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Self-triggered pursuit of a single evader

机译:自我追寻单个逃避者

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This paper studies a continuous-time pursuit-evasion problem involving a single pursuer and a single evader on a plane. In contrast to other works that study this problem, we are interested in developing a pursuit strategy that doesn't require continuous, or even periodic, information about the position of the evader. To this end, we propose a self-triggered control strategy such that the pursuer can autonomously decide, based on out-dated information, when new samples of the evader's position is required in order to satisfy desired performance metrics. Our proposed algorithm guarantees capture of the evader in finite time with a finite number of sporadic updates without sacrificing any performance in terms of guaranteed time to capture as compared to classic algorithms that assume continuous information is available at all times. Simulations illustrate our results.
机译:本文研究了一个连续追逐逃避问题,该问题涉及飞机上的一个追踪者和一个躲避者。与研究此问题的其他作品相比,我们感兴趣的是制定一种追踪策略,该策略不需要关于逃避者位置的连续甚至是周期性的信息。为此,我们提出了一种自触发控制策略,以便追随者可以根据过期信息自主决定何时需要新的逃避者位置样本,以满足所需的性能指标。与假定始终可获取连续信息的经典算法相比,我们提出的算法可确保在有限时间内捕获逃避者,并具有有限数量的零星更新,而不会牺牲任何性能,从而无法保证捕获时间。仿真说明了我们的结果。

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