Cooperative receding horizon control for multi-target interception in uncertain environments

In this paper, the problem of cooperative dynamic vehicle routing for tracking a set of moving objects with unknown trajectories and dynamics is investigated. The notion of “meeting a target” is defined to describe the tasks and a cooperative receding horizon controller is designed to address the problem. The design is based on the prediction of the future positions of targets with limited information, and a reward allocation strategy for accomplishing the defined tasks. A target tracking scenario is considered, where a sequence of targets arrive in the mission space. It is shown that the number of targets which are not met by any vehicle will remain sufficiently small in time, if the arrival of the targets is sufficiently sufficiently infrequent.