Coordinated control of multiple unicycles for escorting and patrolling task based on a cyclic pursuit strategy

This paper investigates the coordinated control problem of multiple unicycles for the escorting and patrolling task with respect to a moving target unicycle. The topology of the sensor graph results from a cyclic pursuit strategy and it may dynamically change with the positions of unicycles. A controller for each escort unicycle is developed by using the information from local sensing. It is shown that with the proposed control law, all escort unicycles can globally converge to orbiting around the target in a common circle with desired radius and maintaining evenly spaced along the circle. Finally, the simulation results of an example verify effectiveness of the proposed controller.