Grid-free search and exploration using modified cyclic pursuit

Mukherjee, D and Ghose, D (2017) Grid-free search and exploration using modified cyclic pursuit. In: AIAA Guidance, Navigation, and Control Conference, 2017, 9 - 13 January 2017, Grapevine, p. 12.

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Abstract

In this paper the idea of heterogeneous cyclic pursuit has been used for coverage of a given area. In existing literature such missions are mostly accomplished by decomposing the search space into cells and then using agents to visit these cells, which is a costly and memory intensive process. The present paper does not rely on such cellular grids to explore an unknown area. By using a novel convergentdivergent heterogeneous cyclic pursuit scheme, it has been shown that a given area can be completely covered. The choice of gains, for heterogeneous cyclic pursuit, and other parameters in the proposed algorithm can be made in a distributed fashion. The efficacy of the proposed algorithm is supported by simulations.

Item Type:	Conference Paper
Publication:	AIAA Guidance, Navigation, and Control Conference, 2017
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA.
Keywords:	Cyclic pursuit; Grid free; Search spaces, Control engineering
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	19 Jul 2022 04:29
Last Modified:	19 Jul 2022 04:29
URI:	https://eprints.iisc.ac.in/id/eprint/74796

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