Multiple-target enclosing control using bearing-only measurements

In the past few years, there has been significant progress in the development of enclosing control approaches for various applications in military and civilian domains. This study explores the use of a multi-agent system (MAS) equipped with bearing-only sensors to address the enclosing control problem for multiple targets in a constrained environment. The crux of this issue is to estimate the geometric center of multiple targets with limited information, such as bearing measurements to a subset of targets and message exchanges with neighboring agents. This paper proposes a composite estimator, by which an agent can firstly generate its individual opinion of the center by the collected bearing measurements to its observable targets; then their opinions are exchanged in the network to reach an agreement of the geometric center. Based on this, the MAS can achieve the target circular formation by rotating at a predetermined radius and rotational speed about the center. The proposed method’s efficacy and efficiency are confirmed by thorough theoretical analysis and numerical simulation.