Abstract
This paper presents a variant of the cyclic pursuit strategy that can be used for target tracking applications. Cyclic pursuit has been extensively used in multi-agent systems for a variety of applications. In order to monitor a target point or to track a slowly moving vehicle, we propose to use a group of non-holonomic vehicles. At equilibrium, the vehicles form a rigid polygonal around the target while encircling it. Necessary conditions for the existence of equilibrium and the stability of equilibrium formations are analysed considering unicycle model of the vehicles. The strategy is then applied to miniature aerial vehicles (MAV) represented by 6-DOF dynamical model. Finally the results are verified in a hardware in-loop simulator in real time, which included all on-board electronics of the MAVs.
Similar content being viewed by others
References
Bakolas, E., & Tsiotras, P (2011). On the relay pursuit of maneuvering target by a group of pursuers, proceedings of the IEEE conference on decision and control and European control conference pp. 4270–4275.
Barnett, S. (1983). Polynomials and linear control systems. New York: Marcel Dekker.
Beard, R., & McLain, T. (2012). Small unmanned aircraft: Theory and practice. Princeton: Princeton University Press.
Bruckstein, A., Cohen, N., & Efrat, A. (1991). Ants, crickets and frogs in cyclic pursuit, center for intelligence systems, Technical Report 9105, Technion-Israel Institute of Technology, Haifa.
Bruckstein, A. (1993). Why the ant trail look so straight and nice. The Mathematical Intelligencer, 15(02), 59–62.
Cao, Yongcan, Muse, J., Casbeer, D., & Kingston, D. (2013). Circumnavigation of an unknown target using UAVs with range and range rate measurements. Proceedings of the IEEE conference on decision and control pp. 3617–3622,
Cao, Y., Yu, W., Ren, W., & Chen, G. (2013). An overview of recent progress in the study of distributed multi-agent coordination. IEEE Transactions on Industrial Informatics, 09(01), 427–438.
Ceccarelli, N., Marco, M. D., Garulli, A., & Giannitrapani, A. (2008). Collective circular motion of multi-vehicle systems. Automatica, 44(12), 3025–3035.
Chen, Z., & Zhang, H. (2011). No-beacon collective circular motion of jointly connected multi-agents. Automatica, 47, 1929–1937.
Daingade, S., Borkar, A., Sinha, A., & Arya, H. (2014). Study of target centric cyclic pursuit for MAVs using hardware In loop simulator, proceedings of AIAA science and technology forum and exposition.
Daingari, S., & Sinha, A. (2012). Nonlinear cyclic pursuit based cooperative target monitoring. In International symposium on distributed autonomous robotic systems, Baltimore, MD, Nov 2012
Davis, P. J. (1994). Circulant matrices (2nd ed.). Chelsea: New York.
Galloway, K. S., Justh, E. W., & Krishnaprasad, P. S. (2010). Cyclic pursuit in three dimensions, proceedings of the decision and control conference, Atlanta, pp. 7141–7146.
Guo, J., Yan, G., & Lin, Z. (2010). Local control strategy for moving-target-enclosing under dynamically changing network topology. Systems & Control Letters, 59(10), 654–661.
Kim, Y., & Sugie, T. (2007). Cooperative control for target-capturing task based on a cyclic pursuit strategy. Automatica, 43(08), 1426–1431.
Kingston, D., & Beard, R. (2008). UAV Splay state configuration for moving targets in wind. Advances in coperative control and optimization, Lecture notes in computer science, pp. 109–128.
Klein, D. J., & Morgansen, K. A. (June 2006). Controlled collective motion for mulitvehicle trajectory tracking, proceedings of the American control conference, pp. 5269–5275.
Klein, D. J., Matlack, C., & Morgansen, K. A. (2007). Cooperative target tracking using oscillator models in three dimensions, proceedings of the American control conference, pp. 2569–2575.
Kobayashi, K., Otsubo, K., & Hosoe, S. (2006). Design of decentralized capturing behavior by multiple robots. IEEE workshop on distributed intelligent systems: Collective intelligence and its applications, pp. 463–468.
Kothari, Mangal, Sharma, Rajnikant, Postlethwaite, Ian, Beard, Randal W., & Pack, Daniel. (2013). Cooperative target capturing with incomplete target information. Journal of Intelligent and Robotic Systems, 72(3–4), 373–384.
Krishnan, D., Borkar, A., & Arya, H. (2012). 2012–2419: An elegant hardware in loop simulator for cooperative missions of MAVs. In Infotech@Aerospace 2012.
Lan, Y., Yan, G., & Lin, Z. (2009). A hybrid control approach to coperative target tracking with multiple mobile robots, Proceedings of the American control conference, pp. 2624–2629.
Lan, Y., Yan, G., & Lin, Z. (2010). Distributed control of cooperative target enclosing based on reachability and invariance analysis. Systems & Control Letters, 59(07), 381–389.
Ma, L., & Hovakimyan, N. (2011). Vision-based cyclic pursuit for cooperative target tracking, proceedings of the American control conference, pp. 4616–4621.
Ma, L., & Hovakimyan, N. (2013). Cooperative target tracking in balanced circular formation: Multiple UAVs tracking a ground vehicle, proceedings of the American control conference, pp. 5386–5391.
Marshall, J. A., Broucke, M. E., & Francis, B. A. (2004). Formations of vehicles in cyclic pursuit. IEEE Transaction on Automatic Control, 49(11), 1963–1974.
Moshtagh, N., Michael, N., Jadbabaie, A., & Daniilidis, K. (2009). Vision-based, distributed control laws for motion coordination of nonholonomic robots. IEEE Transactions on Robotics, 25(04), 851–860.
Napora, S., & Paley, D. (2013). Observer-based feedback control for stabilization of collective motion. IEEE Transactions on Control Systems Technology, 21(05), 1846–1857.
Olfati-Sabar, R., & Sandell, N. F. (2008). Distributed tracking in sensor networks with limited sensing range, Proceedings of the American control conference, pp. 3157–3162.
Paley, D., Leonard, N., & Sepulchre, R. (December 2004). Collective motion: bistability and trajectory tracking, proceedings of the 43rd IEEE conference on decision and control, pp. 1932–1937.
Pavone, M., & Frazzoli, E. (2007). Decentralized policies for geometric pattern formation and path coverage. ASME Journal on Dynamic Systems, Measurement, and Control, 129(05), 633–643.
Petitti, A., Paola, D., Rizzo, A., & Cicirelli, G. (2011). Consensus-based distributed estimation for target tracking in heterogeneous networks, proceedings of the IEEE conference on decision and control and European control conference, pp. 6648–6653.
Ramirez, J. (2010). New decentralized algorithms for spacecraft formation control based on a cyclic approach, Ph.D. dissertation, Massachusetts Institute of Technology, Boston.
Rattan, G., & Ghosh, D. (2009). Nonlinear cyclic pursuit strategies for MAV swarms. Technical report, DRDO-IISc programme on advanced research in mathematical engineering (pp. 1–32).
Remirez-Riberos, M. P. J., Frazzoli, E., & Miller, D. (2010). Distributed control of spacecraft formations via cyclic pursuit: theory and experiments. Journal of Guidance, Control, and Dynamics, 5, 1655–1669.
Sinha, A., & Ghosh, D. (2006). Control of agent swarms using generalized centroidal cyclic pursuit laws, proceedings of twentieth international joint conference on artificial intelligence (IJCAI), Hyderabad, pp. 1525–1530.
Sinha, A., & Ghosh, D. (2006). Generalization of linear cyclic pursuit with application to rendezvous of multiple autonomous agents. IEEE Transactions on Automatic Control, 51(11), 1818–1824.
Sinha, A., & Ghosh, D. (2007). Generalization of nonlinear cyclic pursuit. Automatica, 43(11), 1954–1960.
Acknowledgments
Hardware-Loop-Simulation work was supported by NPMICAV project “Hardware in loop simulation (HILS) for collaborative missions”.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Daingade, S., Sinha, A., Borkar, A.V. et al. A variant of cyclic pursuit for target tracking applications: theory and implementation. Auton Robot 40, 669–686 (2016). https://doi.org/10.1007/s10514-015-9487-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10514-015-9487-3