Bearing-based Circumnavigation with Collision Avoidance in Time-varying Graphs under Limited Target Information
The research developed a distributed control strategy for heterogeneous agents to circumnavigate a stationary target while preventing collisions. Leaders know the target, while followers use limited local information. The resulting guidance law controls only angular speeds, ensuring all agents eventually synchronize their speed and form concentric circular paths around the target, even when the interaction network changes over time.