Multi-agent system for target tracking on a sphere and its asymptotic behavior

DOI10.1016/J.CNSNS.2022.106967MaRDI QIDQ2108720zbMATH OpenOpenAlexFDO

Authors Sun-Ho Choi, Dohyun Kwon, Hyowon Seo

Publication date 20 December 2022

Published in Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2107.04161

zbMATH Keywords

rendezvousreference frame decompositionregularized operatortarget tracking on sphere

Mathematics Subject Classification ID

Linearizations (93B18) Multi-agent systems (93A16)

Abstract: We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose an appropriate regularized rotation operator instead of Rodrigues' rotation operator to derive the velocity alignment operator for target tracking. By the regularized rotation operator, we can decompose the phase of agents into translational and structural parts. By analyzing the translational part of this reference frame decomposition, we can obtain rendezvous results to the given target. If the multi-agent system can obtain the target's position, velocity, and acceleration vectors, then the complete rendezvous occurs. Even in the absence of the target's acceleration information, if the coefficients are sufficiently large enough, then the practical rendezvous occurs.

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Cites work

• Circumnavigation Using Distance Measurements Under Slow Drift
• Cooperative oscillatory behavior of mutually coupled dynamical systems
• Emergent behaviors of a holonomic particle system on a sphere
• Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
• Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements
• Non-Abelian Kuramoto models and synchronization
• Nonlinear filtering in target tracking using cooperative mobile sensors
• Ordinary differential equations and dynamical systems
• Practical quantum synchronization for the Schrödinger-Lohe system

Cited in

(1)

• Rendezvous analysis and control design for multiple mobile agents with preserved network connectivity on hyperboloid

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