Beacon-referenced Pursuit for Collective Motions in Three Dimensions

by   Kevin S. Galloway, et al.

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other autonomous agents) and stationary entities (e.g. fixed beacons or points of references) in a three-dimensional environment. The proposed control law, which can be perceived as a modification of the three-dimensional constant bearing (CB) pursuit law, provides a means to allocate simultaneous attention to multiple entities. We investigate the behavior of the closed-loop dynamics for a system with one agent referencing two beacons, as well as a two-agent mutual pursuit system wherein each agent employs the beacon-referenced CB pursuit law with regards to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits circling equilibria with agents moving on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacons. As the common radius and distances from the beacon are determined by the choice of parameters in the pursuit law, this approach provides a means to engineer desired formations in a 3-dimensional setting.


page 1

page 2

page 3

page 4


A Predictive Deep Learning Approach to Output Regulation: The Case of Collaborative Pursuit Evasion

In this paper, we consider the problem of controlling an underactuated s...

Achieving safe minimum circle circumnavigation around multiple targets: a dynamic compensation approach

Minimum circle circumnavigation is proposed in this paper, which is of s...

Broadcast Guidance of Agents in Deviated Linear Cyclic Pursuit

In this report we show the emergent behavior of a group of agents, order...

Guidance of Agents in Cyclic Pursuit

This report studies the emergent behavior of systems of agents performin...

Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits

We propose a novel scheme for surveillance of a dynamic ground convoy mo...

A Sensory Feedback Control Law for Octopus Arm Movements

The main contribution of this paper is a novel sensory feedback control ...

The Pursuit and Evasion of Drones Attacking an Automated Turret

This paper investigates the pursuit-evasion problem of a defensive gun t...