Perception-latency aware distributed target tracking
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866909082224427008 |
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| author | Aldana-López, Rodrigo Aragüés, Rosario Sagüés, Carlos |
| author_facet | Aldana-López, Rodrigo Aragüés, Rosario Sagüés, Carlos |
| contents | This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation around the estimation of the target position. However, it is noted that due to the perception-latency, classical estimation techniques have smoothness issues which prevent asymptotic stability for the formation control. We propose a near-optimal smooth-output estimator which circumvents this issue. Moreover, local estimations are fused using novel dynamic consensus techniques. The advantages of the proposal as well as a comparison with a non-smooth optimal alternative are discussed through simulation examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_13602 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Perception-latency aware distributed target tracking Aldana-López, Rodrigo Aragüés, Rosario Sagüés, Carlos Systems and Control Optimization and Control This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation around the estimation of the target position. However, it is noted that due to the perception-latency, classical estimation techniques have smoothness issues which prevent asymptotic stability for the formation control. We propose a near-optimal smooth-output estimator which circumvents this issue. Moreover, local estimations are fused using novel dynamic consensus techniques. The advantages of the proposal as well as a comparison with a non-smooth optimal alternative are discussed through simulation examples. |
| title | Perception-latency aware distributed target tracking |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2401.13602 |