Cooperative Circumnavigation for a Mobile Target Using Adaptive Estimation

Abstract

In this paper we consider the problem of tracking a mobile target using adaptive estimation while circumnavigating it with a system of Unmanned Surface Vehicles (USVs). The mobile target considered is an irregular dynamic shape approximated by a circle with moving centre and varying radius. The USV system is composed of n USVs of which one is equipped with an Unmanned Aerial Vehicle (UAV) capable of measuring both the distance to the boundary of the target and to its centre. This USV equipped with the UAV uses adaptive estimation to calculate the location and size of the mobile target. The USV system must circumnavigate the boundary of the target while forming a regular polygon. We design two algorithms: One for the adaptive estimation of the target using the UAV's measurements and another for the control protocol to be applied by all USVs in their navigation. The convergence of both algorithms to the desired state is proved up to a limit bound. Two simulated examples are provided to verify the performance of the algorithms designed in this paper.

Non-uniform Observability for Moving Horizon Estimation and stability with respect to additive perturbation

“…We show notably that in the sensorcentric point of view, the dynamics of the robot is not important for our concept of observability and only its state and input trajectories matter. Besides, the notion of circumnavigation appears to be useful in SLAM and related problems of localisation of autonomous systems, see [11,17,16,38,40,41]. Inspired by this, we finally show that 2D SLAM systems with different types of sensors can be made simultaneously weakly-regularly observable if the robot tracks any circular trajectory in the position/velocity space.…”

“…Remark 31 One can notice that Assumption 27 does not depend on the dynamics of system (16). This means that, in the sensor-centric case, the study of weak regular observability can be decomposed in two steps.…”

“…First, for fixed state and input spaces, one can look for state and input trajectories that satisfy Assumption 27. Secondly, for some robot dynamics g one can check if the previous trajectories can be tracked by state and input trajectories (or state trajectories only if the measurement does not depend explicitly on u) that are compatible with the corresponding dynamical constraint (16).…”

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

“…To overcome these limitations, [41] proposed a consensus-based estimator control protocol such that the agents orbit a moving target in different radii. Recently, an adaptive estimator and control mechanisms are designed to guarantee the circumnavigation of a mobile target by unmanned surface vehicles (USV) [164]. Further, [165] proposed a bearing-based MASs distributed least square algorithm to circumnavigate a maneuvering target.…”

Bioinspired Multipurpose Approach to the Sampling Problem

“…With respect to this class of control strategies, the approaches of organization and retention of formation are of most interest. One of the first such approaches, still in use today, is the "follower-leader" approach [28], where one or more vehicles are taken as the leaders and the rest as followers. Leaders are the anchor points around which the formation is built, and also can dictate the reference trajectories for followers.…”