相关论文: Formation Control for Enclosing and Tracking via R…
The problem of adversary target detection and the subsequent task completion using a heterogeneous network of resource-constrained UAVs is considered. No prior knowledge about locations and required resources to identify these targets is…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…
An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…
Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
Correlation filter (CF)-based methods have demonstrated exceptional performance in visual object tracking for unmanned aerial vehicle (UAV) applications, but suffer from the undesirable boundary effect. To solve this issue, spatially…
Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…
Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the…
Recently, correlation filter has been widely applied in unmanned aerial vehicle (UAV) tracking due to its high frame rates, robustness and low calculation resources. However, it is fragile because of two inherent defects, i.e, boundary…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied…
Most existing trackers based on discriminative correlation filters (DCF) try to introduce predefined regularization term to improve the learning of target objects, e.g., by suppressing background learning or by restricting change rate of…
To enable communication-efficient federated learning (FL), this paper studies an unmanned aerial vehicle (UAV)-enabled FL system, where the UAV coordinates distributed ground devices for a shared model training. Specifically, by exploiting…