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...ype robot models. The unicycle model closely resembles the dynamics of mobile robots and unmanned aerial vehicles (UAVs). The target tracking strategies discussed in [16], [9], [8] , [5], [11], [13], =-=[12]-=- are based on unicycle model for the vehicles and assumes that all the agents are homogeneous. Switching control law is designed in [16] to track the center of mass of the agents. The agents follow pi...

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...nsing scenarios [2]. In other applications agents are required to keep a formation with different orientations, such as aerial manipulation [3], environmental monitoring [4], or distributed escorting =-=[5]-=-. This need to maintain relative orientations as well as positions motivates the work in this paper. Among existing formation control approaches, we can distinguish between leader-follower strategies ...

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...ve this challenge using a fleet of vehicles have been studied in the literature [11]. A circular formation encircling a time-varying target seems appropriate to approach target tracking problems, see =-=[12]-=-. On the other side, changing the shape of a formation can be useful in several situations. For instance, it can be seen as a collision avoidance method such that, a circular formation of vehicles red...

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...ose center location is the target, seems very appropriate. Some cooperative approaches to carry out this challenge using a fleet of vehicles have been studied in the literature [6], [14]. As shown in =-=[7]-=-, a circular formation can be useful to track the trajectory of a time-varying target. The source localization of a signal distribution is a problem considered in recent literature [4], [11]. There ar...

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...pose and the controller is based on cluster space control. An additive robot level obstacle avoidance term introduces some decentralization in the system. A decentralized hybrid controller is used in =-=[11]-=- for the cooperative target tracking with multiple unicycles considering known velocity of the cooperative target and bearing angles. In other works, additional challenges (e.g., higher dimensional pr...

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...ve this challenge using a fleet of vehicles have been studied in the literature [11]. A circular formation encircling a time-varying target seems appropriate to approach target tracking problems, see =-=[12]-=-. On the other side, changing the shape of a formation can be useful in several situations. For instance, it can be seen as a collision avoidance method such that, a circular formation of vehicles red...

Citation Context

...ose center location is the target, seems very appropriate. Some cooperative approaches to carry out this challenge using a fleet of vehicles have been studied in the literature [6], [14]. As shown in =-=[7]-=-, a circular formation can be useful to track the trajectory of a time-varying target. The source localization of a signal distribution is a problem considered in recent literature [4], [11]. There ar...