Consensus filter based target-enclosing strategies for multiple nonholonomic vehicles

This paper deals with cooperative target-enclosing problems using consensus filter for multiple vehicle systems. Proposed strategies are based on consensus seeking algorithms and at least one vehicle only has to acquire the states of target-object. In addition, the measurement signals are made to be agreed using the consensus filters when each vehicle acquires the noisy signal of the states of the target-object. To analyze the enclosing problem, algebraic graph theory and matrix theory are utilized. Numerical simulations and experiments are carried out to demonstrate the effectiveness of proposed methods.