In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First, the …
In this paper, we consider a trajectory planning problem where an autonomous vehicle aims to rendezvous with another cooperating vehicle in minimum time. The first vehicle has kinematic constraints, consequently feasible trajectories must have a …
Conventional leader-follower formations restrict the follower to a single desired position relative to the leader. To give the follower more flexibility in motion and to replicate typical human pilot operations, in this paper we propose a control …
Most conventional formation control algorithms consider convergence towards a specific desired point (or a specific desired displacement) for each vehicle relative to their neighbors. However, this specification restricts the flexibility in the …
A three-agent scenario is considered in 3-D Cartesian space, where a Pursuer aims at intercepting an Evader while the Evader aims to out-maneuver the Pursuer. A Defender working in cooperation with the Evader aims at intercepting the Pursuer before …
We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles need to arrive at a given final location simultaneously. We aim to find the paths using a simplex framework that …
In this paper, the interception of a target vehicle is presented utilizing a Bézier path. Utilizing the Bézier path, the controlled vehicle is navigated from an initial point and velocity vector to a desired target waypoint and velocity vector. To …
This paper considers a two agent scenario containing an observer and a non-maneuvering target. The observer is maneuverable but is slower than the course-holding target. In this scenario, the observer is endowed with a nonzero radius of observation …
Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In pursuit-evasion problems, synthesis of intelligent actions must consider the adversary's potential strategies. Differential game theory provides an adequate framework to analyze possible outcomes of the conflict without assuming particular behaviors by the opponent. This article presents an organized introduction of pursuit-evasion differential games with an overview of recent advances in the area.
The goal of optimal control is to obtain an admissible function which minimizes an objective functional subject to specified constraints and boundary conditions. Four popular methods of computing the optimal control directly are the Single Shooting …