Related papers: Time-Constrained Interception of Seeker-Equipped I…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
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…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
In this paper, we propose a distributed guidance law for the simultaneous interception of a stationary target. For a group of `n' heterogeneous pursuers, the proposed guidance law establishes the necessary conditions on static graphs that…
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…
A new pattern search method for bound constrained optimization is introduced. The proposed algorithm employs the coordinate directions, in a suitable way, with a nonmonotone line search for accepting the new iterate, without using…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
In this paper, an adaptive cooperative guidance strategy for the active protection of a target spacecraft trying to evade an interceptor was developed. The target spacecraft performs evasive maneuvers, launching an active defense vehicle to…
This paper aims to address the nonlinear optimal guidance problem with impact-time and impact-angle constraints, which is fundamentally important for multiple pursuers to collaboratively achieve a target. Addressing such a guidance problem…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…
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…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
The optimal cooperative guidance in the nonlinear setting for intercepting a target by multiple pursuers is studied in the paper. As certain relative angles can improve observability, the guidance command is required to cooperatively…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
In [1,2] a new class of intelligent controllers that can semantically embed an agent in a spatial context constraining its behavior in a goal-oriented manner was suggested. A controller of such a class can guide an agent in a stationary…