Constrained control for uncertain linear systems
Journal of Optimization Theory and Applications
Differential Inclusions: Set-Valued Maps and Viability Theory
Differential Inclusions: Set-Valued Maps and Viability Theory
Gap Metrics, Representations, and Nonlinear Robust Stability
SIAM Journal on Control and Optimization
Visibility-based Pursuit-evasion with Limited Field of View
International Journal of Robotics Research
The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Maintaining Limited-Range Connectivity Among Second-Order Agents
SIAM Journal on Control and Optimization
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
Randomized pursuit-evasion in a polygonal environment
IEEE Transactions on Robotics
Potential Fields for Maintaining Connectivity of Mobile Networks
IEEE Transactions on Robotics
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
Viability control for a class of underactuated systems
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as a linear uncertain system, with the leader robot acting as an external disturbance. The VMP is then reformulated as a linear constrained regulation problem with additive disturbances (DLCRP). Positive D-invariance conditions for linear uncertain systems with parametric disturbance matrix are introduced and used to solve the VMP when box bounds on the state, control input and disturbance are considered. The proposed design procedure can be easily adapted to more general scenarios. Simulation results illustrate the theory and show the effectiveness of our approach.