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Conference Paper

Distributed target localization and encircling with a multi-robot system


Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Franchi, A., Stegagno P, Rocco, M., & Oriolo, G. (2011). Distributed target localization and encircling with a multi-robot system. In 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010) (pp. 67-72). Red Hook, NY, USA: Curran.

Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-BA42-D
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 moving targets support the theoretical analysis.