Multi-robot control for circumnavigation of particle distributions

Abstract

In this work, we present a decentralized controller for the tracking andfollowing of mobile targets, specifically addressing considerations of: 1) not alteringtarget behavior, 2) target states represented by multiple hypotheses, and 3) limitedinformation from bearing-only sensors. The proposed controller drives a team of nrobots to circumnavigate an arbitrary distribution of target points at a desired radiusfrom the targets. The controller also dictates robot spacing around their circular trajectoryby tracking a desired relative phase angle between neighbors. Simulationresults show the functionality of the controller for arbitrary-sized teams and arbitrarystationary and moving particle distributions. Additionally, the controller wasimplemented on OceanServer Iver2 AUVs. Tracking results demonstrate the controller’scapability to track a desired radius as well as maintain phase with respectto a second AUV.