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Multi-target localization and circumnavigation by a single agent using bearing measurements

Deghat, Mohammad; Xia, Lu; Anderson, Brian; Hong, Yiguang


This paper considers the problem of localization and circumnavigation of a group of targets, which are either stationary or moving slowly with unknown speed, by a single agent. An estimator is proposed, initially for the stationary target case, to localize the targets and the center of mass of them as well as a control law that forces the agent to move on a circular trajectory around the center of mass of the targets such that both the estimator and the controller are exponentially stable. Then...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Journal article
Source: International Journal of Nonlinear and Robust Control
DOI: 10.1002/rnc.3208


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