相关论文: Escape from an Orbiting Pursuer with a Nonzero Cap…

Complex or hostile environments can sometimes inhibit the movement capabilities of diffusive particles or active swimmers, who may thus become stuck in fixed positions. This occurs, for example, in the adhesion of bacteria to surfaces at…

We consider one-dimensional systems comprising either active run-and-tumble particles (RTPs) or passive Brownian random walkers. These particles are either noninteracting or have hardcore exclusions. We study the dynamics of a single tracer…

A fundamental task in mobile robotics is keeping an intelligent agent under surveillance with an autonomous robot as it travels in the environment. This work studies a theoretical version of that problem involving one of the most popular…

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…

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…

The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…

The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…

Escape trajectories from the Earth-Moon system play an important role in interplanetary transfer. This paper focuses on the escape trajectories from a 167 km circular Earth orbit in the Earth-Moon planar circular three-body problem and the…

We propose a new approach for solving combinatorial optimization problem by utilizing the mechanism of chases and escapes, which has a long history in mathematics. In addition to the well-used steepest descent and neighboring search, we…

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 study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…

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…

This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…

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…

Aerodynamic collision avoidance manoeuvres provide an opportunity for satellites in Low Earth Orbits to reduce the risk during close encounters. With rising numbers of satellites and objects in orbit, satellites experience close encounters…

In this paper we investigated a model that describes the motion of a material point in a viscous medium under a force that is arbitrary in direction, but limited in magnitude. This model was named "the isotropic rocket" in the early work of…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

We consider the Lion and Man game, i.e., a two-person pursuit-evasion game with equal players' top speeds. We assume that capture radius is positive and chosen in advance. The main aim of the paper is describing pursuer's winning strategies…

The properties of a cognitive, self-propelled, and self-steering particle in the presence of a stationary target are analyzed theoretically and by simulations. In particular, the effects of confinement in competition with activity and…

This work proposes a finite-horizon optimal control strategy to solve the tracking problem while providing avoidance features to the closed-loop system. Inspired by the set-point tracking model predictive control (MPC) framework, the…