Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Ovchinnikov, Kirill S.; Semakova, Anna A.; Matveev, Alexey S.

doi:10.1016/j.robot.2015.05.008

Cited by 42 publications

(18 citation statements)

References 62 publications

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“…Their practical effectiveness has been widely reported. Examples are given by, eg, the results of the experiments with real robots presented in the works, 35,42,[50][51][52][53] where control laws that are similar in some respects to the law proposed in this paper are considered.…”

Section: Discussionmentioning

confidence: 99%

Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

Matveev

Ovchinnikov

2018

Intl J Robust & Nonlinear

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An unpredictably maneuvering speedy target travels in a plane, which also hosts a team of fully actuated robots whose velocities and accelerations are upper-bounded in magnitude. The robots should approach the target and then follow it at a prespecified distance. They also should achieve an even self-distribution around the target and a given angular velocity of rotation about the target. Every robot has access to the relative position of the target and other robots (in the latter case, within a finite "visibility" range) and to the angular speed of its own pure rotation; access to the coordinates of its own linear velocity in its own local frame is also employed in some cases. The robots are not equipped with communication facilities and cannot distinguish among one another; assignment of different roles to various robots is infeasible. Necessary conditions for the mission feasibility are first obtained. A distributed control law is then presented, and its global convergence and collision avoidance property are rigorously justified under slight enhancement of the just mentioned necessary conditions. The performance of the control law is illustrated by computer simulations.

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Section: Discussionmentioning

confidence: 99%

Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

Matveev

Ovchinnikov

2018

Intl J Robust & Nonlinear

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“…Recently, much attention has been given to the design and evaluation of such algorithms. Many of them use access to the gradient of the field or even higher derivatives 13,15,18‐22 . Examples include descendants of the “snake” algorithms in image segmentation, 8,13 methods using networked estimation of the field gradient and Hessian, 19 cooperative gradient‐based contour estimation, 8,13,18 gradient‐based artificial potentials, 20 or distribution of sensors over a contour with minimal latency 18 .…”

Section: Introductionmentioning

confidence: 99%

“…The case of a time‐varying field includes the problem of localization, guidance to, following, and circumnavigation of a moving target based on only the strength of a signal emitted by the target 22 . The results of Reference 28 are extended on the case of multiple robots in Reference 21, where the algorithm also ensures effective self‐deployment of the robots over the environmental boundary. All these methods are reactive in the sense that they directly convert the current observation into current control in a reflex‐like fashion.…”

Section: Introductionmentioning

confidence: 99%

Autonomous navigation of a non‐holonomic robot for 3D tracking unsteady environmental boundaries

Matveev

Semakova

2021

Intl J Robust & Nonlinear

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An under‐actuated non‐holonomic robot moves in three dimensions with a constant surge speed and is actuated by upper bounded yawing and pitching rates. The 3D workspace hosts an unknown and time‐varying scalar field. The robot measures only its value at the current location and has no access to the field gradient. Starting from an occasional initial location, the robot should arrive at the level set (isosurface) where the field assumes a predefined value. After this, the robot should repeatedly sweep the entirety of this moving and deforming isosurface. We present a hybrid control law that solves this mission. This law switches among three discrete states, two of which are interchanged on a regular basis, and follows the sliding mode paradigm to drive the robot within a given discrete state. It does not visibly try to estimate the field gradient, is computationally inexpensive, and exhibits a regular, smooth motion. The proposed law is rigorously justified by a global convergence result. Its performance is demonstrated by computer simulation tests.

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“…Paper [12] dwells upon a system of models that simulate unicycles moving at constant speeds; it, too, ignores input saturations. Articles [13], [14] consider only equidistant formations (including circular ones) of mobile robots. In paper [15] equidistant UAV circular formations with "all-to-all" interaction topology were considered.…”

Section: Introductionmentioning

confidence: 99%

Coordinated UAV Standoff Tracking of Moving Target based on Lyapunov Vector Fields

Muslimov¹,

Munasypov²

2020

Preprint

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Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

Cited by 42 publications

References 62 publications

Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

Autonomous navigation of a non‐holonomic robot for 3D tracking unsteady environmental boundaries

Coordinated UAV Standoff Tracking of Moving Target based on Lyapunov Vector Fields

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