Motion camouflage for coverage

Abstract

Pursuit strategies can lead to cohesive behavior. This idea is explored via consideration of a two-particle mutual pursuit system based on motion camouflage as the underlying strategy. Such a two-particle system can be thought of as a model of a pair of cooperative unmanned aerial vehicles, and in a limiting case as a model of a vehicle in the vicinity of a signal source (beacon). Drawing on reductions by symmetry and associated phase space properties, we show how this particular instance of cyclic pursuit can be exploited to achieve observational requirements such as coverage over physical space.

Biomimetic algorithms for coordinated motion: Theory and implementation

“…As the velocity vector (9 r k i , with k denoting the time index) is aligned along the robot heading, x k i and y k i can be directly computed from the heading data. Then, the curvature variable u k i is evaluated from the corresponding control laws (8,12), and the turning rate ω k i pi " 1, 2, . .…”

“…where µ ą 0 denotes a positive gain, and y i , z i carry their usual meaning. Alternatively, lateral acceleration for this choice of control laws (12) can be expressed as…”

“…and this provides a physical intuition behind (12) as the lateral acceleration is proportional to the projection of the normalized velocity of its neighborhood center of mass onto the transverse of its own direction of motion.…”

“…The last few decades have witnessed an increase in research efforts towards uncovering mechanisms behind pursuit behavior [2][3][4][5] and collective motion [6][7][8][9] in nature. Parallel to this stream of endeavors, a number of mathematical models and appropriate feedback mechanisms [10][11][12][13][14][15][16][17][18] have been introduced to bring these ideas from natural settings to unmanned vehicular systems. Moreover, some groups in the robotics community have performed successful implementation of these concepts [19,20], and thereby demonstrated the power of a bio-inspired approach towards synthesizing collective motion.…”

Cyclic pursuit control for dynamic coverage

“…The applications of dynamic coverage include search and rescue, collaborative predatory [12], cooperative tracking, area defense, tracking while surveillance, among many others. In dynamic coverage, it is desired to employ the mobile agents to cover the region autonomously, effectively, efficiently, and safely.…”