Distributed Localization and Circumnavigation Algorithms for a Multiagent System With Persistent and Intermittent Bearing Measurements

This article investigates the distributed localization and circumnavigation problem for a group of agents using bearing measurements. In particular, there is one agent appointed as a pathfinder in the group that is responsible for measuring the relative bearing with respect to an uncertain target. We consider both persistent and intermittent measurement cases. The objective is to drive all the agents such that they first localize the given target and then circumnavigate it isometrically. First, for the persistent measurement case, a distributed control algorithm is developed by introducing a distributed observer. In terms of Lyapunov theorem, it is shown that the proposed control algorithm guarantees the achievement of the localization and circumnavigation objective. Next, we focus on the case of the intermittent bearing measurement. In particular, another feasible distributed control algorithm is designed. Based on the nonlinear contraction theory, it is demonstrated that the localization and circumnavigation objective can also be achieved. Simulation and experiment results verify the effectiveness of the proposed distributed control algorithms.