Cooperative Target Tracking using Oscillator Models in Three Dimensions

The work in this paper addresses the task of control design for coordinated autonomous vehicles operating in 3D. A group of N unit-speed individuals are modeled using natural frenet frames, in which each individual has a total of two inputs that act to steer the vehicle gyroscopically. Extending previous results for planar target tracking based on oscillator models, a velocity matching controller is first designed for each individual so that the collective centroid is asymptotically stabilized to a moving target vehicle. Simultaneously, an additive spacing control term induces helical motion in order to keep pursuer vehicles near the centroid. Simulation examples are presented to support analytical results.