Cooperative Simultaneous Arrival of Unmanned Vehicles onto a Moving Target in GPS-Denied Environment

In this paper, we address the problem of synchronized convergence of multiple Unmanned Vehicles (UVs) onto a single moving and maneuvering target in a GPS-denied environment with each agent having fractionated information and sensing constraints. The UVs (or agents) are considered to be distributed over a topographical region with limited sensing range and field-of-view (FOV) as compared to the expanse of the region under consideration. These constraints are addressed using cooperative localization technique augmented with Proportional Navigation (PN) guidance law. Using nonlinear observability analysis, it is shown that the combined algorithm proposed in this paper keeps the states of target and UVs observable as long as the observability criteria are not violated. Further, simulations are performed to show that the theory is consistent and is able to perform simultaneous convergence.

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