248 research outputs found
Path Planning for Cooperative Routing of Air-Ground Vehicles
We consider a cooperative vehicle routing problem for surveillance and
reconnaissance missions with communication constraints between the vehicles. We
propose a framework which involves a ground vehicle and an aerial vehicle; the
vehicles travel cooperatively satisfying the communication limits, and visit a
set of targets. We present a mixed integer linear programming (MILP)
formulation and develop a branch-and-cut algorithm to solve the path planning
problem for the ground and air vehicles. The effectiveness of the proposed
approach is corroborated through extensive computational experiments on several
randomly generated instances
Circumnavigation of an Unknown Target Using UAVs with Range and Range Rate Measurements
This paper presents two control algorithms enabling a UAV to circumnavigate
an unknown target using range and range rate (i.e., the derivative of range)
measurements. Given a prescribed orbit radius, both control algorithms (i) tend
to drive the UAV toward the tangent of prescribed orbit when the UAV is outside
or on the orbit, and (ii) apply zero control input if the UAV is inside the
desired orbit. The algorithms differ in that, the first algorithm is smooth and
unsaturated while the second algorithm is non-smooth and saturated. By
analyzing properties associated with the bearing angle of the UAV relative to
the target and through proper design of Lyapunov functions, it is shown that
both algorithms produce the desired orbit for an arbitrary initial state. Three
examples are provided as a proof of concept.Comment: To appear in IEEE Conference on Decision and Control, 201
Active Target Defense Differential Game with a Fast Defender
This paper addresses the active target defense differential game where an
Attacker missile pursues a Target aircraft. A Defender missile is fired by the
Target's wingman in order to intercept the Attacker before it reaches the
aircraft. Thus, a team is formed by the Target and the Defender which cooperate
to maximize the distance between the Target aircraft and the point where the
Attacker missile is intercepted by the Defender missile, while the Attacker
tries to minimize said distance. The results shown here extend previous work.
We consider here the case where the Defender is faster than the Attacker. The
solution to this differential game provides optimal heading angles for the
Target and the Defender team to maximize the terminal separation between Target
and Attacker and it also provides the optimal heading angle for the Attacker to
minimize the said distance.Comment: 9 pages, 8 figures. A shorter version of this paper will be presented
at the 2015 American Control Conferenc
Escape Regions of the Active Target Defense Differential Game
The active target defense differential game is addressed in this paper. In
this differential game an Attacker missile pursues a Target aircraft. The
aircraft is however aided by a Defender missile launched by, say, the wingman,
to intercept the Attacker before it reaches the Target aircraft. Thus, a team
is formed by the Target and the Defender which cooperate to maximize the
separation between the Target aircraft and the point where the Attacker missile
is intercepted by the Defender missile, while the Attacker simultaneously tries
to minimize said distance. This paper focuses on characterizing the set of
coordinates such that if the Target's initial position belong to this set then
its survival is guaranteed if both the Target and the Defender follow their
optimal strategies. Such optimal strategies are presented in this paper as
well.Comment: 19 pages, 9 figures. arXiv admin note: text overlap with
arXiv:1502.0274
Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs
An event-triggered control technique for consensus of multi-agent systems
with general linear dynamics is presented. This paper extends previous work to
consider agents that are connected using directed graphs. Additionally, the
approach shown here provides asymptotic consensus with guaranteed positive
inter-event time intervals. This event-triggered control method is also used in
the case where communication delays are present. For the communication delay
case we also show that the agents achieve consensus asymptotically and that,
for every agent, the time intervals between consecutive transmissions is
lower-bounded by a positive constant.Comment: 9 pages, 5 figures, A preliminary version of this manuscript has been
submitted to the 2015 American Control Conferenc
Pursuit on a Graph Using Partial Information
The optimal control of a "blind" pursuer searching for an evader moving on a
road network and heading at a known speed toward a set of goal vertices is
considered. To aid the "blind" pursuer, certain roads in the network have been
instrumented with Unattended Ground Sensors (UGSs) that detect the evader's
passage. When the pursuer arrives at an instrumented node, the UGS therein
informs the pursuer if and when the evader visited the node. The pursuer's
motion is not restricted to the road network. In addition, the pursuer can
choose to wait/loiter for an arbitrary time at any UGS location/node. At time
0, the evader passes by an entry node on his way towards one of the exit nodes.
The pursuer also arrives at this entry node after some delay and is thus
informed about the presence of the intruder/evader in the network, whereupon
the chase is on - the pursuer is tasked with capturing the evader. Because the
pursuer is "blind", capture entails the pursuer and evader being collocated at
an UGS location. If this happens, the UGS is triggered and this information is
instantaneously relayed to the pursuer, thereby enabling capture. On the other
hand, if the evader reaches one of the exit nodes without being captured, he is
deemed to have escaped. We provide an algorithm that computes the maximum
initial delay at the entry node for which capture is guaranteed. The algorithm
also returns the corresponding optimal pursuit policy
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