Planar Bearing-only Cyclic Pursuit for Target Capture

Abstract

This paper investigates the stability of formations around a target using bearing-only measurements for agents in cyclic pursuit. A control law is proposed for every agent that uses bearing information of its leader and the target. It is shown that this control law is locally asymptotically stable with respect to a desired arbitrary formation around the target. A detailed analysis of the equilibrium formations is also provided. Simulations support the theoretical results. © 2017