On a Cooperative Pursuit Strategy

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Vijay Gupta, Cedric Langbort, Richard M. Murray
Submitted, 2006 American Control Conference

We study a simple pursuit scenario in which the pursuer has potential access to an additional off-board global sensor. However, the global sensor can be used for either of two purposes: to improve the state estimate of the pursuer, or to obtain more data about the trajectory being tracked. The problem is to determine the variation in the performance of the system as the global sensor changes its behavior. We use a stochastic strategy to optimize over the transmission pattern of the global sensor.