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In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

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…

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…

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…

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…

Recent approaches for navigating among dynamic threat regions (i.e., weapon engagement zones) have focused on planning entire trajectories. Moreover, the allowance for penetration into these threat regions was based on heuristic…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose…

This paper studies the multi-agent coverage control (MAC) problem where agents must dynamically learn an unknown density function while performing coverage tasks. Unlike many current theoretical frameworks that concentrate solely on the…

Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…

Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…

This paper proposes a solution for multiple-impulse orbital maneuvers near circular orbits for special cases where orbital observations are not globally available and the spacecraft is being observed through a limited window from a ground…

Robotic access monitoring of multiple target areas has applications including checkpoint enforcement, surveillance and containment of fire and flood hazards. Monitoring access for a single target region has been successfully modeled as a…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…

In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…