相关论文: Distributed Optimal Guidance Laws for Multiple Unm…

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…

From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…

This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a subset of interceptors are equipped with onboard seekers.…

In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

The design of guidance law can be considered a kind of finite-time error-tracking problem. A unified free-time convergent guidance law design approach based on the error dynamics and the free-time convergence method is proposed in this…

This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of…

We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…

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…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…

This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing…

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…

This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…

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)…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…