Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Distributed tracking and connectivity maintenance with a varying velocity leader
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2012 (English)In: 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, IEEE , 2012, 1824-1829 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates a distributed tracking problem for multi-agent systems with a varying-velocity leader. The leader modeled by a double integrator can only be perceived by followers located within a sensing distance. The objective is to drive the followers with bounded control law to maintain connectivity, avoid collision and further track the leader, with no need of acceleration measurements. Two cases are considered: the acceleration of the leader is bounded; and the acceleration has a linear form. In the first case, the relative velocities of neighbors are integrated and transmitted as a new variable to account for the uncertain time-varying acceleration. In the second case, two distributed estimators are added for the leader's position and velocity. Simulations are presented to show the effectiveness of the proposed control laws.

Place, publisher, year, edition, pages
IEEE , 2012. 1824-1829 p.
Keyword [en]
Bounded controls, Connectivity maintenance, Control laws, Distributed tracking, Double integrator, Multi agent system (MAS), Relative velocity, Time varying, Control theory, Multi agent systems, Velocity, Robotics
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-144750DOI: 10.1109/ICARCV.2012.6485125ISI: 000317972500318Scopus ID: 2-s2.0-84876035602ISBN: 978-146731871-6 (print)OAI: oai:DiVA.org:kth-144750DiVA: diva2:717121
Conference
2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012; Guangzhou; China; 5 December 2012 through 7 December 2012
Note

QC 20140514

Available from: 2014-05-14 Created: 2014-04-29 Last updated: 2018-01-11Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Hu, Xiaoming

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems Theory
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 50 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf