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Under discrete mechanics, a real-time optimal control method is developed based on Lie group variational integrator. First, the Hamilton-Pontryagin principle is promoted as a variational principle called the d' Alembert-Pontryagin principle by introducing virtual displacement and virtual work, that would be applied to the mechanical system with nonconservative force and control. The left-trivialized...
To the problem of cooperative ground moving target tracking using UAVs in an urban area, a novel method is presented, which based on target state fusion estimation and prediction, as well as on-line trajectory planning. Firstly, based on active sensing, a solving framework was presented, the formal representation and system model of cooperative target tracking using a team UAVs was established; secondly,...
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