Cooperative target tracking in balanced circular and elliptical formations

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationCCTA 2020 - 4th IEEE Conference on Control Technology and Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages49-56
Number of pages8
ISBN (Electronic)9781728171401
DOIs
StatePublished - Aug 2020
Event4th IEEE Conference on Control Technology and Applications, CCTA 2020 - Virtual, Montreal, Canada
Duration: Aug 24 2020Aug 26 2020

Publication series

NameCCTA 2020 - 4th IEEE Conference on Control Technology and Applications

Conference

Conference4th IEEE Conference on Control Technology and Applications, CCTA 2020
CountryCanada
CityVirtual, Montreal
Period8/24/208/26/20

Keywords

  • Balanced circular formation
  • Cooperative target tracking
  • Elliptical formation
  • Prescribed formation radius

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Instrumentation

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