Local control strategy for moving-target-enclosing under dynamically changing network topology

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

“…The objective was to grasp the target with a team of robots, to enclose the target at a pre-specified distance from it, to uniformly distribute the robots around the target, and to subsequently escort the target, with maintaining the distances both to the target and between the robots. In contrast with the majority of relevant algorithms available in the literature (see, e.g., [47,48,49,50,28,51,43,52,53,54,32,55,56,57,58,29,44,59,60,61,62] for representative samples; a detailed literature overview is available in [30,62]), angular data about the target are not available to the robots, and the objective should be achieved based on only range measurements. Range-only based navigation is of interest for many applications since it carries a potential both for reduction of the cost and complexity of the hardware and for increase of the system reliability [63,64,39].…”

“…[29] and literature therein). However, there is a ground for interpretation of a circumnavigation task as falling within the framework of our problem only if the sensing capacity of the robots with respect to the target object is confined to measurement of distances, like in, e.g., [38,39,40,41].…”

“…From the broader perspective of multi-agent control, only a particular case of the problem at hand was concerned up to now: autonomously driving multiple vehicles to a capturing formation around a target object; see e.g., [28,29,30,31] and literature therein. The involved navigation task consists in approaching the object and subsequently following it in a pre-specified close range.…”

Cooperative enclosing control for multiple moving targets by a group of agents

“…Email: shiyingjing@gmail.com Beard, and Pack (2013) develop sliding mode controllers to achieve cooperative capturing of a single moving target with incomplete target information. Adaptive control strategies are built in Sato and Maeda (2010) and Guo, Yan, and Lin (2010) to achieve an enclosing formation for a single target when there exists uncertainty or unknown information of the systems. In addition, model predictive control methods are applied in Iskandarani, Hafez, Givigi, Beaulieu, and Rabbath (2013), Marasco, Givigi, Rabbath, and Beaulieu (2013) and to achieve an enclosing formation, where a group of agents enclosing a single stationary or moving target are, respectively, considered.…”

Distributed control of multiple non-holonomic robots with sector vision and range-only measurements for target capturing with collision avoidance

“…Such type of situation was considered in Guo et al: 11 Each of the identical and anonymous kinematically controlled point-wise robots observes the positions of only its angular predecessor and follower in the circular order around the moving target irrespective of their metric distances from the robot at hand. However, this capability is not typical for most real sensors: for them, conversely, visibility of an object may depend on the distance, whereas the angular discrepancy with respect to the third party (target) position does not matter.…”