We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the …
In the ring formation control problem, the follower is designated to approach a ring defined relative to the leader. This type of formation gives the follower more flexibility as it trails the leader. To achieve such formation, the follower’s …
A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the 3-D space. This problem highlights the strong correlation between the highly dynamic scenario, the uncertainty on …
Here we consider the problem of path planning for a hybrid fuel Unmanned Aerial Vehicle (UAV), equipped with both a battery and gasoline generator as two sources of energy. Routing the vehicle while considering this setup adds fuel constraints in …
This paper focuses on optimizing the 3D flight trajectory of a fixed-wing follower aircraft in a leader-follower formation scenario. Instead of a rigid formation, the desired formation is defined as set of points configured as a ring located behind …
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 …
This paper considers a three agent scenario consisting of a pursuer, evader, and a defender. The pursuer’s objective is to capture the non-maneuvering evader in minimum time while a defender aims at maximize contact with the pursuer by keeping the …
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 …