Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866909484008341504 |
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| author | Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua |
| author_facet | Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua |
| contents | This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. Considering the extreme environment, such as GPS denial, weight limit, and lack of ground guidance, two agents can only rely on their onboard single-modality perception tools to measure the distances to the target. The distance measurement allows for creating a position estimator by providing a target position-dependent variable. Furthermore, the construction of the unique distributed anti-synchronization controller (DASC) can guarantee that the two agents track and encircle the target swiftly. The convergence of the estimator and controller is rigorously evaluated using the Lyapunov technique. A real-world UAV-based experiment is conducted to illustrate the performance of the proposed methodology in addition to a simulated Matlab numerical sample. Our video demonstration can be found in the URL https://youtu.be/JXu1gib99yQ. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_05440 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua Robotics This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. Considering the extreme environment, such as GPS denial, weight limit, and lack of ground guidance, two agents can only rely on their onboard single-modality perception tools to measure the distances to the target. The distance measurement allows for creating a position estimator by providing a target position-dependent variable. Furthermore, the construction of the unique distributed anti-synchronization controller (DASC) can guarantee that the two agents track and encircle the target swiftly. The convergence of the estimator and controller is rigorously evaluated using the Lyapunov technique. A real-world UAV-based experiment is conducted to illustrate the performance of the proposed methodology in addition to a simulated Matlab numerical sample. Our video demonstration can be found in the URL https://youtu.be/JXu1gib99yQ. |
| title | Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement |
| topic | Robotics |
| url | https://arxiv.org/abs/2502.05440 |