15,142 research outputs found
Safe Sequential Path Planning Under Disturbances and Imperfect Information
Multi-UAV systems are safety-critical, and guarantees must be made to ensure
no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for
analyzing such safety-critical systems; however, its direct application is
limited to small-scale systems of no more than two vehicles due to an
exponentially-scaling computational complexity. Previously, the sequential path
planning (SPP) method, which assigns strict priorities to vehicles, was
proposed; SPP allows multi-vehicle path planning to be done with a
linearly-scaling computational complexity. However, the previous formulation
assumed that there are no disturbances, and that every vehicle has perfect
knowledge of higher-priority vehicles' positions. In this paper, we make SPP
more practical by providing three different methods to account for disturbances
in dynamics and imperfect knowledge of higher-priority vehicles' states. Each
method has different assumptions about information sharing. We demonstrate our
proposed methods in simulations.Comment: American Control Conference, 201
Greedy Forwarding in Dynamic Scale-Free Networks Embedded in Hyperbolic Metric Spaces
We show that complex (scale-free) network topologies naturally emerge from
hyperbolic metric spaces. Hyperbolic geometry facilitates maximally efficient
greedy forwarding in these networks. Greedy forwarding is topology-oblivious.
Nevertheless, greedy packets find their destinations with 100% probability
following almost optimal shortest paths. This remarkable efficiency sustains
even in highly dynamic networks. Our findings suggest that forwarding
information through complex networks, such as the Internet, is possible without
the overhead of existing routing protocols, and may also find practical
applications in overlay networks for tasks such as application-level routing,
information sharing, and data distribution
Distributed target-encirclement guidance law for cooperative attack of multiple missiles
The target-encirclement guidance problem for many-to-one missile-target engagement scenario is studied, where the missiles evenly distribute on a target-centered circle during the homing guidance. The proposed distributed target-encirclement guidance law can achieve simultaneous attack of multiple missiles in different line-of-sight directions. Firstly, the decentralization protocols of desired line-of-sight angles are constructed based on the information of neighboring missiles. Secondly, a biased proportional navigation guidance law that can arbitrarily designate the impact angle is cited. The missiles can achieve all-aspect attack on the target in an encirclement manner by combining the biased proportional navigation guidance law and dynamic virtual targets strategy. Thirdly, the consensus protocol of simultaneous attack is designed, which can guarantee that all missiles’ time-to-go estimates achieve consensus asymptotically, and the convergence of the closed-loop system is proved strictly via the Lyapunov stability theory. Finally, numerical simulation results demonstrate the performance and feasibility of the proposed distributed target-encirclement guidance law in different engagement situations
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