Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints

Abstract

This paper investigates the problem of communication relay establishment for multiple agent-based mobile units using a relay vehicle. The objective is to drive autonomously the relay vehicle to attain a position for communication relay establishment while maintaining the other vehicles inside of its field-of-view. A bearing-based control law is proposed for the relay drone and designed for both single and multiple agents. We also provide a collision avoidance scheme that ensures no collisions between the relay and other agents. Numerical simulations and experimental results are reported as well to show the efficacy of the proposed approach.

20 pages, 11 figures, submitted to "Advanced Control for Applications" on Sep 2021, first round review version resubmitted on Feb 2022

References in corpus (2)

• Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
• Distributed Strategies for Dynamic Coverage with Limited Sensing Capabilities

Cited by in corpus (2)

• Bearing-Constrained Leader-Follower Formation of Single-Integrators with Disturbance Rejection: Adaptive Variable-Structure Approaches
• VoI-aware Scheduling Schemes for Multi-Agent Formation Control