@conference {2010c-FraSteDirOri, title = {Distributed Target Localization and Encirclement with a Multi-robot System}, booktitle = {7th IFAC Symposium on Intelligent Autonomous Vehicles}, year = {2010}, month = {09/2010}, address = {Lecce, Italy}, abstract = {This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and Multi-robot systems, distributed control, mutual localization, encirclement.moving targets support the theoretical analysis. }, keywords = {Decentralized control, Distributed algorithms, Estimation, Formation control, Multi-robot systems}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2010c-FraSteDirOri-preprint.pdf}, author = {Antonio Franchi and Paolo Stegagno and Maurizio Di~Rocco and Giuseppe Oriolo} }