Multi-robot tracking of mobile target is studied in the paper, which is based on the communication and sensors. For an independent tracking robot, the processes are separated into three layers and four tasks, and allocated to different robots for distinct roles in tracking, which is named the Distributed Decision Control System (DDCS). After that, two tracking models, centralized and distribute...

The StarL programming framework aims to simplify development of distributed robotic applications by providing easy-to-use language constructs for communication and control. It has been used to develop applications such as formation control, distributed tracking, and collaborative search. In this paper, we present a complete redesign of the StarL language and its runtime system which enables us ...

The development of data fusion systems capable of incorporating soft humangenerated data into the fusion process is an emerging trend in the fusion community, motivated mainly by asymmetric warfare situations where the observational opportunities for traditional hard sensors are restricted. This paper describes an extension of our prototype soft/hard data fusion system, based on RFS theory, fro...

Under a repeatable operation environment, this paper proposes an iterative learning control scheme that can be applied to multi-agent systems to perform consensus tracking under the fixed communication topology. The agent dynamics are modeled by time-varying nonlinear equations which satisfy the global Lipschitz continuous condition. In addition, the desired consensus trajectory is only accessi...

We consider the agreement problem over random information networks. In a random network, the existence of an information channel between a pair of unit sat each time instance is probability and independent of other channels; hence, the topology of the network varies over time. In such a frame work, we address the asymptotic agreement for the networked units via notions from stochastic stability...

Purpose This paper aims to propose a multi-agent approach adaptive control of fixed-wing unmanned aerial vehicles (UAVs) tracking moving ground target. The implies that the UAVs in single group must maintain preset phase shift angles while rotating around target so as evaluate target’s movement more accurately. Thus, controls should ensure UAV swarm follows circular path whose center is also at...

In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and the same yet arbitrary system order. Suppose that the communications among the subsystems can be ...

This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are described in terms of integral quadratic constraints (IQCs). A consensus-type tracking control protocol is proposed for each system based on its state relative ...