Vision-based cyclic pursuit for cooperative target tracking

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


In this paper, we study the problem of cooperative target tracking among a group of ground robots. Cooperative target tracking control laws are presented that achieve tracking of a moving target with known position, velocity, and acceleration, for both single-integrator and double-integrator robot models. When the target's motion information are unknown constant, vision-based estimation schemes are applied to obtain estimates of the target's position and velocity. The effectiveness of the proposed control laws and their vision-based counterparts to achieve desired formations is demonstrated by numerical simulation examples using nonholonomic robots.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Number of pages6
StatePublished - Sep 29 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA


  • Cooperative target tracking
  • cyclic pursuit
  • moving target
  • vision-based estimation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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