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.
Tracking a mobile target by multi-robot circumnavigation using bearing measurements / Boccia, Antonio; Adaldo, A.; Dimarogonas, D. V.; Di Bernardo, M.; Johansson, K. H.. - 2018-:(2018), pp. 1076-1081. (Intervento presentato al convegno 56th IEEE Annual Conference on Decision and Control, CDC 2017 tenutosi a Melbourne Convention and Exhibition Centre (MCEC), aus nel 2017) [10.1109/CDC.2017.8263800].
Tracking a mobile target by multi-robot circumnavigation using bearing measurements
BOCCIA, ANTONIO;Di Bernardo M.
;
2018
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
