Related papers: Computing the Minimum-Time Interception of a Movin…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…
This paper is concerned with a Minimum-Time Intercept Problem (MTIP), for which a Dubins vehicle is guided from a position with a prescribed initial orientation angle to intercept a moving target in minimum time. Some geometric properties…
The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins' car is formulated as a time-optimal control problem with an arbitrary direction of the car's velocity at the interception moment. To solve this…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
In this paper, we develop an optimal control framework for dynamical systems when only an approximate model of the underlying plant is available. We consider a setting in which the control strategy is synthesized using a model-based optimal…
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…
In this paper we investigated a model that describes the motion of a material point in a viscous medium under a force that is arbitrary in direction, but limited in magnitude. This model was named "the isotropic rocket" in the early work of…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals.…
This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…
We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…
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,…
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 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…
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…