|Title||Distributed Target Localization and Encirclement with a Multi-robot System|
|Publication Type||Conference Paper|
|Year of Publication||2010|
|Authors||Franchi, A, Stegagno, P, Di Rocco, M, Oriolo, G|
|Conference Name||7th IFAC Symposium on Intelligent Autonomous Vehicles|
|Conference Location||Lecce, Italy|
|Keywords||Decentralized control, Distributed algorithms, Estimation, Formation control, Multi-robot systems|
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.