Cooperative target tracking in balanced circular and elliptical formations

Lili Ma; Naira Hovakimyan

doi:10.1109/CCTA41146.2020.9206318

Cooperative target tracking in balanced circular and elliptical formations

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper extends our earlier results on cooperative target tracking in cyclic pursuit using a group of mobile robots by further prescribing the formation radius and achieving an elliptical formation pattern. Prescribing the formation radius of a balanced circular formation is achieved by adjusting a parameter in the existing control input to each robot. The new elliptical formation pattern is obtained via a transformation matrix. Both single-integrator and double-integrator robot models are considered. The effectiveness of the proposed schemes is demonstrated by simulation examples.

Original language	English (US)
Title of host publication	CCTA 2020 - 4th IEEE Conference on Control Technology and Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	49-56
Number of pages	8
ISBN (Electronic)	9781728171401
DOIs	https://doi.org/10.1109/CCTA41146.2020.9206318
State	Published - Aug 2020
Event	4th IEEE Conference on Control Technology and Applications, CCTA 2020 - Virtual, Montreal, Canada Duration: Aug 24 2020 → Aug 26 2020

Publication series

Name	CCTA 2020 - 4th IEEE Conference on Control Technology and Applications

Conference

Conference	4th IEEE Conference on Control Technology and Applications, CCTA 2020
Country/Territory	Canada
City	Virtual, Montreal
Period	8/24/20 → 8/26/20

Keywords

Balanced circular formation
Cooperative target tracking
Elliptical formation
Prescribed formation radius

ASJC Scopus subject areas

Computer Science Applications
Control and Optimization
Instrumentation

Online availability

10.1109/CCTA41146.2020.9206318

Library availability

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Ma, L., & Hovakimyan, N. (2020). Cooperative target tracking in balanced circular and elliptical formations. In CCTA 2020 - 4th IEEE Conference on Control Technology and Applications (pp. 49-56). Article 9206318 (CCTA 2020 - 4th IEEE Conference on Control Technology and Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA41146.2020.9206318

Cooperative target tracking in balanced circular and elliptical formations. / Ma, Lili; Hovakimyan, Naira.
CCTA 2020 - 4th IEEE Conference on Control Technology and Applications. Institute of Electrical and Electronics Engineers Inc., 2020. p. 49-56 9206318 (CCTA 2020 - 4th IEEE Conference on Control Technology and Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ma, L & Hovakimyan, N 2020, Cooperative target tracking in balanced circular and elliptical formations. in CCTA 2020 - 4th IEEE Conference on Control Technology and Applications., 9206318, CCTA 2020 - 4th IEEE Conference on Control Technology and Applications, Institute of Electrical and Electronics Engineers Inc., pp. 49-56, 4th IEEE Conference on Control Technology and Applications, CCTA 2020, Virtual, Montreal, Canada, 8/24/20. https://doi.org/10.1109/CCTA41146.2020.9206318

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author = "Lili Ma and Naira Hovakimyan",

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Cooperative target tracking in balanced circular and elliptical formations

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Online availability

Library availability

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