Related papers: A Study of the Circular Pursuit Dynamics using Bif…

We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…

This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motion Observer with…

Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…

This work derives two basic engagement zone models, describing regions of potential risk or capture for a mobile vehicle by a pursuer. The pursuer is modeled as having turn-constraints rather than simple motion. Turn-only (C-Paths) and…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…

In this article the pursuit problem of objects that moves with different accelerations and initial speeds is studied. Initially, the situation in which the escaping object moves in a straight line is considered. Under this condition, and if…

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…

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…

The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…

Control-based continuation is technique for tracking the solutions and bifurcations of nonlinear experiments. The basic idea is to apply the method of numerical continuation to a feedback-controlled physical experiment. Since in an…

This paper is concerned with the analysis of a class of impacting systems of relevance in applications: cam-follower systems. We show that these systems, which can be modelled as discontinuously forced impact oscillators, can exhibit…

This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…

This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…

A planar herding problem is considered, where a superior pursuer herds a flock of non-cooperative, inferior evaders around a predefined target point. An inverse square law of repulsion is assumed between the pursuer and each evader. Two…

This paper presents a learning-based framework for estimating pursuer parameters in turn-rate-limited pursuit-evasion scenarios using sacrificial agents. Each sacrificial agent follows a straight-line trajectory toward an adversary and…

Bifurcation analysis collects techniques for characterizing the dependence of certain classes of solutions of a dynamical system on variations in problem parameters. Common solution classes of interest include equilibria and periodic…