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This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target...
In this paper we study the robustness of information architectures to control a formation of autonomous agents. If agents are expected to work in hazardous environments like battle-fields, the formations are prone to multiple agent/link loss. Due to the higher severity of agent loss than link loss, the main contribution of this paper is to propose information architectures for shape-controlled multi-agent...
The ability to localize a sensor network is important for its deployment. A theoretical result exists defining necessary and sufficient conditions for network unique localizability (for inter-sensor range-based localization); it has its roots in Graph Rigidity Theory where sensors and links/measurements are modelled as vertices and edges of a graph, respectively. However, critical missions do require...
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