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Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets. / Matveev, A.; Semakova, A.; Savkin, A.

2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. 2015. p. None.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research

Harvard

Matveev, A, Semakova, A & Savkin, A 2015, Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets. in 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. pp. None, 10th Asian Control Conference, Kota Kinabalu, Malaysia, 31/05/15. https://doi.org/10.1109/ASCC.2015.7244426

APA

Matveev, A., Semakova, A., & Savkin, A. (2015). Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 (pp. None) https://doi.org/10.1109/ASCC.2015.7244426

Vancouver

Matveev A, Semakova A, Savkin A. Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. 2015. p. None https://doi.org/10.1109/ASCC.2015.7244426

Author

Matveev, A. ; Semakova, A. ; Savkin, A. / Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. 2015. pp. None

BibTeX

@inproceedings{e478b8916df648898ff8ad941f4ba728,
title = "Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets",
abstract = "{\textcopyright} 2015 IEEE.A planar Dubins-car like robot is controlled by upper limited angular velocity. There is a team of irregularly moving targets in the plane. The robot measures only the relative distances to the targets and cannot distinguish among them. A sliding mode control law is proposed that drives the root mean squared distance to a target to a pre-specified value; the mean is taken over all targets. This law is justified by a non-local convergence result: it is proved that the law ensures perfectly circumnavigating the targets at exactly the required mean distance. The convergence and performance of the control law are confirmed by computer simulations.",
author = "A. Matveev and A. Semakova and A. Savkin",
year = "2015",
doi = "10.1109/ASCC.2015.7244426",
language = "English",
isbn = "9781479978625",
pages = "None",
booktitle = "2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015",
note = "10th Asian Control Conference, ASCC 2015 ; Conference date: 31-05-2015 Through 03-06-2015",

}

RIS

TY - GEN

T1 - Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets

AU - Matveev, A.

AU - Semakova, A.

AU - Savkin, A.

PY - 2015

Y1 - 2015

N2 - © 2015 IEEE.A planar Dubins-car like robot is controlled by upper limited angular velocity. There is a team of irregularly moving targets in the plane. The robot measures only the relative distances to the targets and cannot distinguish among them. A sliding mode control law is proposed that drives the root mean squared distance to a target to a pre-specified value; the mean is taken over all targets. This law is justified by a non-local convergence result: it is proved that the law ensures perfectly circumnavigating the targets at exactly the required mean distance. The convergence and performance of the control law are confirmed by computer simulations.

AB - © 2015 IEEE.A planar Dubins-car like robot is controlled by upper limited angular velocity. There is a team of irregularly moving targets in the plane. The robot measures only the relative distances to the targets and cannot distinguish among them. A sliding mode control law is proposed that drives the root mean squared distance to a target to a pre-specified value; the mean is taken over all targets. This law is justified by a non-local convergence result: it is proved that the law ensures perfectly circumnavigating the targets at exactly the required mean distance. The convergence and performance of the control law are confirmed by computer simulations.

U2 - 10.1109/ASCC.2015.7244426

DO - 10.1109/ASCC.2015.7244426

M3 - Conference contribution

SN - 9781479978625

SP - None

BT - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

T2 - 10th Asian Control Conference

Y2 - 31 May 2015 through 3 June 2015

ER -

ID: 4008656