535 research outputs found
Enclosing a moving target with an optimally rotated and scaled multiagent pattern
We propose a novel control method to enclose a moving target in a two-dimensional setting with a team of agents forming a prescribed geometric pattern. The approach optimises a measure of the overall agent motion costs, via the minimisation of a suitably defined cost function encapsulating the pattern rotation and scaling. We propose two control laws which use global information and make the agents exponentially converge to the prescribed formation with an optimal scale that remains constant, while the team's centroid tracks the target. One control law results in a multiagent pattern that keeps a constant orientation in the workspace; for the other, the pattern rotates with constant speed. These behaviours, whose optimality and steadiness are very relevant for the task addressed, occur independently from the target's velocity. Moreover, the methodology does not require distance measurements, common coordinate references, or communications. We also present formal guarantees of collision avoidance for the proposed approach. Illustrative simulation examples are provided
Bearing rigidity theory and its applications for control and estimation of network systems: Life beyond distance rigidity
Distributed control and location estimation of multiagent systems have received tremendous research attention in recent years because of their potential across many application domains [1], [2]. The term agent can represent a sensor, autonomous vehicle, or any general dynamical system. Multiagent systems are attractive because of their robustness against system failure, ability to adapt to dynamic and uncertain environments, and economic advantages compared to the implementation of more expensive monolithic systems
Bayesian Learning for Dynamic Target Localization with Human-provided Spatial Information
This paper considers a human-autonomy collaborative sensor data fusion for
dynamic target localization in a Bayesian framework. To compensate for the
shortcomings of an autonomous tracking system, we propose to collect spatial
sensing information from human operators who visually monitor the target and
can provide target localization information in the form of free sketches
encircling the area where the target is located. Our focus in this paper is to
construct an adaptive probabilistic model for human-provided inputs where the
adaption terms capture the level of reliability of the human inputs. The next
contribution of this paper is a novel joint Bayesian learning method to fuse
human and autonomous sensor inputs in a manner that the dynamic changes in
human detection reliability are also captured and accounted for. A unique
aspect of this Bayesian modeling framework is its analytical closed-form update
equations, endowing our method with significant computational efficiency.
Simulations demonstrate our results.Comment: Submitted to IEEE Robotics and Automation Letter
Coordinated multi-robot formation control
Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 201
COOPERATIVE TARGET TRACKING IN CONCENTRIC FORMATIONS
This paper considers the problem of coordinating multiple unmanned aerial vehicles (UAVs) in a circular formation around a moving target. The main contribution is allowing for versatile formation patterns on the basis of the following components. Firstly, new uniform spacing control laws are proposed that spread the agents not necessarily over a full circle, but over a circular arc. Uniform spacing formation controllers are proposed, regulating either the separation distances or the separation angles between agents. Secondly, the use of virtual agents is proposed to allow for different radii in agents’ orbits. Thirdly, a hierarchical combination of formation patterns is described. A Lyapunov analysis is conducted to study the stability characteristics. This paper also addresses the practical issue of collision avoidance that arises while UAVs are developing formations. An additional control component is added that repels agents to steer away from each other once they get too close. All UAVs have constant linear velocities. Control of the UAV is via its yaw rate. The proposed extensions to formation on a portion of a circle, circling on different radii for different agents, formation in local geometric shapes, and inter-vehicle collision avoidance, provide more complete solution to cooperative target tracking in concentric formations
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