the most challenging and active research topics in distributed cooperative control. The research potential of circular formation control has grown especially in satellite formation and control. The circular formation control aims to drive a group of agents to move on a circular trajectory around a center with spacing adjustment to avoid the collision. This paper covers the fundamental research in consensus and formation control and the latest developments in the applications of formation control especially in circular formation control and stability analysis. Literature related to various control streams to achieve circular formation is discussed. Algebraic graph theory is used as a building block in problem definition, problem formulation, and solutions. A review of bearing, range, and received signal strength measurements with respect to circular formation control is presented. Leader following, behavior-based, artificial potential function, virtual structure, and cyclic pursuit are the methods discussed most in this context. The stabilization of the collective circular motion with the unicycles approach is also discussed. Further results on circular formation, several applications, and future research directions are presented.

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Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

Section: Tracking Of Multiple Targetsmentioning

confidence: 99%

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A Survey on Techniques in the Circular Formation of Multi-Agent Systems

2021

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“…Enclosing a target (or circumnavigation) of single holonomic mobile robots was reported in recent literature studies, for example, References 4 and 5, while the same problem of more challenging non‐holonomic mobile robots was also studied, for example, References 6‐8. Moreover, some extensions were undertaken to more intricate cases of multiple agents/targets or moving target 9,10 . In these scenarios, the localization quality heavily depends on the designed control laws.…”

Section: Introductionmentioning

confidence: 99%

Stationary target localization and circumnavigation by a non‐holonomic differentially driven mobile robot: Algorithms and experiments

Wang

Zou

Meng

2020

Intl J Robust & Nonlinear

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Summary This article addresses a surveillance problem where the goal is to achieve a circular motion around a target by a non‐holonomic differentially driven mobile robot. The available information for the mobile robot includes its own position, velocity with respect to the inertial frame, and the bearing angle of the target in its body frame. Since the target position is unavailable, an estimator is first proposed to localize it. Then a two‐step controller is given to drive the mobile robot to move onto a circular trajectory with a desired radius around it. It is shown that the proposed algorithm guarantees the convergence of the estimation error to a small neighborhood of zero and the motion of the robot to a small neighborhood of a designed radius. The performance of the proposed algorithm is first verified by simulations. Then, several experiments on a differentially driven mobile robot, Pioneer 3‐DX, are presented to further validate the proposed algorithm.

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Cooperative Circumnavigation with Robust Vector Field Guidance for Multiple UAVs in Unknown Wind Environments

Muslimov

2023

J Intell Robot Syst

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Distributed control for multi-target circumnavigation by a group of agents

Cited by 10 publications

References 29 publications

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Stationary target localization and circumnavigation by a non‐holonomic differentially driven mobile robot: Algorithms and experiments

Cooperative Circumnavigation with Robust Vector Field Guidance for Multiple UAVs in Unknown Wind Environments

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