Abstract
This paper investigates the multi-target localization and circumnavigation problem of a group of autonomous agents, where each agent only has bearing measurements of its single target. An estimator is designed for each agent to estimate the position of the corresponding target; then a distributed estimation algorithm is designed for each agent to cooperatively estimate the center of multi-targets; based on the first two steps, a circumnavigation controller is devised for each agent to guarantee that each agent circumnavigates all targets around the target center with a desired radius. The convergence of the estimation algorithm and the stability of the circumnavigation controller are proved. Finally, several simulation examples are provided to verify the correctness of the conclusion and the effectiveness of the proposed algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
