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Tracking a mobile target by multi-robot circumnavigation using bearing measurements
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-7309-8086
Vise andre og tillknytning
2017 (engelsk)Inngår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017, s. 1076-1081Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we study a problem of target tracking and circumnavigation with a network of autonomous agents. We propose a distributed algorithm to estimate the position of the target and drive the agents to rotate around it while forming a regular polygon and keeping a desired distance. We formally show that the algorithm attains exponential convergence of the agents to the desired polygon if the target is stationary, and bounded convergence if the target is moving with bounded speed. Numerical simulations corroborate the theoretical results and demonstrate the resilience of the network to addition and removal of agents.

sted, utgiver, år, opplag, sider
IEEE , 2017. s. 1076-1081
Serie
IEEE Conference on Decision and Control, ISSN 0743-1546
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-223846DOI: 10.1109/CDC.2017.8263800ISI: 000424696901018Scopus ID: 2-s2.0-85046123458ISBN: 978-1-5090-2873-3 (tryckt)OAI: oai:DiVA.org:kth-223846DiVA, id: diva2:1187996
Konferanse
56th IEEE Annual Conference on Decision and Control, CDC 2017; Melbourne Convention and Exhibition Centre (MCEC)Melbourne; Australia; 12 December 2017 through 15 December 2017
Forskningsfinansiär
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg Foundation
Merknad

QC 20180306

Tilgjengelig fra: 2018-03-06 Laget: 2018-03-06 Sist oppdatert: 2018-11-19bibliografisk kontrollert

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Adaldo, AntonioDimarogonas, Dimos V.Johansson, Karl H.

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