Decentralised strategies for target tracking has been studied extensively in the literature. In t... more Decentralised strategies for target tracking has been studied extensively in the literature. In this paper, we present a strategy which gives the flexibility to change formation while the UAVs are executing a mission. A target is assumed to be enclosed if the UAVs encircle the target at a given radius while being uniformly distributed around it. If we want to close on to the target or if we want to enclose a wider area around the target, the radius needs to change. In a decentralised scheme, all the vehicles have to be informed about the new radius, which is difficult when the number of vehicles are larger. The strategy proposed in this paper can induce a change in radius by changing a parameter in one of the vehicles picked randomly from the group. The idea is based on consensus in deviated pursuit. The control law is simple to compute and requires only bearing angle measurement. We have analysed the system assuming unicycle kinematics. The strategy is then implemented in 6-DOF dynamical model of the UAVs and simulated in MATLAB and in Hardware-in-loop simulator.
Proceedings of the 2005, American Control Conference, 2005.
In this paper, some generalizations of the problem of formation of a group of autonomous mobile a... more In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i + 1 modulo n. Each agent is subjected to a nonholonomic constraint. The necessary conditions for equilibrium formation to occur among a group of agents with different speeds and controller gains is discussed. These results generalize equal speed and equal controller gain results available in the literature.
In this paper we propose a control law for achieving rendezvous of autonomous vehicles capable of... more In this paper we propose a control law for achieving rendezvous of autonomous vehicles capable of moving in three-dimensional (3D) space by using minimal data and quantized control. A preassigned graph uniquely assigns the pursuer-target pair in a cyclic manner. The measurement required for the proposed control law is the position from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a range for the field-of-view which would guarantee rendezvous under the proposed control law.
Decentralised strategies for target tracking has been studied extensively in the literature. In t... more Decentralised strategies for target tracking has been studied extensively in the literature. In this paper, we present a strategy which gives the flexibility to change formation while the UAVs are executing a mission. A target is assumed to be enclosed if the UAVs encircle the target at a given radius while being uniformly distributed around it. If we want to close on to the target or if we want to enclose a wider area around the target, the radius needs to change. In a decentralised scheme, all the vehicles have to be informed about the new radius, which is difficult when the number of vehicles are larger. The strategy proposed in this paper can induce a change in radius by changing a parameter in one of the vehicles picked randomly from the group. The idea is based on consensus in deviated pursuit. The control law is simple to compute and requires only bearing angle measurement. We have analysed the system assuming unicycle kinematics. The strategy is then implemented in 6-DOF dynamical model of the UAVs and simulated in MATLAB and in Hardware-in-loop simulator.
Proceedings of the 2005, American Control Conference, 2005.
In this paper, some generalizations of the problem of formation of a group of autonomous mobile a... more In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i + 1 modulo n. Each agent is subjected to a nonholonomic constraint. The necessary conditions for equilibrium formation to occur among a group of agents with different speeds and controller gains is discussed. These results generalize equal speed and equal controller gain results available in the literature.
In this paper we propose a control law for achieving rendezvous of autonomous vehicles capable of... more In this paper we propose a control law for achieving rendezvous of autonomous vehicles capable of moving in three-dimensional (3D) space by using minimal data and quantized control. A preassigned graph uniquely assigns the pursuer-target pair in a cyclic manner. The measurement required for the proposed control law is the position from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a range for the field-of-view which would guarantee rendezvous under the proposed control law.
Uploads
Papers by arpita sinha