论文标题
针对无人机网络的基于高斯流程的分布式合作视觉追求控制
Distributed Gaussian Process Based Cooperative Visual Pursuit Control for Drone Networks
论文作者
论文摘要
在本文中，我们为配备摄像头的无人机网络提出了一项控制法，以根据分布式高斯工艺以未知运动为目标刚体。首先，我们考虑每个无人机都有自己的数据集的情况，并以分布式方式学习了未知目标运动。其次，我们使用分布式高斯过程提出了控制法，并表明估计和控制误差最终是有限的。此外，通过使用实际无人机的模拟和实验来验证提出方法的有效性。
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.
