Related papers: Target Encirclement with any Smooth Pattern Using …
This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller…
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
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…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…
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…
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. We introduce a novel QP formulation to…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velocities (that would drive the robot to the target in the absence…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the…