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This paper presents distributed formation control of a multi-agent system to encircle a maneuvering target using Lyapunov and graph theories with emphasis on consensus and cooperation. The proposed approach embeds a consensus algorithm into a robust controller to capture a target whose information is partially known. To address this issue, a cooperative strategy in conjunction with a controller is...
Cooperative missions for Miniature Air Vehicles (MAVs) require accurate position, velocity, and attitude estimates for all MAVs within the group for its successful completion. This paper details a cooperative methodology for MAV navigation in times of Global Positioning System (GPS) outages or in GPS denied areas. In this method, each MAV estimates position, attitude, and velocity of all MAVs in its...
In this paper problem of collision avoidance in group of UAVs is addressed. Algorithms for two types of collision avoidance: Group-wise and Individual are successfully developed in the three-dimensional plane using various basic swarming behaviors. Limit on both horizontal and vertical acceleration is applied to cater the hardware constraints of UAV. Effect of these basic laws has also been studied...
This paper presents the results of the experimental evaluation of three radio frequency (RF) modems for use as communication infrastructure among multiple surfaced cooperating autonomous undersea vehicles (AUVs), gateway buoys, and land or ship based operators. RF modems are inherently more complex than their wired counterparts which makes it difficult to estimate the performance they deliver to an...
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