Kushal Pratap Singh

Kushal Pratap Singh, Twinkle Tripathy

In this paper, we present a class of bearing based distributive nonlinear guidance laws for the cooperative circumnavigation of a stationary target by a heterogeneous team of asymmetric Dubins vehicles. In such a vehicle, the maximal left and right turn capabilities are non uniform. In the given framework, the location of the target is known only to a small subset of the vehicles, called the leaders. The uninformed vehicles, called the followers, use information from their out neighbours in the communication graph, constructed using the nearest neighbour rule. A class of guidance laws is formulated that relies solely on the heading angle and line of sight angles of a designated out neighbour of the vehicle in the graph. Using Zubov theorem, we prove that the proposed guidance laws achieve global asymptotic stability under angular speed only control and ensure the convergence of the trajectories of all the Dubins vehicles to a common centre. The proposed results are validated through numerical simulations.

Kushal Pratap Singh, Manvi Bengani, Darshit Mittal et al.

In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we control only the angular speeds. Assuming limited sensing capabilities of the agents, only a subset of agents, termed as \textit{leaders}, know the target location. The rest, termed as \textit{followers}, do not. We propose a distributed guidance law which drives all the agents towards the desired objective; global asymptotic stability (GAS) is ensured by using Zubov's theorem. The efficacy of the approach is demonstrated through both numerical simulations and hardware experiments.

Kushal Pratap Singh, Twinkle Tripathy, Anoop Jain

In this paper, we study distributed circumnavigation of a stationary target by a heterogeneous team of agents. Each agent is modelled as a disk rather than a point mass to account for its physical dimensions. The target location is assumed to be accessible only to a small subset of agents, called leaders. The rest, called followers, therefore use only local information available from their designated out-neighbour in the interaction graph characterised by the selection of nearest neighbours. By controlling only angular speeds, we develop a distributed guidance law to circumnavigate a stationary target. The proposed guidance law works for both static and time-varying interaction graphs. Inter-agent collision avoidance is enforced through a logarithmic Barrier Lyapunov (BLF) Function, which guarantees forward invariance of the collision-free set. We show that every follower converges to circumnavigation about the same target as the leader at the end of its directed path in the interaction graph, provided the initial conditions are admissible. Numerical simulations illustrate the effectiveness of the proposed method for both static and time-varying topologies.