Coverage tracking of a moving target by a group of mobile agents

In this paper, we consider finite-time tracking problems of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of formation and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation and formation control, the group of agents can catch the target by a coverage tracking policy in finite time.