Cooperative Target Tracking in Balanced Circular and Elliptical Formations

This paper extends our earlier results on cooperative target tracking in cyclic pursuit using a group of mobile robots by further prescribing the formation radius and achieving an elliptical formation pattern. Prescribing the formation radius of a balanced circular formation is achieved by adjusting a parameter in the existing control input to each robot. The new elliptical formation pattern is obtained via a transformation matrix. Both single-integrator and double-integrator robot models are considered. The effectiveness of the proposed schemes is demonstrated by simulation examples.