Cooperative target fencing for a general target with connectivity preservation
Refereed conference paper presented and published in conference proceedings

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AbstractIn this paper, we study the cooperative target-fencing problem for an n-dimensional target with a general trajectory. The goal is to fence the given target into the convex hull formed by a group of n-dimensional vehicles which are modeled by double-integrator systems. We propose a control law to accomplish this task while avoiding collisions among the vehicles and preserving the connectivity of the communication network. In particular, our approach can handle a target whose position trajectory is any twice continuously differentiable function. Moreover, our result does not rely on the velocity measurements of the vehicles. Thus, it is more practical compared with the existing approaches in the literature. The effectiveness of the proposed method is illustrated by a numerical example.
All Author(s) ListZ. Pan, B. M. Chen
Name of Conference22nd IFAC World Congress
Start Date of Conference09/07/2023
End Date of Conference14/07/2023
Place of ConferenceYokohama
Country/Region of ConferenceJapan
Proceedings Title22nd IFAC World Congress
Place of PublicationYokohama
Pages2919 - 2924
LanguagesEnglish-United States
KeywordsConnectivity preservation; Coordination of multiple vehicle systems; Multi-agent systems; Target fencing; Networked systems

Last updated on 2023-04-08 at 09:32