A hybrid control approach to cooperative target tracking with multiple mobile robots
Ying Lan, Gangfeng Yan, Zhiyun Lin · 2009
The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each other.