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Tracking a mobile target by multi-robot circumnavigation using bearing measurements
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
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2017 (English)In: 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2017Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE , 2017.
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223846ISI: 000424696901018ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223846DiVA, id: diva2:1187996
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, AUSTRALIA
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg Foundation
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-03-06Bibliographically approved

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

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  • apa
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Language
  • de-DE
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  • nn-NB
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  • Other locale
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Output format
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