- Title
- Distributed circumnavigation by unicycles with cyclic repelling strategies
- Creator
- Zheng, Ronghao; Lin, Zhiyun; Fu, Minyue; Sun, Dong
- Relation
- 2013 9th Asian Control Conference (ASCC). Proceedings of the 2013 9th Asian Control Conference (Istanbul, Turkey 23-26 June, 2013)
- Publisher Link
- http://dx.doi.org/10.1109/ASCC.2013.6606124
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2013
- Description
- The distributed circumnavigation problem, in which the task is to circumnavigate a target of interest by a network of autonomous agents, has many applications in security and surveillance, orbit maintenance, source seeking, etc. This paper deals with the circumnavigation problem using a team of non-holonomic unicycles. A novel distributed solution is proposed based on cyclic repelling strategies to achieve a circular motion around a target in a circular formation. This new approach considers minimum number of information flow links and local measurements only, yet a uniform distribution of unicycles rotated around the target is accomplished. The asymptotic collective behavior is analyzed based on the block diagonalization of circulant matrices by a Fourier transform. Simulation results also verify the validity of the proposed control algorithm.
- Subject
- multi-robot systems; Fourier transforms; matrix algebra; mobile robots
- Identifier
- http://hdl.handle.net/1959.13/1337527
- Identifier
- uon:27860
- Identifier
- ISBN:9781467357692
- Language
- eng
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