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Target localization and circumnavigation by a non-holonomic robot

Deghat, Mohammad; Davis, Edwin; See, Tian; Shames, Iman; Anderson, Brian; Yu, Changbin (Brad)


This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target and make the agent move on a circular trajectory with a desired radius around it. The performance...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
DOI: 10.1109/IROS.2012.6386250


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