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

DOI10.1016/J.CNSNS.2022.106967zbMATH Open1505.93012arXiv2107.04161OpenAlexW4307400413MaRDI QIDQ2108720FDOQ2108720

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)

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.

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

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zbMATH Keywords

rendezvousreference frame decompositionregularized operatortarget tracking on sphere

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (1)

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

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