Communication-Free Bearing-Only Distributed Target Localization and Circumnavigation by Multiple Agents

TL;DR

This paper introduces a communication-free distributed control algorithm enabling multiple autonomous agents to localize and circumnavigate an unknown stationary target using only bearing measurements, with proven stability and verified through simulations.

Contribution

It presents a novel algorithm for target localization and circumnavigation without communication, ensuring stability and precise orbit control.

Findings

Agents successfully circumnavigate the target at desired orbit

The algorithm guarantees global asymptotic stability

Simulation results confirm effectiveness of the approach

Abstract

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information is permitted among the group of agents and propose an algorithm to approximate the angular separation between agents and a distributed control law that forces the agents to circumnavigate the target at a desired orbit with any prescribed angular separation. Global asymptotic stability of the system is analyzed rigorously using Lyapunov theory, cascade control strategy, and perturbation method. The performance of the proposed algorithm is verified through simulations.