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      Beacon-referenced pursuit for collective motions in three dimensions

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          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 to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits circling equilibria with agents moving on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacons. As the common radius and distances from the beacon are determined by the choice of parameters in the pursuit law, this approach provides a means to engineer desired formations in a three-dimensional setting.

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          Author and article information

          Journal
          Proc Math Phys Eng Sci
          Proc. Math. Phys. Eng. Sci
          RSPA
          royprsa
          Proceedings. Mathematical, Physical, and Engineering Sciences
          The Royal Society Publishing
          1364-5021
          1471-2946
          February 2020
          12 February 2020
          : 476
          : 2234
          : 20190585
          Affiliations
          [1 ] Department of Electrical and Computer Engineering, US Naval Academy , Annapolis, MD 21402, USA
          [2 ] Siemens Corporation, Corporate Technology , Princeton, NJ 08540, USA
          Author notes
          [†]

          The work was conceptualized during B. Dey’s previous appointment at the Department of Mechanical and Aerospace Engineering at Princeton University, Princeton, NJ 08540, USA.

          Electronic supplementary material is available online at https://doi.org/10.6084/m9.figshare.c.4852971.

          Author information
          http://orcid.org/0000-0001-5604-6815
          Article
          PMC7069485 PMC7069485 7069485 rspa20190585
          10.1098/rspa.2019.0585
          7069485
          32201477
          790edc41-ff39-4903-bae8-9893db35fc69
          © 2020 The Author(s)

          Published by the Royal Society. All rights reserved.

          History
          : 7 September 2019
          : 8 January 2020
          Funding
          Funded by: U.S. Naval Research Laboratory, http://dx.doi.org/10.13039/100009917;
          Award ID: NRL-USNA Cooperative Program for Scientific Exchan
          Categories
          1003
          164
          1008
          6
          59
          Research Article
          Custom metadata
          February, 2020

          pursuit strategy,bearing-only tracking,cooperative control,autonomous mobile robots

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