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We study a class of multi-agent tracking system, in which targets are caught by cooperative agents in a monitoring area. A certain domain is monitored by a large number of agents, who are capable of sensing and mobility. In reality, agents are not able to measure absolute position of a target but able to measure the distances. However, when designing the tracking controller, the absolute position information is required. Therefore, we adopt trilateration algorithm to get the absolute position of a target through at least three distances. This monitored domain is overlapped by at least three monitoring agents and some redundant agents and with the assistance of knowledge of Voronoi diagrams it is divided into many Voronoi cells. Then, a cooperative relay tracking strategy is proposed such that during the tracking process, when a target enters a new Voronoi cell, the Voronoi site agent replaces one of the original tracking agents. This means that not only the topology but also the tracking agents switch, which is significantly different from the traditional switching topologies. With the introduction of redundant agents, this domain can deal with the situation that several targets share the same route. Finally, the proposed tracking strategy is verified by a set of simulations. [ABSTRACT FROM AUTHOR]

The objective of this paper is to present a convex–concave optimization approach for solving the problem of a multistage launch vehicle ascent trajectory. The proposed method combines convex–concave decomposition and successive linearization techniques to generate a new sequence of convex subproblems to replace the original non-convex problem. Bernstein approximation is used to transform the chance constraints into convex ones. A h p -adaptive pseudospectral scheme is employed to discretize the optimal control problem into a nonlinear programming problem with less computation cost. The performance of the proposed strategy is compared against other typical techniques in a selection of test case scenarios. Numerical results demonstrate the viability of the method and show pros and cons of the proposed technique. • A noise-perturbed multi-stage launch vehicle trajectory optimization model is proposed. • The convex–concave decomposition method is applied to the multistage launch vehicle ascent problem. • The convex–concave decomposition and successive linearization methods allow for a reduction of the computational cost. • An extension to handle chance constraints based on Bernstein approximation approach is proposed. [ABSTRACT FROM AUTHOR]