Multi-robot control for circumnavigation of particle distributions

In this work, we present a decentralized controller for the tracking and following of mobile targets, specifically addressing considerations of: 1) not altering target be-havior, 2) target states represented by multiple hypotheses, and 3) limited informa-tion from bearing-only sensors. The proposed controller drives a team of n robots to circumnavigate an arbitrary distribution of target points at a desired radius from the targets. The controller also dictates robot spacing around their circular trajectory by tracking a desired relative phase angle between neighbors. Simulation results show the functionality of the controller for arbitrary-sized teams and arbitrary stationary and moving particle distributions. Additionally, the controller was implemented on OceanServer Iver2 AUVs. Tracking results demonstrate the controller’s capability to track a desired radius as well as maintain phase with respect to a second AUV.