Distributed Gaussian Process Based Cooperative Visual Pursuit Control for Drone Networks
In this paper, we propose a control law for camera-equipped drone networks to pursue a target rigid body with unknown motion based on distributed Gaussian process. First, we consider the situation where each drone has its own dataset, and learned the unknown target motion in a distributed manner. Second, we propose a control law using the distributed Gaussian processes, and show that the estimation and control errors are ultimately bounded. Furthermore, the effectiveness of the proposed method is verified by using simulations and experiments with actual drones.
Code (0)
등록된 구현이 없습니다.
Tasks
Gaussian ProcessesSimilar Papers 제목 키워드 기반
Toward multi-target self-organizing pursuit in a partially observable Markov game
The multiple-target self-organizing pursuit (SOP) problem has wide applications and has been considered a challenging self-organization game for distributed systems, in which intelligent agents cooperatively pursue multi…
Decision MakingDeep Reinforcement LearningMulti-Agent Path FindingMulti-agent Reinforcement LearningMulti-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning
It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hyb…
Deep Reinforcement Learningreinforcement-learningReinforcement LearningReinforcement Learning (RL)Visual Pursuit Control based on Gaussian Processes with Switched Motion Trajectories
This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motio…
3D Pose Estimationdrone-based object trackingGaussian ProcessesMotion Estimation+1A distributed motion planning approach to cooperative underwater acoustic source tracking and pursuit
This paper addresses the problem of underwater acoustic source tracking and pursuit with a team of autonomous underwater vehicles. Producing distributed control strategies in an underwater sensor network is not trivial s…
Motion PlanningAutonomous Decision Making for UAV Cooperative Pursuit-Evasion Game with Reinforcement Learning
The application of intelligent decision-making in unmanned aerial vehicle (UAV) is increasing, and with the development of UAV 1v1 pursuit-evasion game, multi-UAV cooperative game has emerged as a new challenge. This pap…
Decision MakingDeep Reinforcement Learningreinforcement-learningReinforcement Learning