Abstract
Inspired by the wolf-raven cooperative hunting in nature, this paper studies a problem of ground-aerial vehicle co-operation for tracking a moving ground object. In the considered problem, a group of ground vehicles is guided by an aerial vehicle to finally trace and catch the moving ground object. To achieve that, a distributed PI controller design is proposed and proved to be effective against a certain class of disturbances in the inter-vehicle and vehicle-object sensing. Simulations are carried out to demonstrate the effectiveness of the proposed control design.
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