Cooperative Target Tracking with Time-Varying Formation Radius

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper extends our previous results on cooperative target tracking of a moving ground vehicle using multiple unmanned aerial vehicles with constant 2D horizontal range to a time-varying horizontal range. An early-designed guidance law that orbits one UAV around the target is modified to handle time-varying horizontal range given by a prescribed reference. Cooperative target tracking is achieved by combining two control efforts together, where one brings each UAV to orbit above the target and the other spreads all UAVs evenly on a circle. Three communication topologies are considered, i.e., an all-to-all communication, a ring topology, and a cyclic pursuit topology. The effectiveness of the proposed cooperative target tracking control laws is demonstrated by numerical simulations under the cyclic pursuit communication topology as an example.

Original languageEnglish (US)
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952426937
StatePublished - Nov 16 2015
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: Jul 15 2015Jul 17 2015

Publication series

Name2015 European Control Conference, ECC 2015


OtherEuropean Control Conference, ECC 2015


  • Cooperative target tracking
  • balanced circular formation
  • cyclic pursuit
  • time-varying formation radius

ASJC Scopus subject areas

  • Control and Systems Engineering

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