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Target Capturability Using Agents in Cyclic Pursuit

Mukherjee, Dwaipayan and Ghose, Debasish (2016) Target Capturability Using Agents in Cyclic Pursuit. In: JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 39 (5). pp. 1034-1045.

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Official URL: http://dx.doi.org/10.2514/1.G001495

Abstract

In the literature, several variants of the conventional cyclic pursuit law have been discussed. In this paper, one such variant, a modified heterogeneous cyclic pursuit scheme, has been proposed to capture a moving target. As a special case, when the target is stationary, the problem of capturing the target becomes the same as the rendezvous problem. The control laws proposed here ensure that such fixed targets (points) can always be collectively captured ( reached) and a maneuvering target can be captured, provided that the agents can rendezvous at its initial position. Agents with double-integrator dynamics have also been considered, and a suitable cyclic pursuit law has been proposed to ensure global reachability and target capturability for bounded target maneuver. The theoretical findings are backed by simulation results.

Item Type: Journal Article
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Additional Information: Copy right for this article belongs to the AMER INST AERONAUTICS ASTRONAUTICS, 1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091-4344 USA
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 11 Jun 2016 05:08
Last Modified: 11 Jun 2016 05:08
URI: http://eprints.iisc.ernet.in/id/eprint/53885

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