Related papers: Predefined-time One-Shot Cooperative Estimation, G…
We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
To enable multiple missiles to attack a maneuvering target simultaneously, fixed-time distributed cooperative guidance laws are proposed in this paper. Here, we present a novel fixed-time fast nonsingular terminal sliding mode surface…
This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges…
We address target interception in contested environments in the presence of multiple defenders whose interception capability is limited by finite ranges. Conventional methods typically impose conservative stand-off constraints based on…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…
A power constrained sensor network that consists of multiple sensor nodes and a fusion center (FC) is considered, where the goal is to estimate a random parameter of interest. In contrast to the distributed framework, the sensor nodes may…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
This paper addresses the time-constrained interception of targets at a predetermined time with bounded field-of-view capability of the seeker-equipped interceptors. We propose guidance laws using the effective lead angle and velocity lead…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a…
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…
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…