Beacon-referenced pursuit for collective motions in three dimensions.

ABSTRACT: Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents manoeuvring in the vicinity of multiple moving entities (e.g. other autonomous agents) and stationary entities (e.g. fixed beacons or points of reference) 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 behaviour 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

SUBMITTER: Galloway KS 

PROVIDER: S-EPMC7069485 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature