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• W4383097411 abstract "This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. In extreme conditions, where GPS signals are not available, weight restrictions are present, and ground guidance is absent, the agents can rely solely on their onboard single-modality perception tools to measure the distances to the target. The distance measurement allows for creating a position estimator by providing a target position-dependent variable. Furthermore, the construction of the unique distributed anti-synchronization controller (DASC) can guarantee that the two agents track and encircle the target swiftly. The convergence of the estimator and controller is rigorously evaluated using the Lyapunov technique. A real-world UAV-based experiment is conducted to illustrate the performance of the proposed methodology in addition to a simulated Matlab numerical sample. Our video demonstration can be found in the URL https://youtu.be/EDVLvP-bk8M." @default.
• W4383097411 created "2023-07-05" @default.
• W4383097411 creator A5008175534 @default.
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• W4383097411 date "2023-05-29" @default.
• W4383097411 modified "2023-09-25" @default.
• W4383097411 title "Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement" @default.
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• W4383097411 doi "https://doi.org/10.1109/icra48891.2023.10161054" @default.
• W4383097411 hasPublicationYear "2023" @default.
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