Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866929690205224960 |
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| author | Fabris, Marco Zelazo, Daniel |
| author_facet | Fabris, Marco Zelazo, Daniel |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2201_01336 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints Fabris, Marco Zelazo, Daniel Systems and Control 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. |
| title | Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2201.01336 |