Target Tracking via a Circular Formation of Unicycles

Lara Briñón-Arranz 1 Alexandre Seuret 2 António Pascoal 3
1 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
2 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This paper deals with the problem of encircling a moving target with a fleet of unicycle-like vehicles. A new control law is developed to steer the vehicles to a circular formation whose center tracks the target. The novelty of this paper lies in the fact that the control law only uses the velocity of the target and the relative positions of the agents with respect to it, expressed in the local frame of each vehicle. Communication between agents is used to maintain the vehicles equally spaced along the circular formation. Simulation results show the effectiveness of the proposed strategy.
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Conference papers
IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, pp.5947-5952, 2017
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Lara Briñón-Arranz, Alexandre Seuret, António Pascoal. Target Tracking via a Circular Formation of Unicycles. IFAC World Congress, Jul 2017, Toulouse, France. Proceedings of the 20th IFAC World Congress, pp.5947-5952, 2017. 〈hal-01496284〉

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