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Distributed Autonomous Robotic Systems pp 17–30Cite as

Nonlinear Cyclic Pursuit Based Cooperative Target Monitoring

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 104))

Abstract

This paper presents a nonlinear cyclic pursuit based target monitoring strategy for a group of autonomous vehicles. The vehicles are modeled as unicycles and are assumed to be heterogeneous. Each vehicle follows its next neighbor as well as the target. Detailed analysis is done for a stationary target and the effectiveness of the proposed strategy with a moving target is shown in simulation. At equilibrium the vehicles capture the target and move along concentric circles in a rigid polygonal formation around the target with equal angular speeds. A necessary condition for the existence of equilibrium formation is derived. Local stability analysis is carried out for homogeneous agents. Simulation results illustrate the objective of the proposed method and demonstrates the derived results.

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Author information

Authors and Affiliations

  1. Systems and Control Engineering, Indian Institute of Technology, Bombay, India

    Sangeeta Daingade & Arpita Sinha

Authors
  1. Sangeeta Daingade
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  2. Arpita Sinha
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Corresponding author

Correspondence to Sangeeta Daingade .

Editor information

Editors and Affiliations

  1. Mechanical Engineering and Mechanics, Drexel University, Philadelphia, USA

    M. Ani Hsieh

  2. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, USA

    Gregory Chirikjian

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Daingade, S., Sinha, A. (2014). Nonlinear Cyclic Pursuit Based Cooperative Target Monitoring. In: Ani Hsieh, M., Chirikjian, G. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-55146-8_2

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  • DOI: https://doi.org/10.1007/978-3-642-55146-8_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-55145-1

  • Online ISBN: 978-3-642-55146-8

  • eBook Packages: EngineeringEngineering (R0)

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