Distributed Target Localization and Control of Unicycle Mobile Agents with Bearing Measurements

In this paper, we propose an approach to distributed localization and motion control of unicycle mobile agents for the target circumnavigation problem. The bearing angle measurement-based localization performs when not all the agents get access to the target, but its performance is decided by the motion behaviors, and vice versa. Therefore we propose a coupled framework where we estimate the relative coordinate of agent-agent and agent-target in local reference frame at the localization layer, and then design the control strategy for agents to flock to the estimated target, for finally circumnavigate in a formation, with only the bearing angle measurements. Simulation results have shown that target localization based control algorithm can reach the convergence.