Related papers: Circumnavigation Using Distance Measurements (Exte…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
We consider a single copy of a quantum particle moving in a potential and show that it is possible to monitor its complete wave function by only continuously measuring its position. While we assume that the potential is known, no…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…
Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
We introduce a nonlinear cruise controller that is fully decentralized (by vehicle) and uses spacing and speed measurements from the preceding and following vehicles to decide on the appropriate control action (acceleration) for each…
Distance measurement is crucial to astronomy. Here we suggest a new conceptual method to measure the distance by using a local instrument. By engaging the double-slit interference and by considering the phase information of the light, the…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
A general approach to the problem of positioning by means of pulsars or other pulsating sources located at infinity is described. The counting of the pulses for a set of different sources whose positions in the sky and periods are assumed…