Coordinated Vision-Based Tracking by Multiple Unmanned Vehicles

Round 1

Reviewer 1 Report

The paper discusses a control strategy for tracking a single moving target based on visual measurements using multiple UAVs. The results derive the corresponding control laws and theoretical bounds on the performance. The paper is well written and should be accepted for publications. 

I have only a few minor comments that authors should address in the final manuscript. Specifically:

- Please comment on the performance of the algorithm in the presence of the LOS measurement errors.

- Please comment on the  minimum value of T in assumption 6. I guess this should be related to the target velocity in some way.

- in Sec. 2.1 I would suggest to summarize all the parameters in a table to ease reading of the paper. 

           

 

Author Response

Please, see attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

The paper describes the control scheme of multiple UxVs for the coordinated formation maneuver. Technically, the contributions of the paper is mainly focused on designing the control laws and evaluation. Asiding from the correctness of the proposed control laws for formation manuever, the reviewer would like to recommend the authors to revise the paper for clarity.  

Q1) The title of the paper includes "vision-based" tracking, however, the reviewer can not find any material regarding the vision-related things in the manuscript. Should the title be changed?

Q2) Page 2, Fig.1: The symbol G_i is not defined anywhere.

Q3) Page4, Fig.2: The symbol \vec{\lamda}_g(t) is not drawn.

Q4) Page 5, Lines 112-114. The sentence is not clear. Please revise. The reviewer wonders that if \lambda_d =0, the phase difference between UxVs is guaranteed?

Q5) Page 5, Line 123. The authors are suggested to explicitly mention that how they define the neighboring set G_i (t)

Q6) Page 7, Eq.(8). What will happen when \eta_i(t)={\pi} over {2}?

Q7) Page 9, Lines 167-168. There is a symbol \t_d that is not defined anywhere.

Q8) Page 10, Fig.4. It seems that the formation control works properly, nonetheless, how about the collision between the agents? Do the authors consider the collision avoidance?

Author Response

Please, see attachment.

Author Response File: Author Response.pdf