Related papers: Circumnavigation Using Distance Measurements (Exte…

The focus of this paper is a key component of a methodology for understanding, interpolating, and predicting fish movement patterns based on spatiotemporal data recorded by spatially static acoustic receivers. Unlike GPS trackers which emit…

This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…

We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…

We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…

Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…

In current navigating platforms, the user's orientation is typically estimated based on the difference between two consecutive locations. In other words, the orientation cannot be identified until the second location is taken. This…

This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based…

This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…

This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…

We consider bounded extremum seeking controls for time-varying linear systems with uncertain coefficient matrices and measurement uncertainty. Using a new change of variables, Lyapunov functions, and a comparison principle, we provide…

We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…

In this paper a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with a single…

Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…

Doppler radars are routinely used for the remote sensing of oceanic surface currents and atmospheric wind profiles. Even though they operate at different frequencies and address different media, they follow very similar processing for the…

A classic task in robotics is tracking a target in the external environment. There are several well-documented approaches to this problem. This paper presents a novel approach to this problem using infrared time of flight sensors. The use…