Stable polygons of cyclic pursuit
Annals of Mathematics and Artificial Intelligence
Distributed Robotic Manipulation: Experiments in Minimalism
The 4th International Symposium on Experimental Robotics IV
The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case
SIAM Journal on Control and Optimization
Distributed control of spacecraft formation via cyclic pursuit: theory and experiments
ACC'09 Proceedings of the 2009 conference on American Control Conference
Distance-Optimal Navigation in an Unknown Environment Without Sensing Distances
IEEE Transactions on Robotics
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In this paper, we propose a control law to achieve a rendezvous of autonomous vehicles moving in three-dimensional (3D) space, using minimal data sensing and quantized control. A pre-assigned graph uniquely assigns the pursuer-target pair in a cyclic manner. A quantized control law has been proposed which allows the vehicle to pitch and yaw simultaneously in the required direction and track its target agent. The only measurement required for the proposed control law is the quadrant from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a domain for the field-of-view which guarantees rendezvous under the proposed control law. Computer simulations are presented to demonstrate the control law.