Related papers: Achieving safe minimum circle circumnavigation aro…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…
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…
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…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
We present a new algorithm to simulate dynamic group behaviors for interactive multi-agent crowd simulation. Our approach is general and makes no assumption about the environment, shape, or size of the groups. We use the least effort…
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…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward 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…
In this paper, two cooperative guidance laws based on two-point boundary value are designed to deal with the problem of cooperative encirclement and simultaneous attack under condition of both known target acceleration and unknown target…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…