Perimeter tracking by multiple UAVs based on a cyclic-pursuit algorithm

Balaji R. Sharma, Subramanian Ramakrishnan, Manish Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


This work is intended towards the development of an integrated controller for co- operative pursuit and perimeter tracking in a multi-UAV system around dynamic perimeters, for applications that include forest fires and oil spills, among others. The integrated controller proposed here consists of two orthogonal components, a radial component that acts on each agent facilitating perimeter tracking, and a tangential component acting along the curve that defines the interaction of each agent with its immediate neighboring agent further along the curve, facilitating cyclic pursuit along the closed perimeter. The control model assumes no prior knowledge of the curve, and perimeter tracking and cyclic pursuit implementations rely purely on local, instantaneous observations of the perimeter within each agent's field of view. It is demonstrated through numerical simulations that the integrated controller is stable and allows for consistent perimeter tracking while ensuring uniform agent separations around the perimeter and uniform agent velocities.

Original languageEnglish (US)
Title of host publicationAIAA Infotech at Aerospace (I at A) Conference
StatePublished - Sep 16 2013
EventAIAA Infotech at Aerospace (I at A) Conference - Boston, MA, United States
Duration: Aug 19 2013Aug 22 2013


OtherAIAA Infotech at Aerospace (I at A) Conference
Country/TerritoryUnited States
CityBoston, MA


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