TY - GEN
T1 - Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits
AU - Borkar, Aseem V.
AU - Chowdhary, Girish
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical orbits are used as they are more economical than circular orbits for circumnavigating the group of targets in the moving convoy. The proposed scheme includes an algorithm for computing feasible elliptical orbits, a vector guidance law for agent motion along the desired orbit, and a cooperative strategy to control the speeds of the aerial agents in order to quickly achieve and maintain the desired formation. It achieves mission objectives while accounting for linear and angular speed constraints on the aerial agents. The scheme is validated through simulations and actual experiments with a convoy of ground robots and a team of quadrotors as the aerial agents, in a motion capture environment.
AB - We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical orbits are used as they are more economical than circular orbits for circumnavigating the group of targets in the moving convoy. The proposed scheme includes an algorithm for computing feasible elliptical orbits, a vector guidance law for agent motion along the desired orbit, and a cooperative strategy to control the speeds of the aerial agents in order to quickly achieve and maintain the desired formation. It achieves mission objectives while accounting for linear and angular speed constraints on the aerial agents. The scheme is validated through simulations and actual experiments with a convoy of ground robots and a team of quadrotors as the aerial agents, in a motion capture environment.
UR - http://www.scopus.com/inward/record.url?scp=85125466244&partnerID=8YFLogxK
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U2 - 10.1109/ICRA48506.2021.9561492
DO - 10.1109/ICRA48506.2021.9561492
M3 - Conference contribution
AN - SCOPUS:85125466244
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8999
EP - 9005
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -