Related papers: Predefined-Time Target Localization and Circumnavi…
This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…
This paper presents a novel guidance law for target tracking applications where the target motion model is unknown and sensor measurements are intermittent due to unknown environmental conditions and low measurement update rate. In this…
This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from…
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…
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution…
We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…
Numerous communications and networking challenges prevent deploying unmanned aerial vehicles (UAVs) in extreme environments where the existing wireless technologies are mainly ground-focused; and, as a consequence, the air-to-air channel…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
This paper deals with the target localisation problem in search and rescue scenarios in which the technology is based on electromagnetic transceivers. The noise floor and the shape of the electromagnetic radiation pattern make this problem…
Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…
In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…