Nonlinear Cyclic Pursuit Based Cooperative Target Monitoring

Fail-safe encircling of multiple unmanned aerial vehicles with bearing only measurements

“…There exists vast literature on formation control for a group of vehicles modelled by single integrator or double integrator dynamics [2][3][4][5] and by unicycles. [6][7][8][9][10][11][12][13][14][15][16][17][18] Unicycle model has close resemblance with kinematics of non-holonomic vehicles such as unmanned aerial vehicles (UAVs) and ground mobile robots. For analysing performance of guidance laws designed for the vehicles working in cooperation, it is prudent to reduce the complexity of vehicle dynamics and consider simplified model.…”

“…10 The authors have proved a global convergence result for the twovehicle formation and have characterized equilibria for the n-vehicle problem. In Marshall et al 11 and Daingade and Sinha, 12 cyclic pursuit-based strategies are proposed to get a balanced circular formation. At equilibrium, it is shown that the agents settle along a circle with rigid polygonal formation.…”

“…, n. So we can comment about the stability of n vehicle system, by observing the eigenvalues of each block D i . After substituting the value of R from equation (12), each D i can be factorised as…”

Target Centric Cyclic Pursuit using Bearing Angle Measurements Only

“…In this paper we address a problem of monitoring a target with multiple autonomous vehicles where the objective is to make the vehicles move around the target with uniform distribution. Most of the target tracking strategies discussed in the literature (Paley et al (2004), Klein and Morgansen (2006), Klein et al (2007), Ceccarelli et al (2008), Kingston and Beard (2008), Lan et al (2010), Rattan and Ghosh (2009), Daingade and Sinha (2012)) are based on the position and/or velocity information about the neighbors which are defined in global reference frame. It would be an better idea if we can derive the control laws which are based on the quantities defined in the body frame of the vehicle.…”