Distributed Tracking and Circumnavigation Using Bearing Measurements
- Resource Type
- Conference
- Authors
- Parayil, Anjaly; George, Jemin
- Source
- ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) Acoustics, Speech and Signal Processing (ICASSP), ICASSP 2020 - 2020 IEEE International Conference on. :4885-4889 May, 2020
- Subject
- Signal Processing and Analysis
Target tracking
Simulation
Signal processing algorithms
Acoustic measurements
Trajectory
Speech processing
Convergence
Distributed tracking
multi-agent systems
bearing measurements
maneuvering targets
- Language
- ISSN
- 2379-190X
This paper is concerned with the problem of bearings based multi-agent circumnavigation of a maneuvering target. Agents are assumed to have access to their own individual bearing measurements as well as the ones from their immediate neighbors. The aim is to devise a distributed algorithm to estimate the position of the maneuvering target and drive the agents to circumnavigate the target while forming a regular polygon and keeping a desired distance from the target. Analytic results show that the algorithm attains exponential convergence of the agents to a neighborhood of the desired polygon, where the neighborhood size depends on the target speed. Simulation results illustrate the efficacy of the approach.