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The measurement of time durations or instants of ocurrence of events has been frequently modelled ``operationally'' by coupling the system of interest to a ``clock''. According to several of these models the operational approach is limited…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment…
In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
Radially self-accelerating light exhibits an intensity pattern that describes a spiraling trajectory around the optical axis as the beam propagates. In this article, we show in simulation and experiment how such beams can be used to perform…
We present a guidance by repulsion model based on a driver-evader interaction where the driver, assumed to be faster than the evader, follows the evader but cannot be arbitrarily close to it, and the evader tries to move away from the…
This article presents a path-following control law for autonomous orbital maintenance of small body missions. The control law is robust, stable, and capable of controlling only the orbital geometry, allowing the spacecraft to operate with…
We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is a remote sensor (e.g., a radar station) that can sense the evader's location upon a…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Motion camouflage is a stealth strategy observed in nature. We formulate the problem as a feedback system for particles moving at constant speed, and define what it means for the system to be in a state of motion camouflage. (Here we focus…
This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…
Often it is desirable to stabilize a system around an optimal state. This can be effectively accomplished using feedback control, where the system deviation from the desired state is measured in order to determine the magnitude of the…
Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…