Aerial Target Encirclement and Interception with Noisy Range Observations

2025-08-11

AI Summary

This paper addresses the cooperative encirclement and interception of a non-cooperative aerial point target under severely constrained sensing—specifically, noisy range-only measurements. Methodologically, it proposes a unified framework integrating observability enhancement and adaptive control: (i) a desynchronized 3D “vibrating string” trajectory is designed to ensure uniform observability for improved state estimation; (ii) an input-constrained adaptive switching controller enables smooth transitions between guarding and intercepting modes for defender UAVs; and (iii) robust state estimation is achieved via Kalman filtering, augmented with distributed coordination. Theoretical analysis proves exponential boundedness of estimation error and asymptotic convergence of encirclement error. Extensive simulations and real-world flight experiments demonstrate effectiveness and robustness under high measurement noise. The core contribution lies in the co-design of observability-driven trajectory planning and dynamic task-switching control, enabling reliable operation under minimal sensing.

Technology Category

• Intelligent Robots: State Estimation
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Reasoning under Uncertainty: Sequential Decision Making

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Security and Privacy: Large-scale security measurements
• User Modeling, Personalization and Recommendation: Attacks and countermeasures in recommendation systems

Abstract

This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the target by using an anti-synchronization (AS), 3D ``vibrating string" trajectory, which enables rapid position and velocity estimation based on the Kalman filter. Additionally, a novel anti-target controller is designed for the guardians to enable adaptive transitions from encircling a protected target to encircling, intercepting, and neutralizing a hostile target, taking into consideration the input constraints of the guardians. Based on the guaranteed uniform observability, the exponentially bounded stability of the state estimation error and the convergence of the encirclement error are rigorously analyzed. Simulation results and real-world UAV experiments are presented to further validate the effectiveness of the system design.

Problem

• Intercepting aerial targets using noisy range measurements
• Ensuring observability with 3D vibrating string trajectories
• Adaptive transition from encircling to intercepting hostile targets

Innovation

• Uses noisy range measurements for state estimation
• Implements 3D vibrating string trajectory for observability
• Designs anti-target controller for adaptive transitions