Target Centric Cyclic Pursuit using Bearing Angle Measurements Only

This paper presents a cyclic pursuit based strategy for monitoring a stationary target with multiple autonomous vehicles. The strategy needs only bearing angle information of the target and that of only one of the neighbor vehicle. We have considered simple kinematic model for each vehicle. With the proposed control law, at equilibrium the vehicles get into a rigid polygonal formation which rotates around the target. The stability of equilibrium formations is analyzed using linearization technique. The effectiveness of the proposed strategy is demonstrated through simulation.