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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 (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)
URN: urn:nbn:se:kth:diva-144750DOI: 10.1109/ICARCV.2012.6485125ISI: 000317972500318ScopusID: 2-s2.0-84876035602ISBN: 978-146731871-6OAI: diva2:717121
2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012; Guangzhou; China; 5 December 2012 through 7 December 2012

QC 20140514

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

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Hu, Xiaoming
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