Planar Bearing-only Cyclic Pursuit for Target Capture

null Minh Hoang Trinh; Dwaipayan Mukherjee; Daniel Zelazo; Hyo-Sung Ahn

doi:https://doi.org/10.1016/j.ifacol.2017.08.1759

Planar Bearing-only Cyclic Pursuit for Target Capture

Minh Hoang Trinh, Dwaipayan Mukherjee, Daniel Zelazo, Hyo-Sung Ahn

Technion - Israel Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

This paper investigates the stability of formations around a target using bearing-only measurements for agents in cyclic pursuit. A control law is proposed for every agent that uses bearing information of its leader and the target. It is shown that this control law is locally asymptotically stable with respect to a desired arbitrary formation around the target. A detailed analysis of the equilibrium formations is also provided. Simulations support the theoretical results.

Original language	English
Pages (from-to)	10136-10141
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1759
State	Published - Jul 2017

Keywords

bearing-only formation
co-operative target tracking
cyclic pursuit

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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https://doi.org/10.1016/j.ifacol.2017.08.1759

Cite this

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abstract = "This paper investigates the stability of formations around a target using bearing-only measurements for agents in cyclic pursuit. A control law is proposed for every agent that uses bearing information of its leader and the target. It is shown that this control law is locally asymptotically stable with respect to a desired arbitrary formation around the target. A detailed analysis of the equilibrium formations is also provided. Simulations support the theoretical results.",

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author = "{Minh Hoang Trinh} and Dwaipayan Mukherjee and Daniel Zelazo and Hyo-Sung Ahn",

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AB - This paper investigates the stability of formations around a target using bearing-only measurements for agents in cyclic pursuit. A control law is proposed for every agent that uses bearing information of its leader and the target. It is shown that this control law is locally asymptotically stable with respect to a desired arbitrary formation around the target. A detailed analysis of the equilibrium formations is also provided. Simulations support the theoretical results.

KW - bearing-only formation

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Planar Bearing-only Cyclic Pursuit for Target Capture

Abstract

Keywords

All Science Journal Classification (ASJC) codes

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