Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints
arXiv:2201.01336 · doi:10.1002/adc2.103
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.
arXiv comment20 pages, 11 figures, submitted to "Advanced Control for Applications" on Sep 2021, first round review version resubmitted on Feb 2022
References in corpus (4)
- Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
- Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems
- Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
- Distributed Strategies for Dynamic Coverage with Limited Sensing Capabilities