Related papers: Circumnavigation Using Distance Measurements (Exte…
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear, control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse coordinates,…
The presence of temporal correlations in random movement trajectories is a widespread phenomenon across biological, chemical and physical systems. The ubiquity of persistent and anti-persistent motion in many natural and synthetic systems…
Assessment of the degree of boundedness/stability of multidimensional nonlinear systems with time-dependent and nonperiodic coefficients is an important problem in various applied areas which has no adequate resolution yet. Most of the…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
Pulsars are natural cosmic clocks. On long timescales they rival the precision of terrestrial atomic clocks. Using a technique called pulsar timing, the exact measurement of pulse arrival times allows a number of applications, ranging from…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
The optimal cooperative guidance in the nonlinear setting for intercepting a target by multiple pursuers is studied in the paper. As certain relative angles can improve observability, the guidance command is required to cooperatively…
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Coherent control of wave transmission and reflection is crucial for applications in communication, imaging, and sensing. However, many practical scenarios involve partially coherent waves rather than fully coherent ones. We present a…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
Pursuing a drifting target in a turbulent flow is an extremely difficult task whenever the searcher has limited propulsion and maneuvering capabilities. Even in the case when the relative distance between pursuer and target stays below the…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…